version: 66.10
glider: 201
mission: 5
dive: 45
start: 8 14 114 21 45 33
data:
$ID,201
$MISSION,5
$DIVE,45
$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,220
$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,425
$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,-1666.0747
$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,3500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,99
$R_STBD_OVSHOOT,71
$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
$GPS1,140814,213854,2701.301,-7053.353,15,1.0,15,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.3
$GPS2,140814,214434,2701.268,-7053.327,4,1.0,4,-11.7
$SPEED_LIMITS,0.173,0.306
$TGT_NAME,DELTA
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131,0.276
$KALMAN_X,7625.4,185.0,188.1,-3857.0,479.2
$KALMAN_Y,-3640.9,232.2,-403.8,-16507.9,-1132.4
$MHEAD_RNG_PITCHd_Wd,346.3,53283,-13.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.54,-214.1,0.0,0.0,0,58,0.00,0.00,-40.58,0.000,2,0.000,0.000,191,2775,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.54,-214.1,2.0,-2.0,5,132,10.70,1.88,-54.50,0.000,4,0.190,0.041,3326,1468,3745,0,0,0,0,0,0,26.79,27.01,27.29
$GC,141,-0.54,-214.1,5.6,-9.8,15,149,0.00,2.00,0.00,0.000,6,0.000,0.031,3325,2822,3745,0,0,0,0,0,0,28.83,27.01,28.83
$GC,215,-0.54,-214.1,12.4,-10.2,24,224,0.00,1.38,0.00,0.000,4,0.000,0.046,3325,3746,3745,0,0,0,0,0,0,28.83,27.03,28.83
$GC,250,-0.54,-214.1,15.8,-9.5,29,258,0.00,1.20,0.00,0.000,6,0.000,0.022,3325,2853,3745,0,0,0,0,0,0,28.83,27.13,28.83
$GC,323,-0.54,-214.1,23.2,-10.0,38,331,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2852,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,396,-0.54,-214.1,30.2,-10.0,47,405,0.00,1.35,0.00,0.000,4,0.000,0.044,3325,3748,3745,0,0,0,0,0,0,28.83,27.09,28.83
$GC,442,-0.54,-214.1,34.8,-10.3,54,450,0.00,1.20,0.00,0.000,6,0.000,0.023,3325,2852,3745,0,0,0,0,0,0,28.83,27.20,28.83
$GC,515,-0.54,-214.1,41.6,-9.4,63,524,0.00,1.35,0.00,0.000,4,0.000,0.045,3325,3748,3745,0,0,0,0,0,0,28.83,27.13,28.83
$GC,556,-0.54,-214.1,45.4,-9.9,69,564,0.00,1.20,0.00,0.000,6,0.000,0.022,3333,2849,3745,0,0,0,0,0,0,28.83,27.22,28.83
$GC,629,-0.54,-214.1,52.7,-10.3,78,638,0.00,1.92,0.00,0.000,4,0.000,0.024,3342,1491,3744,0,0,0,0,0,0,28.83,27.21,28.83
$GC,681,-0.54,-214.1,58.2,-10.2,86,689,0.00,2.00,0.00,0.000,6,0.000,0.031,3342,2859,3744,0,0,0,0,0,0,28.83,27.17,28.83
$GC,754,-0.54,-214.1,66.5,-12.0,95,763,0.00,1.30,0.00,0.000,4,0.000,0.041,3342,3748,3745,0,0,0,0,0,0,28.83,27.17,28.83
$GC,1025,-0.54,-214.1,101.8,-13.3,141,1034,0.00,1.20,0.00,0.000,6,0.000,0.021,3350,2839,3744,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1099,-0.54,-214.1,111.3,-13.0,150,1108,0.00,1.35,0.00,0.000,4,0.000,0.038,3350,3761,3744,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1151,-0.54,-214.1,118.6,-14.8,158,1159,0.00,1.17,0.00,0.000,6,0.000,0.022,3350,2864,3744,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1224,-0.54,-214.1,128.3,-13.5,167,1233,0.00,1.92,0.00,0.000,4,0.000,0.024,3350,1501,3745,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1316,-0.54,-214.1,140.2,-13.3,182,1325,0.00,1.98,0.00,0.000,6,0.000,0.032,3350,2844,3745,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1389,-0.54,-214.1,149.8,-12.5,191,1398,0.00,1.33,0.00,0.000,4,0.000,0.047,3350,3741,3745,0,0,0,0,0,0,28.83,27.22,28.83
$STATE,1601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1606,-0.10,0.0,182.1,-16.1,223,1758,0.28,0.00,147.50,0.557,6,0.057,0.000,3505,2504,2869,0,0,0,0,0,0,27.31,28.83,25.85
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1759,begin climb
$GC,1760,0.54,214.1,202.8,0.0,233,1919,0.40,2.05,148.73,0.542,4,0.043,0.028,3720,1101,1994,0,0,0,0,0,0,26.32,26.14,25.72
$GC,1945,0.54,214.1,175.6,28.1,245,1956,0.15,2.10,0.00,0.000,6,0.187,0.023,3679,2533,1993,0,0,0,0,0,0,26.17,26.39,28.83
$GC,2141,0.54,214.1,118.2,27.4,269,2150,0.00,2.10,0.00,0.000,4,0.000,0.030,3687,1100,1991,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2187,0.54,214.1,105.2,28.3,276,2195,0.00,2.03,0.00,0.000,6,0.000,0.024,3687,2505,1992,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2260,0.54,214.1,86.6,24.8,285,2268,0.00,2.05,0.00,0.000,4,0.000,0.030,3698,1102,1991,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2334,0.54,214.1,68.6,22.5,297,2344,0.05,2.03,0.00,0.000,6,0.201,0.026,3683,2524,1991,0,0,0,0,0,0,26.78,26.98,28.83
$GC,2408,0.54,214.1,52.7,21.4,306,2417,0.00,1.77,0.00,0.000,4,0.000,0.040,3683,3717,1990,0,0,0,0,0,0,28.83,27.00,28.83
$GC,2437,0.54,214.1,47.2,19.5,310,2445,0.00,1.75,0.00,0.000,6,0.000,0.021,3690,2474,1991,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2510,0.54,214.1,34.0,17.1,319,2519,0.00,1.92,0.00,0.000,4,0.000,0.029,3701,1125,1990,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2538,0.54,214.1,29.0,17.2,323,2547,0.00,1.98,0.00,0.000,6,0.000,0.026,3700,2493,1990,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2612,0.54,214.1,15.1,18.4,332,2620,0.00,1.85,0.00,0.000,4,0.000,0.037,3701,3749,1990,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2628,0.54,214.1,12.0,18.1,334,2638,0.10,1.75,0.00,0.000,6,0.187,0.022,3680,2511,1990,0,0,0,0,0,0,26.88,27.13,28.83
$STATE,2685,end climb,SURFACE_DEPTH_REACHED
$STATE,2685,begin surface coast
$FINISH,0.7,1.022785
$STATE,2702,end surface coast,CONTROL_FINISHED_OK
$STATE,2703,begin surface
$SM_CCo,2718,82.22,0.110,0,0,1136,425.10
$SM_GC,1.54,8.62,0.50,82.22,0.034,0.047,0.110,183,2839,1136,-10.25,-1.64,425.10,0,0,0,0,0,0,27.14,27.11,26.82
$IRIDIUM_FIX,2651.14,-7057.20,140814,212108
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.90
$INTERNAL_PRESSURE,9.54073
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,25.7,5.192
$10V_AH,10.7,6.297
$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,20.300,51.300,296.225,82.225,0.000,24.413,42.522,121.500,0.000,0.000,7.939,808.009,292.803,428.788,1478.273,71.416,33.261,958.805,0.000,1305.704,0.000,0.554,0.000
$DEVICE_MAMPS,201.195,46.665,556.920,110.160,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.856,1129.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354804
$DATA_FILE_SIZE,20265,343
$CAP_FILE_SIZE,55648,0
$CFSIZE,260034560,253251584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,223250,2700.899,-7053.407,2,0.9,3,-11.7