version: 66.10
glider: 201
mission: 5
dive: 14
start: 8 11 114 6 44 9
data:
$ID,201
$MISSION,5
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,30
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,-1
$ESCAPE_HEADING,48.400002
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3219.3999
$TGT_DEFAULT_LON,-6434.1001
$TGT_AUTO_DEFAULT,0
$SM_CC,580
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1528.3851
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2853
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,90
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.568054
$PRESSURE_SLOPE,0.000115772
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.28
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923352
$SEABIRD_T_H,0.00063288247
$SEABIRD_T_I,2.48167e-05
$SEABIRD_T_J,2.9461089e-06
$SEABIRD_C_G,-9.7773972
$SEABIRD_C_H,1.1424111
$SEABIRD_C_I,-0.0015250822
$SEABIRD_C_J,0.00019393132
$GPS1,110814,063734,2746.908,-7051.790,22,1.1,22,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.5
$GPS2,110814,064312,2746.898,-7051.736,16,1.1,16,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.240,-0.097
$KALMAN_X,10722.6,-453.5,-9.3,-7825.2,712.2
$KALMAN_Y,-5347.1,190.8,24.7,-18920.0,-542.9
$MHEAD_RNG_PITCHd_Wd,259.9,31750,-17.1,-10.000
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,173,2870,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.06,-146.0,2.5,-3.1,10,146,8.07,2.00,-28.52,0.000,4,0.205,0.037,2461,1477,3468,0,0,0,0,0,0,26.78,27.06,27.31
$GC,199,-1.06,-146.0,17.4,-23.3,25,208,0.00,2.03,0.00,0.000,6,0.000,0.031,2453,2855,3468,0,0,0,0,0,0,28.83,27.05,28.83
$GC,274,-1.06,-146.0,35.1,-23.8,34,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2856,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-1.06,-146.0,51.8,-21.0,43,355,0.00,1.98,0.00,0.000,4,0.000,0.021,2453,1458,3468,0,0,0,0,0,0,28.83,27.15,28.83
$GC,392,-1.06,-146.0,60.9,-19.5,50,400,0.00,2.05,0.00,0.000,6,0.000,0.030,2443,2851,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,465,-1.06,-146.0,75.2,-19.2,59,473,0.00,1.33,0.00,0.000,4,0.000,0.044,2436,3747,3469,0,0,0,0,0,0,28.83,27.13,28.83
$GC,637,-1.06,-146.0,107.6,-17.7,88,646,0.08,1.23,0.00,0.000,6,0.127,0.024,2464,2852,3469,0,0,0,0,0,0,27.05,27.25,28.83
$GC,711,-1.06,-146.0,119.1,-15.0,97,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2852,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-1.06,-146.0,130.0,-14.7,106,792,0.00,1.95,0.00,0.000,4,0.000,0.021,2465,1458,3469,0,0,0,0,0,0,28.83,27.24,28.83
$GC,817,-1.06,-146.0,134.8,-14.3,111,826,0.00,2.05,0.00,0.000,6,0.000,0.031,2456,2863,3469,0,0,0,0,0,0,28.83,27.21,28.83
$GC,891,-1.06,-146.0,145.3,-14.4,120,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2863,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-1.06,-146.0,155.3,-13.8,129,972,0.00,1.30,0.00,0.000,4,0.000,0.045,2449,3740,3468,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1026,-1.06,-146.0,164.4,-14.9,139,1035,0.00,1.20,0.00,0.000,6,0.000,0.024,2449,2849,3469,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1100,-1.06,-146.0,174.8,-14.0,148,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2849,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1136,begin apogee
$GC,1140,-0.26,0.0,180.1,-14.2,151,1249,0.77,0.05,102.80,0.627,6,0.107,0.066,2723,2412,2870,0,0,0,0,0,0,27.11,26.17,25.84
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,1.06,146.0,185.1,0.0,158,1364,1.12,0.00,103.12,0.634,6,0.068,0.000,3147,2412,2272,0,0,0,0,0,0,26.26,28.83,25.63
$GC,1545,1.06,146.0,160.6,10.6,186,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2412,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1617,1.06,146.0,152.8,10.5,195,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2412,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,1.06,146.0,145.5,10.2,204,1698,0.00,2.00,0.00,0.000,4,0.000,0.041,3147,3736,2269,0,0,0,0,0,0,28.83,26.87,28.83
$GC,1747,1.06,146.0,139.5,10.4,213,1756,0.00,1.88,0.00,0.000,6,0.000,0.021,3150,2401,2269,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1821,1.07,157.8,132.3,9.5,222,1830,0.00,0.00,4.10,0.715,6,0.000,0.000,3150,2401,2232,0,0,0,0,0,0,28.83,28.83,26.09
$GC,1896,1.09,174.1,125.3,9.2,231,1905,0.00,0.00,7.30,0.823,6,0.000,0.000,3150,2401,2161,0,0,0,0,0,0,28.83,28.83,26.06
$GC,1971,1.13,203.2,118.7,8.7,240,1987,0.00,0.00,11.65,0.859,6,0.000,0.000,3150,2401,2046,0,0,0,0,0,0,28.83,28.83,25.96
$GC,2054,1.15,217.3,111.2,9.3,250,2063,0.00,0.00,5.97,0.754,6,0.000,0.000,3150,2401,1987,0,0,0,0,0,0,28.83,28.83,25.98
$GC,2129,1.16,226.1,104.0,9.6,259,2138,0.00,2.00,4.12,0.648,4,0.000,0.028,3150,1041,1953,0,0,0,0,0,0,28.83,26.79,26.04
$GC,2165,1.16,229.9,100.4,9.8,264,2175,0.00,2.00,2.10,0.373,6,0.000,0.027,3150,2405,1936,0,0,0,0,0,0,28.83,26.84,25.94
$GC,2240,1.16,229.9,92.8,10.2,273,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2405,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,1.16,232.6,85.5,9.9,282,2322,0.10,0.00,1.60,0.276,6,0.104,0.000,3235,2406,1927,0,0,0,0,0,0,26.99,28.83,26.60
$GC,2387,1.16,232.6,76.4,12.8,291,2397,0.15,2.03,0.00,0.000,4,0.148,0.040,3187,3750,1927,0,0,0,0,0,0,26.87,26.96,28.83
$GC,2474,1.16,232.6,66.2,10.5,305,2483,0.00,1.88,0.00,0.000,6,0.000,0.021,3189,2419,1927,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2548,1.16,232.6,58.8,10.1,314,2557,0.00,2.00,0.00,0.000,4,0.000,0.041,3189,3739,1927,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2628,1.16,232.6,50.2,10.4,327,2637,0.00,1.88,0.00,0.000,6,0.000,0.021,3189,2401,1927,0,0,0,0,0,0,28.83,27.14,28.83
$GC,2702,1.21,270.7,43.9,8.2,336,2726,0.00,1.98,16.73,0.215,4,0.000,0.028,3189,1027,1767,0,0,0,0,0,0,28.83,27.04,26.77
$GC,2844,1.21,271.8,31.4,9.9,359,2853,0.00,2.00,0.00,0.000,6,0.000,0.027,3189,2412,1767,0,0,0,0,0,0,28.83,27.11,28.83
$GC,2917,1.23,289.7,24.4,9.2,368,2934,0.00,2.00,7.85,0.179,4,0.000,0.029,3189,1036,1689,0,0,0,0,0,0,28.83,27.10,26.87
$GC,2965,1.23,289.7,19.8,10.2,375,2974,0.00,1.98,0.00,0.000,6,0.000,0.027,3189,2403,1690,0,0,0,0,0,0,28.83,27.13,28.83
$GC,3040,1.23,289.7,12.0,10.9,384,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2403,1690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,1.24,291.5,4.5,9.9,393,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2404,1689,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3127,end climb,SURFACE_DEPTH_REACHED
$STATE,3127,begin surface coast
$FINISH,0.6,1.023385
$STATE,3153,end surface coast,CONTROL_FINISHED_OK
$STATE,3153,begin surface
$SM_CCo,3167,111.18,0.111,0,0,503,580.13
$SM_GC,1.30,7.30,0.65,111.18,0.025,0.040,0.111,181,2857,503,-8.10,-1.27,580.13,0,0,0,0,0,0,27.17,27.17,26.82
$IRIDIUM_FIX,2739.67,-7058.46,110814,050515
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.86
$INTERNAL_PRESSURE,9.47237
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,25.6,2.961
$10V_AH,10.7,2.358
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.600,41.950,267.350,111.175,0.000,26.343,35.065,79.245,0.000,0.000,17.139,942.426,454.829,472.174,1572.782,73.589,33.233,1025.348,0.000,1440.676,0.000,0.553,0.000
$DEVICE_MAMPS,205.020,65.790,859.095,110.925,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.323,1311.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334280
$DATA_FILE_SIZE,20259,398
$CAP_FILE_SIZE,61773,0
$CFSIZE,260034560,255062016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,073924,2746.299,-7051.867,3,1.5,3,-11.9