version: 66.10
glider: 201
mission: 5
dive: 70
start: 8 17 114 0 40 34
data:
$ID,201
$MISSION,5
$DIVE,70
$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,45
$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,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,-1922.0841
$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,2890
$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,2800
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,114
$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
$GPS1,170814,003518,2644.990,-7048.546,26,0.9,26,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.3
$GPS2,170814,003937,2644.954,-7048.542,16,0.9,16,-11.7
$SPEED_LIMITS,0.231,0.283
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.109,-0.261
$KALMAN_X,22234.8,-22.6,161.8,-14516.1,121.5
$KALMAN_Y,10789.2,6853.1,-769.6,-43946.8,-1912.7
$MHEAD_RNG_PITCHd_Wd,214.4,29690,-22.2,-13.333
$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,-1.32,-146.0,0.0,0.0,0,65,0.00,0.00,-46.90,0.000,2,0.000,0.000,201,2777,2538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.32,-146.0,2.9,-6.5,3,110,7.85,1.40,-27.67,0.000,4,0.202,0.060,2458,3745,3467,0,0,0,0,0,0,26.80,27.10,27.43
$GC,165,-1.32,-146.0,15.6,-17.6,9,172,0.00,1.25,0.00,0.000,6,0.000,0.021,2458,2798,3467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,232,-1.32,-146.0,32.8,-22.4,14,235,0.00,1.88,0.00,0.000,4,0.000,0.021,2457,1435,3467,0,0,0,0,0,0,28.83,27.21,28.83
$GC,285,-1.32,-146.0,42.9,-22.5,17,292,0.00,2.00,0.00,0.000,6,0.000,0.029,2448,2805,3467,0,0,0,0,0,0,28.83,27.17,28.83
$GC,352,-1.32,-146.0,57.9,-20.4,22,355,0.00,1.38,0.00,0.000,4,0.000,0.042,2440,3739,3467,0,0,0,0,0,0,28.83,27.16,28.83
$GC,445,-1.32,-146.0,74.2,-18.2,28,449,0.00,1.23,0.00,0.000,6,0.000,0.021,2441,2807,3467,0,0,0,0,0,0,28.83,27.29,28.83
$GC,517,-1.32,-146.0,87.6,-17.6,33,521,0.00,1.88,0.00,0.000,4,0.000,0.021,2441,1435,3467,0,0,0,0,0,0,28.83,27.26,28.83
$GC,580,-1.32,-146.0,97.0,-17.1,37,588,0.10,1.98,0.00,0.000,6,0.116,0.029,2469,2790,3468,0,0,0,0,0,0,27.06,27.24,28.83
$GC,647,-1.32,-146.0,108.9,-15.7,42,651,0.00,1.40,0.00,0.000,4,0.000,0.043,2464,3741,3468,0,0,0,0,0,0,28.83,27.19,28.83
$GC,685,-1.32,-146.0,114.0,-16.2,44,693,0.00,1.25,0.00,0.000,6,0.000,0.021,2463,2798,3467,0,0,0,0,0,0,28.83,27.32,28.83
$GC,752,-1.32,-146.0,125.4,-15.3,49,756,0.00,1.85,0.00,0.000,4,0.000,0.021,2463,1442,3468,0,0,0,0,0,0,28.83,27.29,28.83
$GC,778,-1.32,-146.0,129.2,-15.0,51,782,0.00,1.92,0.00,0.000,6,0.000,0.030,2453,2802,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,848,-1.32,-146.0,139.9,-15.4,56,852,0.00,1.38,0.00,0.000,4,0.000,0.044,2446,3736,3468,0,0,0,0,0,0,28.83,27.21,28.83
$GC,908,-1.32,-146.0,149.4,-16.0,60,912,0.00,1.25,0.00,0.000,6,0.000,0.021,2446,2791,3468,0,0,0,0,0,0,28.83,27.34,28.83
$GC,983,-1.32,-146.0,160.3,-14.4,65,987,0.00,1.85,0.00,0.000,4,0.000,0.021,2446,1438,3467,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1107,-1.32,-146.0,176.5,-13.6,73,1114,0.00,1.98,0.00,0.000,6,0.000,0.030,2437,2797,3468,0,0,0,0,0,0,28.83,27.26,28.83
$STATE,1127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1127,begin apogee
$GC,1131,-0.26,0.0,180.7,-13.6,75,1237,1.05,0.00,101.30,0.610,6,0.108,0.000,2805,2797,2870,0,0,0,0,0,0,27.05,28.83,25.96
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1240,1.32,146.0,183.9,0.0,82,1348,1.30,2.12,100.93,0.607,4,0.051,0.024,3330,1340,2273,0,0,0,0,0,0,26.42,26.21,25.77
$GC,1399,1.32,146.0,167.8,14.8,92,1403,0.00,2.00,0.00,0.000,6,0.000,0.029,3329,2712,2272,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1465,1.32,146.0,155.9,17.1,96,1468,0.00,1.55,0.00,0.000,4,0.000,0.043,3330,3741,2271,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1482,1.32,146.0,153.4,16.7,97,1487,0.00,1.45,0.00,0.000,6,0.000,0.019,3337,2701,2272,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1555,1.32,146.0,140.6,17.1,102,1559,0.00,1.92,0.00,0.000,4,0.000,0.025,3347,1332,2272,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1604,1.32,146.0,134.1,16.2,105,1612,0.10,2.03,0.00,0.000,6,0.151,0.030,3299,2704,2272,0,0,0,0,0,0,26.70,26.91,28.83
$GC,1671,1.32,146.0,123.2,14.6,110,1674,0.00,1.52,0.00,0.000,4,0.000,0.044,3299,3755,2271,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1701,1.32,146.0,118.5,15.0,112,1704,0.00,1.42,0.00,0.000,6,0.000,0.019,3305,2700,2270,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1776,1.32,146.0,108.1,13.5,117,1779,0.00,1.88,0.00,0.000,4,0.000,0.026,3313,1343,2270,0,0,0,0,0,0,28.83,27.04,28.83
$GC,1819,1.33,157.0,103.1,12.7,120,1832,0.00,2.00,4.18,0.648,6,0.000,0.030,3313,2705,2235,0,0,0,0,0,0,28.83,27.06,26.27
$GC,1891,1.34,162.6,93.5,13.0,125,1899,0.00,1.58,2.80,0.314,4,0.000,0.044,3313,3748,2212,0,0,0,0,0,0,28.83,27.00,26.60
$GC,1914,1.34,166.2,91.6,13.1,126,1922,0.00,1.42,2.10,0.291,6,0.000,0.020,3321,2698,2197,0,0,0,0,0,0,28.83,27.10,26.60
$GC,1981,1.34,166.2,81.4,13.5,131,1985,0.00,1.90,0.00,0.000,4,0.000,0.026,3330,1328,2199,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2055,1.37,188.6,73.1,12.0,136,2070,0.00,2.00,10.73,0.268,6,0.000,0.030,3330,2695,2102,0,0,0,0,0,0,28.83,27.10,26.65
$GC,2142,1.37,190.8,61.6,13.2,142,2149,0.00,1.55,1.42,0.270,4,0.000,0.040,3331,3752,2097,0,0,0,0,0,0,28.83,27.03,26.70
$GC,2340,1.38,197.9,37.9,12.9,155,2352,0.00,1.42,3.60,0.197,6,0.000,0.020,3338,2697,2067,0,0,0,0,0,0,28.83,27.22,26.81
$GC,2412,1.42,229.5,29.2,11.4,160,2431,0.00,1.90,14.80,0.174,4,0.000,0.024,3346,1326,1935,0,0,0,0,0,0,28.83,27.10,26.82
$GC,2566,1.43,235.9,11.1,12.9,170,2575,0.00,2.00,2.47,0.147,6,0.000,0.030,3346,2697,1906,0,0,0,0,0,0,28.83,27.15,26.94
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,0.8,0.997967
$STATE,2648,end surface coast,CONTROL_FINISHED_OK
$STATE,2648,begin surface
$SM_CCo,2663,53.55,0.111,0,0,1341,375.06
$SM_GC,1.52,7.78,0.12,53.55,0.033,0.093,0.111,185,2810,1341,-8.34,-1.44,375.06,0,0,0,0,0,0,27.17,27.17,26.88
$IRIDIUM_FIX,2634.24,-7049.66,170814,000005
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.77
$INTERNAL_PRESSURE,9.59932
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,25.8,6.795
$10V_AH,10.7,8.849
$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,18.175,57.650,244.325,53.550,0.000,0.000,0.000,0.000,0.000,0.000,17.884,558.906,1243.589,371.855,576.003,40.678,33.231,756.337,0.000,557.257,0.000,0.553,0.000
$DEVICE_MAMPS,201.960,92.565,647.955,110.925,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,114.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354572
$DATA_FILE_SIZE,10321,176
$CAP_FILE_SIZE,67768,0
$CFSIZE,260034560,251875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170814,012659,2644.289,-7048.674,35,2.0,35,-11.7