version: 66.10
glider: 201
mission: 5
dive: 7
start: 8 10 114 17 10 45
data:
$ID,201
$MISSION,5
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$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,150
$T_MISSION,165
$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,250
$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,450
$N_FILEKB,4
$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,-1519.5105
$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,2753
$C_ROLL_CLIMB,2713
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,97
$R_STBD_OVSHOOT,46
$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
$GPS1,100814,170323,2756.656,-7051.604,36,1.1,36,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.9
$GPS2,100814,170948,2756.619,-7051.555,4,1.1,5,-11.9
$SPEED_LIMITS,0.231,0.358
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.088,-0.347
$KALMAN_X,2384.7,922.7,59.2,-619.7,442.9
$KALMAN_Y,-1233.7,-553.3,91.2,-4359.0,91.3
$MHEAD_RNG_PITCHd_Wd,206.1,49623,-16.9,-13.333
$D_GRID,600
$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,15,-1.16,-243.3,0.0,0.0,0,72,0.00,0.00,-55.25,0.000,2,0.000,0.000,180,2725,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.16,-243.3,2.0,-2.4,7,131,8.02,1.58,-42.85,0.000,4,0.208,0.063,2419,3749,3865,0,0,0,0,0,0,26.72,27.01,27.36
$GC,388,-1.16,-243.3,74.8,-21.9,59,396,0.00,1.38,0.00,0.000,6,0.000,0.024,2419,2751,3865,0,0,0,0,0,0,28.83,27.22,28.83
$GC,462,-1.16,-243.3,89.8,-20.5,68,471,0.00,1.50,0.00,0.000,4,0.000,0.044,2411,3752,3865,0,0,0,0,0,0,28.83,27.13,28.83
$GC,549,-1.16,-243.3,108.5,-22.0,82,557,0.00,1.38,0.00,0.000,6,0.000,0.024,2411,2751,3865,0,0,0,0,0,0,28.83,27.25,28.83
$GC,621,-1.16,-243.3,123.2,-19.6,91,630,0.00,1.92,0.00,0.000,4,0.000,0.021,2412,1375,3866,0,0,0,0,0,0,28.83,27.24,28.83
$GC,667,-1.16,-243.3,131.9,-19.4,98,676,0.08,2.00,0.00,0.000,6,0.134,0.031,2430,2746,3866,0,0,0,0,0,0,27.00,27.20,28.83
$GC,741,-1.16,-243.3,145.6,-18.1,107,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2747,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,814,-1.16,-243.3,158.6,-18.0,116,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2747,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,886,-1.16,-243.3,171.5,-17.6,125,895,0.00,1.50,0.00,0.000,4,0.000,0.044,2424,3757,3866,0,0,0,0,0,0,28.83,27.20,28.83
$GC,934,-1.16,-243.3,178.5,-18.0,129,942,0.00,1.38,0.00,0.000,6,0.000,0.024,2424,2748,3866,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1062,-1.16,-243.3,201.8,-16.9,138,1065,0.00,1.50,0.00,0.000,4,0.000,0.044,2416,3782,3866,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1129,-1.16,-243.3,213.3,-17.7,142,1134,0.00,1.42,0.00,0.000,6,0.000,0.023,2416,2751,3866,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1264,-1.16,-243.3,236.7,-17.1,151,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2751,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1384,-1.16,-243.3,257.5,-17.4,159,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2751,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1504,-1.16,-243.3,278.7,-17.9,167,1507,0.00,1.50,0.00,0.000,4,0.000,0.044,2408,3777,3866,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1554,-1.16,-243.3,287.7,-18.1,170,1557,0.00,1.40,0.00,0.000,6,0.000,0.024,2408,2748,3865,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1689,-1.16,-243.3,312.8,-18.4,177,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2748,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-1.16,-243.3,366.6,-17.8,187,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2748,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-1.16,-243.3,418.9,-17.2,197,2293,0.00,1.50,0.00,0.000,4,0.000,0.044,2400,3782,3863,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2363,-1.16,-243.3,430.0,-17.7,199,2368,0.08,1.40,0.00,0.000,6,0.125,0.024,2430,2762,3863,0,0,0,0,0,0,27.10,27.36,28.83
$GC,2680,-1.16,-243.3,483.5,-16.1,210,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2761,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-1.16,-243.3,532.2,-16.4,220,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2761,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-1.16,-243.3,581.3,-16.4,230,3283,0.00,1.50,0.00,0.000,4,0.000,0.047,2424,3788,3858,0,0,0,0,0,0,28.83,27.24,28.83
$GC,3333,-1.16,-243.3,586.4,-16.5,231,3340,0.00,1.42,0.00,0.000,6,0.000,0.024,2424,2750,3858,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,3399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3399,begin apogee
$GC,3402,-0.26,0.0,601.6,-16.9,234,3585,0.85,0.00,176.73,0.857,6,0.104,0.000,2726,2749,2871,0,0,0,0,0,0,27.08,28.83,25.20
$STATE,3586,end apogee,CONTROL_FINISHED_OK
$STATE,3586,begin climb
$GC,3587,1.16,243.3,609.9,0.0,240,3778,1.23,2.17,182.43,0.828,4,0.062,0.025,3189,1330,1873,0,0,0,0,0,0,25.89,25.83,25.20
$GC,3823,1.18,258.8,589.1,12.8,248,3838,0.00,2.12,8.10,1.105,6,0.000,0.031,3189,2725,1818,0,0,0,0,0,0,28.83,26.27,25.16
$GC,4145,1.18,258.8,538.7,15.3,259,4153,0.00,2.00,1.23,0.213,4,0.000,0.024,3189,1320,1821,0,0,0,0,0,0,28.83,26.86,26.56
$GC,4295,1.18,258.8,516.7,14.6,264,4302,0.00,2.03,1.10,0.215,6,0.000,0.031,3189,2722,1818,0,0,0,0,0,0,28.83,26.95,26.70
$GC,4625,1.18,258.8,466.2,15.3,275,4632,0.00,1.98,1.00,0.223,4,0.000,0.023,3188,1322,1819,0,0,0,0,0,0,28.83,27.08,26.84
$GC,4793,1.18,258.8,444.3,14.5,280,4797,0.00,2.05,0.00,0.000,6,0.000,0.031,3189,2713,1824,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5106,1.18,258.8,393.8,15.4,291,5109,0.00,1.95,0.00,0.000,4,0.000,0.027,3189,1325,1824,0,0,0,0,0,0,28.83,27.18,28.83
$GC,5229,1.18,258.8,376.5,14.9,295,5234,0.00,2.05,0.80,0.197,6,0.000,0.031,3189,2718,1814,0,0,0,0,0,0,28.83,27.18,26.95
$GC,5546,1.18,258.8,325.7,15.7,306,5550,0.00,1.95,0.00,0.000,4,0.000,0.026,3189,1323,1823,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5692,1.18,258.8,304.3,14.6,311,5696,0.00,2.00,0.00,0.000,6,0.000,0.031,3189,2722,1823,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6004,1.18,258.8,256.0,15.6,330,6010,0.00,1.95,0.00,0.000,4,0.000,0.025,3189,1315,1822,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6141,1.18,258.8,237.0,14.6,338,6150,0.00,2.05,0.00,0.000,6,0.000,0.030,3189,2711,1823,0,0,0,0,0,0,28.83,27.24,28.83
$GC,6272,1.18,258.8,216.4,15.2,347,6277,0.00,1.95,0.00,0.000,4,0.000,0.026,3189,1305,1823,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6343,1.18,258.8,206.8,14.8,351,6351,0.00,2.05,0.00,0.000,6,0.000,0.031,3189,2707,1823,0,0,0,0,0,0,28.83,27.25,28.83
$GC,6470,1.18,258.8,186.6,15.0,360,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2707,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6592,1.18,258.8,168.4,14.7,370,6601,0.00,1.98,0.00,0.000,4,0.000,0.026,3189,1327,1823,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6638,1.18,258.8,161.9,14.1,377,6647,0.00,2.03,0.00,0.000,6,0.000,0.031,3189,2713,1822,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6711,1.18,258.8,151.3,14.4,386,6720,0.00,1.98,0.00,0.000,4,0.000,0.026,3189,1328,1823,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6757,1.18,258.8,145.2,13.7,393,6766,0.00,2.03,0.00,0.000,6,0.000,0.031,3189,2715,1823,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6830,1.18,258.8,134.8,14.2,402,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2715,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6903,1.18,258.8,124.7,13.9,411,6912,0.00,1.98,0.00,0.000,4,0.000,0.025,3189,1330,1823,0,0,0,0,0,0,28.83,27.28,28.83
$GC,6984,1.21,278.8,114.2,12.6,424,7001,0.00,2.03,9.02,0.825,6,0.000,0.031,3189,2719,1739,0,0,0,0,0,0,28.83,27.27,26.29
$GC,7067,1.23,298.3,103.7,12.6,434,7084,0.00,2.00,8.93,0.796,4,0.000,0.024,3188,1333,1659,0,0,0,0,0,0,28.83,27.00,26.22
$GC,7137,1.25,316.2,94.5,12.7,445,7154,0.00,2.03,8.07,0.314,6,0.000,0.030,3189,2711,1586,0,0,0,0,0,0,28.83,27.05,26.59
$GC,7220,1.28,335.5,84.1,12.6,455,7237,0.00,0.00,8.95,0.300,6,0.000,0.000,3189,2712,1508,0,0,0,0,0,0,28.83,28.83,26.58
$GC,7302,1.28,335.5,73.2,13.5,465,7311,0.00,2.00,0.00,0.000,4,0.000,0.025,3189,1324,1511,0,0,0,0,0,0,28.83,27.04,28.83
$GC,7510,1.41,442.7,49.7,9.4,500,7566,0.15,2.03,45.35,0.226,6,0.041,0.030,3303,2708,1068,0,0,0,0,0,0,27.12,27.10,26.60
$GC,7632,1.41,442.7,29.4,18.6,515,7641,0.12,1.55,0.00,0.000,4,0.164,0.042,3263,3737,1069,0,0,0,0,0,0,26.83,26.94,28.83
$GC,7649,1.41,442.7,25.7,19.4,517,7658,0.00,1.45,0.00,0.000,6,0.000,0.023,3263,2675,1069,0,0,0,0,0,0,28.83,27.04,28.83
$GC,7723,1.41,442.7,13.0,17.2,526,7732,0.00,1.88,0.00,0.000,4,0.000,0.026,3263,1359,1067,0,0,0,0,0,0,28.83,27.03,28.83
$GC,7763,1.41,442.7,6.1,16.7,532,7771,0.00,1.98,0.00,0.000,6,0.000,0.029,3263,2708,1067,0,0,0,0,0,0,28.83,27.04,28.83
$STATE,7787,end climb,SURFACE_DEPTH_REACHED
$STATE,7787,begin surface coast
$FINISH,0.6,1.023314
$STATE,7804,end surface coast,CONTROL_FINISHED_OK
$STATE,7804,begin surface
$SM_CCo,7818,2.62,0.151,0,0,1035,450.13
$SM_GC,2.14,7.53,0.00,2.62,0.025,0.000,0.151,180,2708,1035,-8.11,-1.24,450.13,0,0,0,0,0,0,27.07,28.83,26.85
$IRIDIUM_FIX,2749.41,-7051.46,100814,171730
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.25
$INTERNAL_PRESSURE,9.44307
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,25.2,2.344
$10V_AH,10.6,1.758
$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,18.050,79.475,451.700,2.625,0.000,25.306,43.156,104.527,0.000,0.000,5.897,1367.312,3962.538,538.372,2122.921,90.652,33.231,1332.628,0.000,1952.539,0.000,0.551,0.000
$DEVICE_MAMPS,208.080,63.495,1105.425,150.705,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.617,1314.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,30309,537
$CAP_FILE_SIZE,94768,0
$CFSIZE,260034560,255320064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,192154,2754.887,-7051.657,14,1.4,14,-11.9