version: 66.10
glider: 201
mission: 5
dive: 18
start: 8 11 114 10 56 47
data:
$ID,201
$MISSION,5
$DIVE,18
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,500
$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,167
$T_MISSION,180
$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,-1533.3977
$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,43
$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
$GPS1,110814,105000,2744.087,-7051.458,3,1.2,3,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-55.9
$GPS2,110814,105550,2744.047,-7051.385,5,1.2,5,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.198,-0.167
$KALMAN_X,12605.1,326.8,-32.2,-9872.6,1327.1
$KALMAN_Y,-7156.4,-487.0,-59.2,-21642.3,-1201.3
$MHEAD_RNG_PITCHd_Wd,241.7,26683,-17.1,-9.980
$D_GRID,500
$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,14,-1.06,-146.0,0.0,0.0,0,88,0.00,0.00,-70.85,0.000,2,0.000,0.000,182,2865,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.06,-146.0,2.1,-2.1,9,145,8.10,0.00,-39.45,0.000,6,0.207,0.000,2465,2866,3468,0,0,0,0,0,0,26.77,28.83,27.33
$GC,211,-1.06,-146.0,17.9,-22.1,24,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2865,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,283,-1.06,-146.0,33.8,-20.9,33,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2866,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,356,-1.06,-146.0,49.0,-20.2,42,365,0.00,1.33,0.00,0.000,4,0.000,0.045,2460,3751,3468,0,0,0,0,0,0,28.83,27.10,28.83
$GC,627,-1.06,-146.0,99.7,-16.6,88,636,0.00,1.23,0.00,0.000,6,0.000,0.023,2460,2833,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,700,-1.06,-146.0,111.1,-15.6,97,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2833,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-1.06,-146.0,122.1,-14.9,106,782,0.00,1.90,0.00,0.000,4,0.000,0.022,2460,1478,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,830,-1.06,-146.0,130.5,-14.7,115,839,0.00,2.00,0.00,0.000,6,0.000,0.031,2450,2851,3468,0,0,0,0,0,0,28.83,27.23,28.83
$GC,904,-1.06,-146.0,141.5,-15.0,124,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2850,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-1.06,-146.0,152.6,-15.4,133,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2850,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1049,-1.06,-146.0,163.3,-14.7,142,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2850,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1121,-1.06,-146.0,173.6,-14.4,151,1130,0.00,1.33,0.00,0.000,4,0.000,0.044,2443,3748,3468,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1183,-1.06,-146.0,181.7,-14.8,156,1193,0.00,1.20,0.00,0.000,6,0.000,0.023,2443,2859,3468,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1373,-1.06,-146.0,209.2,-13.4,169,1378,0.00,1.90,0.00,0.000,4,0.000,0.022,2444,1468,3468,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1502,-1.06,-146.0,226.7,-13.5,177,1508,0.10,1.95,0.00,0.000,6,0.118,0.031,2471,2850,3468,0,0,0,0,0,0,27.15,27.27,28.83
$GC,1697,-1.06,-146.0,250.6,-12.1,190,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2851,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1877,-1.06,-146.0,273.5,-12.9,202,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2851,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-1.06,-146.0,296.3,-12.8,214,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2852,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,-1.06,-146.0,319.0,-12.5,221,2241,0.00,1.92,0.00,0.000,4,0.000,0.022,2471,1462,3466,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2274,-1.06,-146.0,322.6,-12.5,222,2278,0.00,2.03,0.00,0.000,6,0.000,0.031,2463,2866,3465,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2590,-1.06,-146.0,363.3,-12.4,233,2594,0.00,1.92,0.00,0.000,4,0.000,0.022,2463,1471,3463,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2653,-1.06,-146.0,370.0,-12.3,235,2658,0.00,2.03,0.00,0.000,6,0.000,0.032,2453,2847,3463,0,0,0,0,0,0,28.83,27.30,28.83
$GC,2977,-1.06,-146.0,412.4,-12.8,246,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2847,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-1.06,-146.0,450.5,-12.6,256,3279,0.00,1.92,0.00,0.000,4,0.000,0.024,2452,1461,3460,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3313,-1.06,-146.0,453.8,-12.5,257,3318,0.00,2.05,0.00,0.000,6,0.000,0.032,2443,2854,3460,0,0,0,0,0,0,28.83,27.30,28.83
$GC,3631,-1.06,-146.0,497.5,-13.1,268,3634,0.00,1.92,0.00,0.000,4,0.000,0.023,2443,1468,3458,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,3655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3655,begin apogee
$GC,3660,-0.26,0.0,500.8,-13.3,269,3769,0.80,0.00,104.55,0.830,6,0.107,0.000,2721,2427,2870,0,0,0,0,0,0,27.15,28.83,25.53
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3771,1.06,146.0,505.0,0.0,272,3882,1.15,0.00,107.00,0.821,6,0.064,0.000,3153,2427,2275,0,0,0,0,0,0,26.09,28.83,25.37
$GC,4166,1.06,146.0,470.5,10.4,286,4170,0.00,2.00,0.00,0.000,4,0.000,0.029,3161,1041,2270,0,0,0,0,0,0,28.83,26.83,28.83
$GC,4209,1.06,146.0,467.7,10.5,287,4213,0.00,2.03,0.00,0.000,6,0.000,0.028,3161,2411,2269,0,0,0,0,0,0,28.83,26.87,28.83
$GC,4521,1.06,146.0,432.2,11.0,298,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2412,2268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4821,1.06,146.0,397.6,11.9,308,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2411,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,1.06,146.0,362.5,11.5,318,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2411,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5421,1.06,146.0,328.3,11.2,328,5425,0.00,1.95,0.00,0.000,4,0.000,0.031,3163,1038,2266,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5465,1.06,146.0,325.5,11.2,329,5469,0.00,2.00,0.00,0.000,6,0.000,0.028,3163,2411,2267,0,0,0,0,0,0,28.83,27.24,28.83
$GC,5779,1.06,146.0,289.8,10.5,343,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2411,2266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,1.06,146.0,271.1,10.4,355,5964,0.00,1.95,0.00,0.000,4,0.000,0.031,3164,1024,2266,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6006,1.06,146.0,266.3,10.2,358,6012,0.00,1.98,0.00,0.000,6,0.000,0.028,3164,2417,2266,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6201,1.06,146.0,246.3,10.4,371,6207,0.00,1.95,0.00,0.000,4,0.000,0.044,3164,3754,2265,0,0,0,0,0,0,28.83,27.24,28.83
$GC,6235,1.06,146.0,243.0,10.6,373,6240,0.00,1.88,0.00,0.000,6,0.000,0.022,3173,2429,2265,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6431,1.06,146.0,220.9,11.0,386,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2429,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6609,1.06,146.0,200.9,11.2,398,6615,0.00,1.98,0.00,0.000,4,0.000,0.032,3181,1021,2265,0,0,0,0,0,0,28.83,27.28,28.83
$GC,6724,1.06,146.0,187.9,11.6,405,6729,0.08,2.03,0.00,0.000,6,0.135,0.028,3154,2417,2265,0,0,0,0,0,0,27.11,27.29,28.83
$GC,6914,1.06,146.0,168.0,10.5,421,6923,0.00,2.00,0.00,0.000,4,0.000,0.045,3154,3749,2265,0,0,0,0,0,0,28.83,27.25,28.83
$GC,6953,1.06,146.0,163.8,10.9,427,6962,0.00,1.90,0.00,0.000,6,0.000,0.023,3161,2407,2265,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7028,1.06,146.0,156.0,10.8,436,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2407,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7100,1.06,146.0,148.4,10.2,445,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2407,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7173,1.06,146.0,141.2,10.2,454,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2407,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7245,1.06,146.0,133.8,10.1,463,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2407,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,1.06,147.4,126.8,9.9,472,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2407,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,1.07,154.8,119.8,9.6,481,7400,0.00,0.00,2.42,0.479,6,0.000,0.000,3161,2407,2247,0,0,0,0,0,0,28.83,28.83,26.32
$GC,7466,1.11,188.5,113.5,8.4,490,7491,0.00,2.03,13.80,0.858,4,0.000,0.031,3162,1024,2108,0,0,0,0,0,0,28.83,27.03,26.27
$GC,7540,1.16,230.3,107.4,8.1,501,7565,0.00,2.03,16.65,0.838,6,0.000,0.028,3162,2406,1935,0,0,0,0,0,0,28.83,27.12,26.08
$GC,7631,1.16,231.3,98.9,9.9,512,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2406,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7703,1.16,231.3,91.4,10.4,521,7712,0.00,2.03,0.00,0.000,4,0.000,0.044,3161,3739,1935,0,0,0,0,0,0,28.83,26.92,28.83
$GC,7726,1.16,231.3,89.1,10.3,524,7736,0.00,1.90,0.68,0.233,6,0.000,0.021,3162,2402,1932,0,0,0,0,0,0,28.83,27.00,26.66
$GC,7802,1.19,252.6,81.8,9.0,533,7818,0.00,0.00,8.98,0.301,6,0.000,0.000,3162,2402,1844,0,0,0,0,0,0,28.83,28.83,26.58
$GC,7884,1.20,262.2,73.9,9.5,543,7895,0.10,2.03,4.22,0.279,4,0.106,0.030,3255,1028,1804,0,0,0,0,0,0,27.04,26.97,26.61
$GC,7933,1.20,262.2,68.1,13.1,550,7942,0.15,2.03,0.00,0.000,6,0.119,0.028,3200,2419,1805,0,0,0,0,0,0,26.86,27.01,28.83
$GC,8006,1.20,262.2,59.7,10.7,559,8015,0.00,2.00,0.00,0.000,4,0.000,0.044,3199,3743,1805,0,0,0,0,0,0,28.83,27.00,28.83
$GC,8034,1.20,262.2,56.4,11.9,563,8043,0.00,1.90,0.00,0.000,6,0.000,0.022,3200,2404,1805,0,0,0,0,0,0,28.83,27.08,28.83
$GC,8109,1.20,262.2,49.0,10.1,572,8117,0.00,2.03,0.00,0.000,4,0.000,0.042,3200,3736,1805,0,0,0,0,0,0,28.83,27.05,28.83
$GC,8234,1.20,264.1,36.9,9.9,593,8243,0.00,1.88,1.10,0.223,6,0.000,0.021,3203,2406,1796,0,0,0,0,0,0,28.83,27.16,26.81
$GC,8310,1.23,285.1,29.8,9.0,602,8327,0.00,2.00,9.55,0.193,4,0.000,0.041,3203,3749,1708,0,0,0,0,0,0,28.83,27.05,26.82
$GC,8380,1.23,285.1,22.2,11.6,613,8388,0.00,1.90,0.00,0.000,6,0.000,0.022,3203,2401,1708,0,0,0,0,0,0,28.83,27.15,28.83
$GC,8454,1.23,285.1,14.3,11.4,622,8463,0.00,2.03,0.00,0.000,4,0.000,0.043,3203,3736,1708,0,0,0,0,0,0,28.83,27.10,28.83
$GC,8488,1.23,285.1,10.1,12.5,627,8497,0.00,1.88,0.00,0.000,6,0.000,0.021,3203,2397,1708,0,0,0,0,0,0,28.83,27.18,28.83
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$FINISH,0.6,1.023293
$STATE,8578,end surface coast,CONTROL_FINISHED_OK
$STATE,8578,begin surface
$SM_CCo,8592,113.30,0.116,0,0,506,580.13
$SM_GC,1.40,7.35,0.68,113.30,0.025,0.041,0.116,174,2848,506,-8.11,-1.44,580.13,0,0,0,0,0,0,27.19,27.16,26.77
$IRIDIUM_FIX,2734.80,-7130.05,110814,090934
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,9.4333
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,25.4,3.212
$10V_AH,10.7,2.703
$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,17.825,79.950,268.950,113.300,0.000,23.242,43.321,90.405,0.000,0.000,6.653,1597.759,4361.162,549.260,2337.676,105.433,33.234,1351.988,0.000,2193.305,0.000,0.553,0.000
$DEVICE_MAMPS,207.315,45.135,858.330,116.280,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.512,1703.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334296
$DATA_FILE_SIZE,33586,638
$CAP_FILE_SIZE,101655,0
$CFSIZE,260034560,254873600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,132305,2742.375,-7051.856,39,0.9,39,-11.9