version: 66.10
glider: 201
mission: 5
dive: 22
start: 8 11 114 20 58 15
data:
$ID,201
$MISSION,5
$DIVE,22
$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,165
$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,375
$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,-1546.9785
$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,78
$R_STBD_OVSHOOT,47
$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
$GPS1,110814,205005,2737.449,-7052.913,33,0.9,33,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.0
$GPS2,110814,205720,2737.391,-7052.906,5,0.9,5,-11.8
$SPEED_LIMITS,0.175,0.260
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.212,-0.150
$KALMAN_X,18259.4,-70.1,88.8,-17738.0,1335.9
$KALMAN_Y,-13496.6,157.7,-8.6,-28329.2,-1579.5
$MHEAD_RNG_PITCHd_Wd,246.6,14113,-17.3,-10.101
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.07,-146.0,0.0,0.0,0,57,0.00,0.00,-39.80,0.000,2,0.000,0.000,182,2858,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.07,-146.0,2.3,-2.9,5,109,8.02,1.38,-36.35,0.000,4,0.203,0.067,2454,3758,3468,0,0,0,0,0,0,26.72,26.96,27.29
$GC,270,-1.07,-146.0,42.8,-26.0,39,279,0.00,1.25,0.00,0.000,6,0.000,0.022,2454,2825,3469,0,0,0,0,0,0,28.83,27.14,28.83
$GC,343,-1.07,-146.0,60.8,-22.4,48,352,0.00,1.90,0.00,0.000,4,0.000,0.021,2454,1481,3469,0,0,0,0,0,0,28.83,27.14,28.83
$GC,477,-1.07,-146.0,85.7,-18.4,70,486,0.00,2.00,0.00,0.000,6,0.000,0.030,2445,2849,3470,0,0,0,0,0,0,28.83,27.14,28.83
$GC,550,-1.07,-146.0,98.3,-16.3,79,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2849,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,623,-1.07,-146.0,110.8,-16.9,88,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2849,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,695,-1.07,-146.0,122.6,-16.4,97,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2849,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,768,-1.07,-146.0,134.0,-15.8,106,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2849,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,840,-1.07,-146.0,145.0,-14.9,115,849,0.00,1.92,0.00,0.000,4,0.000,0.022,2445,1488,3471,0,0,0,0,0,0,28.83,27.24,28.83
$GC,886,-1.07,-146.0,152.0,-15.0,122,895,0.00,2.00,0.00,0.000,6,0.000,0.031,2435,2855,3471,0,0,0,0,0,0,28.83,27.20,28.83
$GC,960,-1.07,-146.0,162.7,-14.3,131,969,0.12,1.95,0.00,0.000,4,0.164,0.020,2476,1486,3471,0,0,0,0,0,0,27.08,27.24,28.83
$GC,994,-1.07,-146.0,167.5,-13.3,136,1003,0.00,2.00,0.00,0.000,6,0.000,0.031,2469,2853,3471,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1075,-1.07,-146.0,178.0,-13.3,145,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2853,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1255,-1.07,-146.0,200.6,-12.4,157,1260,0.00,1.90,0.00,0.000,4,0.000,0.022,2469,1470,3471,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1293,-1.07,-146.0,204.5,-12.6,159,1303,0.00,2.03,0.00,0.000,6,0.000,0.031,2459,2852,3471,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1482,-1.07,-146.0,230.0,-13.3,172,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2852,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-1.07,-146.0,253.9,-13.0,184,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2852,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1842,-1.07,-146.0,277.4,-12.8,196,1848,0.00,1.90,0.00,0.000,4,0.000,0.023,2459,1479,3470,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1922,-1.07,-146.0,287.9,-13.1,201,1928,0.00,1.98,0.00,0.000,6,0.000,0.031,2449,2864,3470,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2115,-1.07,-146.0,313.8,-13.3,211,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2864,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2415,-1.07,-146.0,353.5,-13.2,221,2419,0.00,1.92,0.00,0.000,4,0.000,0.024,2449,1478,3467,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2459,-1.07,-146.0,356.9,-13.2,222,2463,0.00,2.03,0.00,0.000,6,0.000,0.031,2439,2853,3467,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2771,-1.07,-146.0,401.5,-13.8,233,2774,0.00,1.90,0.00,0.000,4,0.000,0.024,2439,1475,3466,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2814,-1.07,-146.0,405.0,-13.8,234,2819,0.10,2.03,0.00,0.000,6,0.113,0.031,2469,2849,3466,0,0,0,0,0,0,27.15,27.29,28.83
$GC,3126,-1.07,-146.0,446.8,-12.5,245,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2849,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3426,-1.07,-146.0,484.3,-12.4,255,3430,0.00,1.90,0.00,0.000,4,0.000,0.024,2469,1489,3464,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3534,-1.07,-146.0,494.9,-12.3,258,3542,0.00,2.03,0.00,0.000,6,0.000,0.033,2461,2859,3463,0,0,0,0,0,0,28.83,27.28,28.83
$STATE,3570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3570,begin apogee
$GC,3574,-0.26,0.0,502.5,-12.6,260,3684,0.73,0.00,105.55,0.846,6,0.103,0.000,2720,2382,2869,0,0,0,0,0,0,27.14,28.83,25.48
$STATE,3685,end apogee,CONTROL_FINISHED_OK
$STATE,3685,begin climb
$GC,3687,1.07,146.0,506.8,0.0,263,3799,1.15,0.00,106.45,0.842,6,0.064,0.000,3152,2382,2273,0,0,0,0,0,0,26.03,28.83,25.27
$GC,4112,1.07,146.0,469.5,10.7,278,4118,0.00,1.95,0.00,0.000,4,0.000,0.032,3161,1022,2269,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4171,1.07,146.0,463.0,10.7,280,4175,0.00,2.00,0.00,0.000,6,0.000,0.028,3161,2417,2269,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4497,1.07,146.0,425.0,11.7,291,4500,0.00,1.98,0.00,0.000,4,0.000,0.044,3160,3746,2268,0,0,0,0,0,0,28.83,26.98,28.83
$GC,4535,1.07,146.0,421.8,11.9,292,4539,0.00,1.90,0.00,0.000,6,0.000,0.023,3161,2425,2268,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4852,1.07,146.0,383.2,11.6,303,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2425,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5152,1.07,146.0,348.5,11.6,313,5156,0.00,2.00,0.00,0.000,4,0.000,0.033,3161,1016,2267,0,0,0,0,0,0,28.83,27.16,28.83
$GC,5237,1.07,146.0,339.3,10.9,316,5241,0.00,2.00,0.00,0.000,6,0.000,0.028,3161,2419,2267,0,0,0,0,0,0,28.83,27.18,28.83
$GC,5563,1.07,146.0,305.1,10.3,327,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2420,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5865,1.07,146.0,273.3,10.8,345,5870,0.00,1.95,0.00,0.000,4,0.000,0.044,3162,3765,2266,0,0,0,0,0,0,28.83,27.20,28.83
$GC,5914,1.07,146.0,267.6,11.6,348,5919,0.00,1.92,0.00,0.000,6,0.000,0.023,3164,2409,2266,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6110,1.07,146.0,246.1,11.1,361,6116,0.00,1.95,0.00,0.000,4,0.000,0.032,3170,1010,2265,0,0,0,0,0,0,28.83,27.23,28.83
$GC,6222,1.07,146.0,233.7,11.0,368,6228,0.00,1.98,0.00,0.000,6,0.000,0.028,3170,2407,2266,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6417,1.07,146.0,212.7,10.7,381,6422,0.00,1.95,0.00,0.000,4,0.000,0.044,3170,3754,2265,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6481,1.07,146.0,205.1,11.8,385,6486,0.00,1.88,0.00,0.000,6,0.000,0.023,3178,2394,2265,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6676,1.07,146.0,184.2,10.9,398,6681,0.00,1.92,0.00,0.000,4,0.000,0.032,3187,1019,2265,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6725,1.07,146.0,179.2,10.4,401,6731,0.08,2.03,0.00,0.000,6,0.135,0.028,3159,2414,2265,0,0,0,0,0,0,27.10,27.28,28.83
$GC,6923,1.10,174.0,161.5,8.8,423,6947,0.00,0.00,18.08,1.017,6,0.000,0.000,3159,2414,2166,0,0,0,0,0,0,28.83,28.83,26.10
$GC,7013,1.11,181.6,153.3,9.7,434,7030,0.00,2.08,7.07,0.908,4,0.000,0.032,3162,1024,2137,0,0,0,0,0,0,28.83,26.82,26.03
$GC,7068,1.11,181.6,147.9,10.2,442,7077,0.00,2.03,0.00,0.000,6,0.000,0.028,3162,2402,2137,0,0,0,0,0,0,28.83,26.90,28.83
$GC,7141,1.11,181.7,140.4,10.1,451,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2402,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,1.11,181.7,132.7,10.4,460,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2401,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7287,1.11,181.7,125.2,10.3,469,7296,0.00,2.03,0.00,0.000,4,0.000,0.031,3162,1022,2137,0,0,0,0,0,0,28.83,27.01,28.83
$GC,7345,1.12,190.2,119.3,9.7,478,7354,0.00,2.05,3.85,0.669,6,0.000,0.028,3162,2418,2098,0,0,0,0,0,0,28.83,27.05,26.17
$GC,7421,1.13,197.2,112.1,9.8,487,7430,0.00,1.98,3.15,0.598,4,0.000,0.042,3162,3753,2071,0,0,0,0,0,0,28.83,26.95,26.17
$GC,7449,1.13,197.2,108.8,10.5,491,7458,0.00,1.92,0.00,0.000,6,0.000,0.023,3165,2407,2072,0,0,0,0,0,0,28.83,27.03,28.83
$GC,7524,1.14,209.0,101.6,9.5,500,7533,0.00,0.00,4.80,0.682,6,0.000,0.000,3164,2407,2023,0,0,0,0,0,0,28.83,28.83,26.20
$GC,7599,1.15,213.3,94.5,9.9,509,7608,0.00,0.00,2.25,0.328,6,0.000,0.000,3164,2407,2006,0,0,0,0,0,0,28.83,28.83,26.58
$GC,7674,1.16,224.8,87.0,9.6,518,7684,0.00,2.08,5.18,0.317,4,0.000,0.042,3165,3745,1957,0,0,0,0,0,0,28.83,26.96,26.60
$GC,7733,1.16,224.8,80.9,11.1,527,7742,0.00,1.90,0.00,0.000,6,0.000,0.023,3173,2415,1958,0,0,0,0,0,0,28.83,27.05,28.83
$GC,7807,1.17,226.9,73.0,10.0,536,7816,0.00,0.00,1.23,0.300,6,0.000,0.000,3173,2415,1950,0,0,0,0,0,0,28.83,28.83,26.66
$GC,7880,1.18,237.0,65.8,9.6,545,7890,0.00,2.08,4.78,0.275,4,0.000,0.042,3173,3756,1906,0,0,0,0,0,0,28.83,27.01,26.68
$GC,7906,1.19,249.9,63.5,9.5,548,7923,0.00,1.92,5.55,0.262,6,0.000,0.022,3175,2409,1854,0,0,0,0,0,0,28.83,27.08,26.67
$GC,7989,1.22,270.1,56.0,9.2,558,8006,0.00,0.00,8.85,0.254,6,0.000,0.000,3176,2410,1772,0,0,0,0,0,0,28.83,28.83,26.67
$GC,8072,1.25,298.8,48.7,8.8,568,8090,0.10,2.05,12.52,0.233,4,0.109,0.031,3271,1019,1652,0,0,0,0,0,0,27.07,26.97,26.67
$GC,8223,1.25,298.8,31.6,12.5,593,8233,0.15,2.05,0.00,0.000,6,0.117,0.028,3216,2420,1650,0,0,0,0,0,0,26.91,27.06,28.83
$GC,8299,1.25,298.8,23.3,11.1,602,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2421,1650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8371,1.25,298.8,15.2,11.3,611,8380,0.00,1.98,0.00,0.000,4,0.000,0.043,3216,3738,1650,0,0,0,0,0,0,28.83,27.07,28.83
$GC,8469,1.25,298.8,3.1,12.3,627,8478,0.00,1.88,0.00,0.000,6,0.000,0.021,3216,2408,1650,0,0,0,0,0,0,28.83,27.16,28.83
$STATE,8485,end climb,SURFACE_DEPTH_REACHED
$STATE,8485,begin surface coast
$FINISH,0.7,1.023274
$STATE,8511,end surface coast,CONTROL_FINISHED_OK
$STATE,8511,begin surface
$SM_CCo,8525,28.58,0.119,0,0,1342,375.06
$SM_GC,1.61,7.35,0.68,28.58,0.023,0.044,0.119,184,2859,1342,-8.09,-1.22,375.06,0,0,0,0,0,0,27.15,27.13,26.90
$IRIDIUM_FIX,2729.93,-7054.66,110814,181824
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,9.48213
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,25.3,3.507
$10V_AH,10.6,3.135
$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,17.800,90.650,289.300,28.575,0.000,25.277,42.871,113.357,0.000,0.000,9.186,1608.937,4274.146,417.448,2409.606,113.369,33.244,1250.594,0.000,2237.469,0.000,0.552,0.000
$DEVICE_MAMPS,203.490,67.320,1016.685,119.340,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.080,1683.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,33519,632
$CAP_FILE_SIZE,105716,0
$CFSIZE,260034560,254656512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,232137,2735.809,-7053.372,14,0.9,14,-11.8