version: 66.10
glider: 201
mission: 5
dive: 357
start: 10 23 114 12 59 8
data:
$ID,201
$MISSION,5
$DIVE,357
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,240
$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,80
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,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,-2468.8965
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2840
$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,20
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,162
$R_STBD_OVSHOOT,51
$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
$GPS1,231014,123158,2722.890,-7015.508,37,0.9,37,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-61.6
$GPS2,231014,125844,2722.923,-7015.668,6,0.8,6,-12.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7005.000
$TGT_RADIUS,4000.000
$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,26.4,70848,-19.4,-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,16,-1.14,-116.8,0.0,0.0,0,37,0.00,0.00,-19.23,0.000,2,0.000,0.000,176,2639,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.14,-116.8,2.1,0.0,2,127,7.85,0.85,-70.85,0.000,4,0.171,0.049,2476,1958,3348,0,0,0,0,0,0,26.24,26.86,27.15
$GC,285,-1.14,-116.8,28.0,-18.6,35,293,0.00,0.98,0.00,0.000,6,0.000,0.031,2473,2640,3348,0,0,0,0,0,0,28.83,26.82,28.83
$GC,375,-1.14,-116.8,48.7,-22.7,46,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2640,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,465,-1.14,-116.8,64.0,-15.9,57,474,0.00,0.85,0.00,0.000,4,0.000,0.020,2472,1960,3348,0,0,0,0,0,0,28.83,27.02,28.83
$GC,532,-1.14,-116.8,73.6,-14.2,66,541,0.00,0.95,0.00,0.000,6,0.000,0.031,2468,2627,3348,0,0,0,0,0,0,28.83,26.89,28.83
$GC,622,-1.14,-116.8,85.7,-13.4,77,631,0.00,1.02,0.00,0.000,4,0.000,0.037,2463,3328,3348,0,0,0,0,0,0,28.83,26.84,28.83
$GC,647,-1.14,-116.8,89.1,-13.2,80,656,0.00,0.85,0.00,0.000,6,0.000,0.022,2464,2626,3348,0,0,0,0,0,0,28.83,27.07,28.83
$GC,737,-1.14,-116.8,101.1,-13.5,91,745,0.00,0.80,0.00,0.000,4,0.000,0.021,2463,1960,3349,0,0,0,0,0,0,28.83,27.08,28.83
$GC,755,-1.14,-116.8,103.3,-13.7,93,763,0.00,0.98,0.00,0.000,6,0.000,0.031,2458,2632,3348,0,0,0,0,0,0,28.83,26.94,28.83
$GC,846,-1.14,-116.8,115.3,-12.8,104,854,0.00,1.02,0.00,0.000,4,0.000,0.037,2452,3333,3348,0,0,0,0,0,0,28.83,26.89,28.83
$GC,940,-1.14,-116.8,127.2,-12.3,117,949,0.00,0.85,0.00,0.000,6,0.000,0.022,2452,2627,3348,0,0,0,0,0,0,28.83,27.12,28.83
$GC,1031,-1.14,-116.8,138.3,-12.7,128,1040,0.00,0.82,0.00,0.000,4,0.000,0.021,2452,1949,3348,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1232,-1.14,-116.8,162.8,-12.3,156,1241,0.00,0.98,0.00,0.000,6,0.000,0.031,2447,2628,3348,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1324,-1.14,-116.8,174.7,-13.0,167,1333,0.00,1.00,0.00,0.000,4,0.000,0.037,2442,3316,3348,0,0,0,0,0,0,28.83,26.94,28.83
$STATE,1361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1361,begin apogee
$GC,1367,-0.26,0.0,180.3,-13.7,172,1455,0.90,0.00,83.20,0.700,6,0.105,0.000,2751,2490,2870,0,0,0,0,0,0,26.38,28.83,25.49
$STATE,1456,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1458,1.14,116.8,184.9,0.0,183,1552,1.20,0.00,83.70,0.692,6,0.059,0.000,3207,2490,2391,0,0,0,0,0,0,26.14,28.83,25.25
$GC,1636,1.14,116.8,172.1,10.4,205,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2490,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,1.14,116.8,162.0,10.7,216,1734,0.00,1.10,0.00,0.000,4,0.000,0.034,3208,3223,2389,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1764,1.14,116.8,157.5,11.6,221,1773,0.00,0.93,0.00,0.000,6,0.000,0.021,3214,2486,2389,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1855,1.14,116.8,147.4,11.2,232,1864,0.00,0.77,0.00,0.000,4,0.000,0.024,3219,1867,2389,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1942,1.14,119.8,138.5,9.8,244,1951,0.00,0.93,0.00,0.000,6,0.000,0.028,3218,2518,2388,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2033,1.14,119.8,129.5,10.6,255,2041,0.00,1.02,0.00,0.000,4,0.000,0.035,3218,3219,2388,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2085,1.14,119.8,123.6,11.4,262,2094,0.00,0.88,0.00,0.000,6,0.000,0.021,3222,2507,2388,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2176,1.14,119.8,113.9,10.6,273,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2506,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,1.15,126.3,105.3,9.6,284,2274,0.00,0.00,3.80,0.631,6,0.000,0.000,3223,2506,2364,0,0,0,0,0,0,28.83,28.83,25.48
$GC,2357,1.17,142.9,96.9,9.0,295,2374,0.00,1.05,9.85,0.334,4,0.000,0.031,3223,3207,2296,0,0,0,0,0,0,28.83,26.84,26.08
$GC,2439,1.17,142.9,88.1,11.3,306,2448,0.00,0.85,0.00,0.000,6,0.000,0.021,3228,2516,2296,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2529,1.17,142.9,78.9,10.4,317,2538,0.00,0.82,0.00,0.000,4,0.000,0.024,3233,1873,2296,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2674,1.20,169.3,65.7,8.5,337,2698,0.00,0.93,18.42,0.260,6,0.000,0.030,3232,2527,2185,0,0,0,0,0,0,28.83,26.93,26.20
$GC,2781,1.22,182.6,56.1,9.2,350,2798,0.00,0.88,9.73,0.252,4,0.000,0.018,3233,1866,2132,0,0,0,0,0,0,28.83,26.93,26.13
$GC,2808,1.24,202.1,53.8,8.9,353,2825,0.00,0.93,13.15,0.240,6,0.000,0.030,3233,2518,2049,0,0,0,0,0,0,28.83,26.86,26.17
$GC,2908,1.28,235.0,46.4,8.1,365,2941,0.00,1.05,22.20,0.219,4,0.000,0.036,3233,3219,1917,0,0,0,0,0,0,28.83,26.76,26.15
$GC,3015,1.30,248.4,37.5,9.2,379,3032,0.00,0.88,8.90,0.199,6,0.000,0.021,3233,2519,1860,0,0,0,0,0,0,28.83,26.94,26.13
$GC,3115,1.30,251.8,27.9,9.8,391,3124,0.00,0.82,2.42,0.202,4,0.000,0.018,3238,1872,1846,0,0,0,0,0,0,28.83,26.90,26.11
$GC,3203,1.30,251.8,18.6,10.9,403,3213,0.00,0.93,0.00,0.000,6,0.000,0.030,3237,2524,1847,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3294,1.30,251.8,8.7,11.4,414,3303,0.00,1.00,0.00,0.000,4,0.000,0.035,3238,3210,1847,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3312,1.30,251.8,6.7,11.3,416,3321,0.00,0.85,0.00,0.000,6,0.000,0.021,3237,2518,1847,0,0,0,0,0,0,28.83,27.04,28.83
$STATE,3344,end climb,SURFACE_DEPTH_REACHED
$STATE,3344,begin surface coast
$FINISH,1.1,0.996527
$STATE,3369,end surface coast,CONTROL_FINISHED_OK
$STATE,3369,begin surface
$SM_CCo,3385,53.47,0.114,0,0,1340,375.06
$SM_GC,1.71,7.50,0.15,53.47,0.025,0.072,0.114,175,2647,1340,-8.18,-1.67,375.06,0,0,0,0,0,0,26.94,26.99,26.41
$IRIDIUM_FIX,2715.36,-7018.65,231014,121214
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.60
$INTERNAL_PRESSURE,9.50166
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,25.2,31.543
$10V_AH,10.4,44.958
$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,17.450,29.725,255.375,53.475,0.000,119.533,235.055,313.376,0.000,0.000,7.810,981.017,807.150,373.817,2154.027,161.730,0.000,946.673,0.000,1507.412,0.000,0.551,0.000
$DEVICE_MAMPS,170.595,71.910,699.975,113.985,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.524,1393.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354560
$DATA_FILE_SIZE,23622,423
$CAP_FILE_SIZE,69770,0
$CFSIZE,260034560,222314496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231014,135708,2723.250,-7015.844,3,1.0,4,-12.1