version: 66.10
glider: 201
mission: 5
dive: 15
start: 8 11 114 7 48 44
data:
$ID,201
$MISSION,5
$DIVE,15
$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,-1529.6356
$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,86
$R_STBD_OVSHOOT,45
$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
$GPS1,110814,073924,2746.299,-7051.867,3,1.5,3,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.9
$GPS2,110814,074747,2746.273,-7051.786,5,1.6,6,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.054,-0.253
$KALMAN_X,11626.9,-380.8,-186.5,-8689.7,991.8
$KALMAN_Y,-6195.3,101.0,139.5,-19266.9,-850.5
$MHEAD_RNG_PITCHd_Wd,203.9,30596,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,181,2872,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.06,-146.0,2.0,-2.0,9,146,8.07,1.30,-40.33,0.000,4,0.206,0.063,2456,3745,3467,0,0,0,0,0,0,26.77,27.01,27.32
$GC,308,-1.06,-146.0,41.0,-23.8,44,316,0.00,1.23,0.00,0.000,6,0.000,0.024,2456,2840,3467,0,0,0,0,0,0,28.83,27.17,28.83
$GC,381,-1.06,-146.0,56.7,-19.7,53,390,0.00,1.35,0.00,0.000,4,0.000,0.044,2449,3745,3467,0,0,0,0,0,0,28.83,27.11,28.83
$GC,578,-1.06,-146.0,95.3,-17.0,86,587,0.00,1.20,0.00,0.000,6,0.000,0.024,2449,2849,3467,0,0,0,0,0,0,28.83,27.25,28.83
$GC,651,-1.06,-146.0,107.5,-16.2,95,660,0.00,1.92,0.00,0.000,4,0.000,0.021,2449,1470,3467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,685,-1.06,-146.0,112.8,-15.8,100,694,0.00,2.03,0.00,0.000,6,0.000,0.031,2439,2858,3467,0,0,0,0,0,0,28.83,27.20,28.83
$GC,758,-1.06,-146.0,125.3,-17.1,109,767,0.12,0.00,0.00,0.000,6,0.161,0.000,2480,2858,3467,0,0,0,0,0,0,27.09,28.83,28.83
$GC,832,-1.06,-146.0,135.7,-13.8,118,840,0.00,1.95,0.00,0.000,4,0.000,0.021,2480,1471,3467,0,0,0,0,0,0,28.83,27.26,28.83
$GC,860,-1.06,-146.0,139.6,-13.5,122,868,0.00,2.00,0.00,0.000,6,0.000,0.031,2472,2843,3467,0,0,0,0,0,0,28.83,27.22,28.83
$GC,933,-1.06,-146.0,149.8,-14.0,131,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2844,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-1.06,-146.0,159.5,-13.0,140,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2844,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1078,-1.06,-146.0,168.6,-12.3,149,1087,0.00,1.33,0.00,0.000,4,0.000,0.044,2465,3741,3467,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1143,-1.06,-146.0,176.3,-12.9,158,1153,0.00,1.20,0.00,0.000,6,0.000,0.023,2466,2849,3467,0,0,0,0,0,0,28.83,27.32,28.83
$STATE,1166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1166,begin apogee
$GC,1170,-0.26,0.0,180.5,-13.4,160,1279,0.73,0.05,102.28,0.616,6,0.104,0.064,2722,2412,2868,0,0,0,0,0,0,27.13,26.21,25.89
$STATE,1280,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1282,1.06,146.0,185.4,0.0,167,1394,1.12,2.03,102.85,0.629,4,0.067,0.026,3151,1036,2271,0,0,0,0,0,0,26.30,26.08,25.65
$GC,1415,1.12,199.8,178.1,7.5,176,1461,0.00,2.05,38.83,0.903,6,0.000,0.026,3150,2404,2054,0,0,0,0,0,0,28.83,26.31,25.55
$GC,1646,1.12,199.8,153.3,10.7,202,1654,0.00,2.03,0.00,0.000,4,0.000,0.042,3150,3736,2052,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1714,1.12,199.8,145.3,11.6,213,1722,0.00,1.88,0.00,0.000,6,0.000,0.021,3159,2411,2052,0,0,0,0,0,0,28.83,26.86,28.83
$GC,1787,1.12,199.8,136.9,11.0,222,1796,0.00,2.00,0.00,0.000,4,0.000,0.030,3161,1029,2051,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1815,1.12,199.8,133.7,11.5,226,1824,0.00,2.03,0.00,0.000,6,0.000,0.027,3161,2405,2051,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1889,1.12,199.8,125.1,12.1,235,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2406,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,1.12,199.8,116.7,11.5,244,1970,0.00,2.00,0.00,0.000,4,0.000,0.028,3161,1033,2051,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1995,1.12,199.8,113.0,10.5,249,2004,0.00,2.00,0.00,0.000,6,0.000,0.028,3161,2407,2051,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2069,1.12,199.8,105.5,10.1,258,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2407,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,1.13,208.6,98.5,9.6,267,2150,0.00,0.00,2.60,0.329,6,0.000,0.000,3161,2407,2026,0,0,0,0,0,0,28.83,28.83,26.65
$GC,2217,1.15,218.5,91.3,9.5,276,2226,0.00,2.03,4.47,0.319,4,0.000,0.028,3161,1034,1984,0,0,0,0,0,0,28.83,27.05,26.67
$GC,2275,1.16,226.5,85.7,9.6,285,2285,0.00,2.00,3.75,0.299,6,0.000,0.028,3161,2413,1949,0,0,0,0,0,0,28.83,27.09,26.68
$GC,2351,1.17,240.1,78.6,9.4,294,2368,0.00,2.03,5.80,0.293,4,0.000,0.044,3162,3745,1896,0,0,0,0,0,0,28.83,27.02,26.70
$GC,2387,1.17,240.1,74.7,10.8,299,2396,0.00,1.88,0.00,0.000,6,0.000,0.021,3161,2414,1896,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2462,1.23,284.9,68.2,7.9,308,2488,0.12,2.00,18.75,0.268,4,0.090,0.040,3268,3750,1710,0,0,0,0,0,0,27.14,26.96,26.66
$GC,2503,1.23,284.9,63.7,11.8,313,2512,0.17,1.90,0.00,0.000,6,0.129,0.021,3210,2404,1710,0,0,0,0,0,0,26.87,27.05,28.83
$GC,2577,1.24,296.0,55.3,9.5,322,2587,0.00,2.08,4.57,0.252,4,0.000,0.041,3209,3752,1665,0,0,0,0,0,0,28.83,27.00,26.72
$GC,2704,1.24,296.0,40.3,12.8,343,2712,0.00,1.92,0.00,0.000,6,0.000,0.021,3214,2394,1665,0,0,0,0,0,0,28.83,27.13,28.83
$GC,2776,1.24,296.0,31.9,11.0,352,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2394,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2849,1.24,296.0,24.2,10.8,361,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2394,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,1.24,296.0,15.9,11.0,370,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2392,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2995,1.24,296.0,7.7,11.6,379,3003,0.00,1.95,0.00,0.000,4,0.000,0.029,3216,1027,1664,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3023,1.24,296.0,4.3,12.0,383,3032,0.00,2.00,0.00,0.000,6,0.000,0.028,3216,2404,1663,0,0,0,0,0,0,28.83,27.20,28.83
$STATE,3039,end climb,SURFACE_DEPTH_REACHED
$STATE,3039,begin surface coast
$FINISH,0.6,1.013168
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3078,110.28,0.111,0,0,503,580.13
$SM_GC,1.34,7.43,0.65,110.28,0.031,0.043,0.111,188,2851,503,-8.10,-1.30,580.13,0,0,0,0,0,0,27.16,27.18,26.83
$IRIDIUM_FIX,2737.23,-7059.26,110814,070730
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.82
$INTERNAL_PRESSURE,9.48213
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,25.5,3.024
$10V_AH,10.7,2.435
$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,17.775,52.525,283.900,110.275,0.000,52.059,99.854,87.534,0.000,0.000,6.650,918.304,448.785,479.743,1665.213,77.202,33.227,1049.198,0.000,1430.766,0.000,0.553,0.000
$DEVICE_MAMPS,205.785,64.260,902.700,110.925,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.523,1278.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334292
$DATA_FILE_SIZE,20236,388
$CAP_FILE_SIZE,63261,0
$CFSIZE,260034560,255029248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,084240,2745.671,-7051.973,14,1.2,15,-11.9