version: 66.10
glider: 201
mission: 5
dive: 120
start: 8 29 114 2 17 39
data:
$ID,201
$MISSION,5
$DIVE,120
$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,7
$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,420
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,0
$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,65
$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,-2026.5883
$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,25
$C_ROLL_DIVE,2853
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,127
$R_STBD_OVSHOOT,49
$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
$GPS1,290814,020445,2653.703,-7049.878,3,1.0,3,-11.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-62.7
$GPS2,290814,021713,2653.652,-7049.742,4,1.4,4,-11.8
$SPEED_LIMITS,0.173,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,2656.837,-7055.977
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.075,0.222
$KALMAN_X,70971.9,31.7,-219.0,-81211.8,336.1
$KALMAN_Y,-63526.2,149.8,159.9,28139.1,-443.7
$MHEAD_RNG_PITCHd_Wd,336.2,14253,-8.8,-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,14,-0.68,-408.8,0.0,0.0,0,63,0.00,0.00,-46.42,0.000,2,0.000,0.000,171,2865,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.68,-408.8,2.5,-3.7,3,137,10.80,0.00,-55.40,0.000,6,0.192,0.000,3279,2865,3960,0,0,0,0,0,0,26.63,28.83,27.18
$GC,198,-0.68,-408.8,10.2,-8.8,12,199,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,257,-0.68,-408.8,15.1,-8.1,16,258,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,317,-0.68,-408.8,20.1,-8.2,20,318,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,377,-0.68,-408.8,26.0,-9.9,24,378,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,437,-0.68,-408.8,32.0,-10.0,28,438,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,497,-0.68,-408.8,37.5,-8.9,32,498,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,557,-0.68,-408.8,43.7,-10.5,36,558,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,617,-0.68,-408.8,50.9,-12.4,40,618,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,677,-0.68,-408.8,57.6,-11.6,44,678,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.68,-408.8,63.8,-10.2,48,738,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,797,-0.68,-408.8,70.0,-9.9,52,798,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,857,-0.68,-408.8,76.2,-10.0,56,858,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,917,-0.68,-408.8,82.5,-10.5,60,918,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.68,-408.8,89.3,-11.3,64,978,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1037,-0.68,-408.8,96.3,-12.0,68,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-0.68,-408.8,103.1,-11.8,72,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1157,-0.68,-408.8,109.5,-10.8,76,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1217,-0.68,-408.8,116.2,-10.9,80,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-0.68,-408.8,122.5,-10.1,84,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1337,-0.68,-408.8,128.9,-10.3,88,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1397,-0.68,-408.8,135.6,-11.1,92,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1457,-0.68,-408.8,142.7,-11.9,96,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.68,-408.8,150.1,-12.9,100,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-0.68,-408.8,157.6,-12.9,104,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1637,-0.68,-408.8,164.9,-12.3,108,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1697,-0.68,-408.8,171.8,-11.5,112,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1757,-0.68,-408.8,178.9,-11.3,116,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2865,3959,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1770,begin apogee
$GC,1774,-0.10,0.0,181.1,-12.3,117,1966,0.45,0.00,184.48,0.568,6,0.043,0.000,3502,2475,2867,0,0,0,0,0,0,27.22,28.83,25.63
$STATE,1968,end apogee,CONTROL_FINISHED_OK
$STATE,1968,begin climb
$GC,1970,0.68,408.8,209.5,0.0,131,2269,0.55,0.00,294.35,0.511,6,0.035,0.000,3755,2475,1200,0,0,0,0,0,0,26.19,28.83,25.60
$GC,2329,0.68,408.8,82.9,56.8,155,2331,0.15,0.00,0.00,0.000,6,0.207,0.000,3721,2474,1190,0,0,0,0,0,0,26.15,28.83,28.83
$GC,2388,0.68,408.8,50.5,54.1,159,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3721,2474,1188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2448,0.68,408.8,22.1,47.7,163,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,3721,2474,1187,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2507,end climb,SURFACE_DEPTH_REACHED
$STATE,2507,begin surface coast
$FINISH,1.2,0.999839
$STATE,2522,end surface coast,CONTROL_FINISHED_OK
$STATE,2522,begin surface
$SM_CCo,2538,5.28,0.131,0,0,1138,425.10
$SM_GC,2.81,8.85,0.57,5.28,0.033,0.040,0.131,182,2870,1138,-10.25,-1.16,425.10,0,0,0,0,0,0,26.77,26.76,26.57
$IRIDIUM_FIX,2643.90,-7052.63,290814,020225
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.63
$INTERNAL_PRESSURE,9.42354
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,25.6,10.996
$10V_AH,10.6,14.883
$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,20.800,0.975,478.825,5.275,0.000,122.905,127.174,104.803,0.000,0.000,5.273,451.242,1277.025,485.812,966.121,59.925,0.000,778.331,0.000,611.307,0.000,0.551,0.000
$DEVICE_MAMPS,207.315,39.780,568.395,130.815,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,109.823,510.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354784
$DATA_FILE_SIZE,10293,168
$CAP_FILE_SIZE,44992,0
$CFSIZE,260034560,246190080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290814,030041,2653.473,-7049.557,2,1.1,3,-11.8