version: 66.10
glider: 201
mission: 5
dive: 17
start: 8 11 114 9 54 23
data:
$ID,201
$MISSION,5
$DIVE,17
$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,-1532.1458
$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,85
$R_STBD_OVSHOOT,40
$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
$GPS1,110814,094453,2744.765,-7051.385,39,0.9,39,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.1
$GPS2,110814,095326,2744.725,-7051.292,5,0.9,5,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.206,-0.156
$KALMAN_X,12165.7,172.4,-11.3,-9130.6,525.7
$KALMAN_Y,-6560.7,-384.6,-81.2,-21076.0,-409.9
$MHEAD_RNG_PITCHd_Wd,244.7,27942,-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,-71.00,0.000,2,0.000,0.000,179,2858,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.06,-146.0,2.1,-1.8,9,146,8.10,1.98,-38.90,0.000,4,0.207,0.034,2463,1465,3468,0,0,0,0,0,0,26.77,27.08,27.32
$GC,274,-1.06,-146.0,31.2,-21.8,38,283,0.00,2.05,0.00,0.000,6,0.000,0.031,2455,2862,3468,0,0,0,0,0,0,28.83,27.10,28.83
$GC,347,-1.06,-146.0,46.7,-20.4,47,356,0.00,1.33,0.00,0.000,4,0.000,0.044,2448,3755,3468,0,0,0,0,0,0,28.83,27.10,28.83
$GC,595,-1.06,-146.0,94.9,-16.7,89,604,0.00,1.23,0.00,0.000,6,0.000,0.023,2448,2844,3469,0,0,0,0,0,0,28.83,27.27,28.83
$GC,668,-1.06,-146.0,106.3,-15.1,98,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2843,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-1.06,-146.0,117.7,-15.8,107,749,0.00,1.92,0.00,0.000,4,0.000,0.021,2448,1465,3469,0,0,0,0,0,0,28.83,27.26,28.83
$GC,763,-1.06,-146.0,121.0,-14.6,110,772,0.08,2.03,0.00,0.000,6,0.127,0.031,2467,2853,3469,0,0,0,0,0,0,27.08,27.22,28.83
$GC,837,-1.06,-146.0,131.3,-13.5,119,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2853,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,910,-1.06,-146.0,141.3,-13.9,128,918,0.00,1.95,0.00,0.000,4,0.000,0.021,2467,1461,3469,0,0,0,0,0,0,28.83,27.28,28.83
$GC,955,-1.06,-146.0,147.8,-14.1,135,964,0.00,2.05,0.00,0.000,6,0.000,0.031,2459,2858,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1029,-1.06,-146.0,157.9,-13.8,144,1038,0.00,1.33,0.00,0.000,4,0.000,0.044,2452,3756,3469,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1075,-1.06,-146.0,164.5,-14.9,151,1083,0.00,1.23,0.00,0.000,6,0.000,0.024,2452,2849,3469,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1148,-1.06,-146.0,174.7,-13.6,160,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2849,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1204,-0.26,0.0,182.0,-13.7,164,1313,0.77,0.05,102.53,0.620,6,0.107,0.065,2726,2414,2870,0,0,0,0,0,0,27.13,26.22,25.89
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1315,1.06,146.0,187.1,0.0,171,1427,1.12,0.00,102.43,0.623,6,0.067,0.000,3154,2414,2271,0,0,0,0,0,0,26.31,28.83,25.67
$GC,1613,1.07,157.2,163.9,9.5,198,1622,0.00,0.00,7.00,0.883,6,0.000,0.000,3154,2414,2230,0,0,0,0,0,0,28.83,28.83,25.86
$GC,1688,1.10,181.8,157.1,8.9,207,1712,0.00,0.00,19.33,0.994,6,0.000,0.000,3154,2414,2135,0,0,0,0,0,0,28.83,28.83,25.65
$GC,1778,1.10,181.8,148.5,10.1,218,1787,0.00,2.03,0.00,0.000,4,0.000,0.041,3154,3743,2136,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1824,1.10,181.8,143.5,10.7,225,1833,0.00,1.88,0.00,0.000,6,0.000,0.020,3161,2421,2137,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1898,1.11,184.9,135.9,9.9,234,1907,0.00,1.98,1.85,0.381,4,0.000,0.027,3162,1024,2123,0,0,0,0,0,0,28.83,26.83,26.37
$GC,1927,1.11,184.9,132.8,10.2,238,1936,0.00,2.03,0.00,0.000,6,0.000,0.027,3161,2411,2123,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2001,1.11,184.9,124.9,11.1,247,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2411,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,1.11,184.9,116.9,11.5,256,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2411,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2147,1.11,184.9,109.1,10.5,265,2155,0.00,2.00,0.00,0.000,4,0.000,0.028,3162,1035,2123,0,0,0,0,0,0,28.83,27.02,28.83
$GC,2210,1.11,184.9,102.5,11.0,275,2218,0.00,2.00,0.00,0.000,6,0.000,0.027,3161,2409,2123,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2283,1.11,184.9,94.7,10.7,284,2292,0.00,2.00,0.00,0.000,4,0.000,0.043,3162,3740,2123,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2311,1.11,184.9,91.5,11.1,288,2320,0.00,1.88,0.00,0.000,6,0.000,0.021,3169,2400,2122,0,0,0,0,0,0,28.83,27.14,28.83
$GC,2385,1.11,184.9,83.7,10.4,297,2393,0.00,1.95,0.00,0.000,4,0.000,0.029,3175,1038,2122,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2436,1.11,187.4,78.6,9.9,305,2446,0.00,1.98,1.33,0.271,6,0.000,0.027,3176,2404,2110,0,0,0,0,0,0,28.83,27.14,26.74
$GC,2512,1.13,202.5,71.7,9.3,314,2521,0.00,0.00,6.50,0.277,6,0.000,0.000,3175,2404,2045,0,0,0,0,0,0,28.83,28.83,26.75
$GC,2587,1.16,227.5,65.0,8.8,323,2603,0.00,0.00,10.75,0.263,6,0.000,0.000,3175,2404,1945,0,0,0,0,0,0,28.83,28.83,26.72
$GC,2669,1.19,256.6,58.0,8.7,333,2687,0.00,2.05,12.35,0.251,4,0.000,0.041,3175,3749,1825,0,0,0,0,0,0,28.83,27.01,26.72
$GC,2793,1.20,263.3,46.2,9.7,353,2802,0.00,1.88,2.92,0.226,6,0.000,0.021,3175,2417,1799,0,0,0,0,0,0,28.83,27.15,26.79
$GC,2869,1.24,298.1,39.7,8.4,362,2894,0.10,2.00,15.52,0.207,4,0.108,0.040,3269,3736,1655,0,0,0,0,0,0,27.15,27.02,26.77
$GC,2976,1.24,298.1,25.4,15.7,379,2986,0.17,1.88,0.00,0.000,6,0.124,0.021,3209,2398,1653,0,0,0,0,0,0,26.95,27.13,28.83
$GC,3050,1.24,298.1,15.7,11.6,388,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2398,1653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,1.24,298.1,8.1,11.3,397,3132,0.00,1.95,0.00,0.000,4,0.000,0.028,3215,1031,1652,0,0,0,0,0,0,28.83,27.15,28.83
$STATE,3167,end climb,SURFACE_DEPTH_REACHED
$STATE,3168,begin surface coast
$FINISH,2.3,1.023331
$STATE,3175,end surface coast,CONTROL_FINISHED_OK
$STATE,3175,begin surface
$SM_CCo,3191,108.62,0.112,0,0,506,580.13
$SM_GC,1.47,7.50,2.70,108.62,0.036,0.028,0.112,183,2858,506,-8.10,-1.22,580.13,0,0,0,0,0,0,27.17,27.15,26.81
$IRIDIUM_FIX,2734.80,-7049.26,110814,090952
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.29
$INTERNAL_PRESSURE,9.48213
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,25.7,3.142
$10V_AH,10.7,2.594
$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,17.850,49.825,282.500,108.625,0.000,46.581,96.724,88.592,0.000,0.000,6.672,954.660,498.153,457.618,1729.959,70.929,33.225,1034.252,0.000,1480.268,0.000,0.553,0.000
$DEVICE_MAMPS,206.550,65.025,993.735,112.455,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.954,1334.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20300,405
$CAP_FILE_SIZE,63502,0
$CFSIZE,260034560,254963712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,105000,2744.087,-7051.458,3,1.2,3,-11.9