version: 66.10
glider: 201
mission: 5
dive: 10
start: 8 11 114 2 34 3
data:
$ID,201
$MISSION,5
$DIVE,10
$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,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,580
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1523.3746
$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,2853
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,107
$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
$GPS1,110814,021953,2749.602,-7052.289,39,0.8,39,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.3
$GPS2,110814,023306,2749.566,-7052.201,4,0.9,4,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.143,-0.216
$KALMAN_X,7396.3,-614.9,224.5,-5311.8,401.5
$KALMAN_Y,-3194.7,468.5,-160.0,-16240.8,-105.5
$MHEAD_RNG_PITCHd_Wd,225.3,36526,-17.1,-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,15,-1.06,-146.0,0.0,0.0,0,72,0.00,0.00,-55.38,0.000,2,0.000,0.000,184,2764,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.06,-146.0,2.5,-3.0,7,123,8.12,1.48,-32.12,0.000,4,0.204,0.060,2457,3738,3468,0,0,0,0,0,0,26.54,26.82,27.13
$GC,183,-1.06,-146.0,19.3,-25.1,23,192,0.00,1.20,0.00,0.000,6,0.000,0.025,2457,2867,3468,0,0,0,0,0,0,28.83,26.95,28.83
$GC,256,-1.06,-146.0,37.9,-23.8,32,265,0.00,2.00,0.00,0.000,4,0.000,0.020,2457,1448,3468,0,0,0,0,0,0,28.83,26.98,28.83
$GC,360,-1.06,-146.0,60.4,-19.8,49,369,0.00,2.08,0.00,0.000,6,0.000,0.032,2447,2849,3468,0,0,0,0,0,0,28.83,26.96,28.83
$GC,434,-1.06,-146.0,73.8,-18.6,58,442,0.00,1.35,0.00,0.000,4,0.000,0.044,2440,3755,3468,0,0,0,0,0,0,28.83,26.97,28.83
$GC,595,-1.06,-146.0,104.6,-19.0,85,604,0.00,1.25,0.00,0.000,6,0.000,0.024,2440,2839,3469,0,0,0,0,0,0,28.83,27.12,28.83
$GC,668,-1.06,-146.0,116.6,-15.9,94,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2838,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,741,-1.06,-146.0,128.0,-15.1,103,750,0.00,1.38,0.00,0.000,4,0.000,0.044,2433,3755,3468,0,0,0,0,0,0,28.83,27.05,28.83
$GC,804,-1.06,-146.0,138.1,-16.2,113,813,0.10,1.25,0.00,0.000,6,0.125,0.024,2470,2849,3469,0,0,0,0,0,0,26.94,27.16,28.83
$GC,878,-1.06,-146.0,148.7,-13.8,122,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2849,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,951,-1.06,-146.0,158.5,-13.3,131,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2849,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-1.06,-146.0,167.6,-12.6,140,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2849,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.06,-146.0,177.6,-12.6,149,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2849,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1132,begin apogee
$GC,1136,-0.26,0.0,181.3,-12.6,151,1244,0.73,0.00,103.40,0.642,6,0.103,0.000,2728,2362,2870,0,0,0,0,0,0,27.00,28.83,25.68
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1246,1.06,146.0,185.5,0.0,158,1360,1.12,1.95,102.65,0.628,4,0.065,0.025,3151,1036,2272,0,0,0,0,0,0,26.12,25.90,25.47
$GC,1381,1.13,205.5,178.2,7.2,167,1434,0.00,2.08,43.03,0.852,6,0.000,0.025,3152,2406,2031,0,0,0,0,0,0,28.83,26.13,25.39
$GC,1500,1.13,205.5,165.7,11.7,179,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2406,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1572,1.13,205.5,157.4,11.5,188,1581,0.00,2.05,0.00,0.000,4,0.000,0.038,3151,3748,2030,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1600,1.13,205.5,154.0,12.2,192,1609,0.00,1.92,0.00,0.000,6,0.000,0.022,3157,2379,2030,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1674,1.13,205.5,145.9,11.0,201,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2378,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1747,1.13,205.5,138.1,10.5,210,1756,0.00,2.08,0.00,0.000,4,0.000,0.038,3157,3740,2030,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1781,1.13,205.5,134.0,11.9,215,1790,0.00,1.85,0.00,0.000,6,0.000,0.022,3162,2412,2030,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1854,1.13,205.5,125.7,11.1,224,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2411,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,1.13,205.5,117.3,11.3,233,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2411,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,1.13,205.5,109.0,11.6,242,2008,0.00,2.03,0.00,0.000,4,0.000,0.038,3161,3752,2029,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2045,1.13,205.5,103.0,14.0,249,2054,0.00,1.85,0.00,0.000,6,0.000,0.022,3161,2413,2028,0,0,0,0,0,0,28.83,27.00,28.83
$GC,2118,1.13,205.5,94.1,11.6,258,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2411,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,1.13,205.5,86.4,10.5,267,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2411,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2264,1.13,205.5,78.9,10.1,276,2272,0.00,2.00,0.00,0.000,4,0.000,0.038,3161,3743,2028,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2298,1.13,205.5,75.4,10.4,281,2306,0.00,1.85,0.00,0.000,6,0.000,0.022,3164,2405,2028,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2371,1.17,237.0,68.9,8.5,290,2389,0.00,2.08,12.25,0.267,4,0.000,0.038,3164,3759,1908,0,0,0,0,0,0,28.83,26.94,26.63
$GC,2499,1.18,246.9,56.7,9.5,311,2509,0.00,1.85,4.22,0.240,6,0.000,0.021,3164,2409,1864,0,0,0,0,0,0,28.83,27.09,26.67
$GC,2575,1.20,261.3,49.9,9.3,320,2592,0.00,1.92,6.45,0.233,4,0.000,0.027,3164,1073,1808,0,0,0,0,0,0,28.83,27.00,26.69
$GC,2732,1.29,333.0,38.6,6.7,346,2773,0.12,1.95,30.30,0.200,6,0.041,0.027,3276,2419,1513,0,0,0,0,0,0,27.05,27.08,26.66
$GC,2839,1.29,333.0,24.6,15.7,359,2848,0.15,0.00,0.00,0.000,6,0.149,0.000,3226,2419,1512,0,0,0,0,0,0,26.85,28.83,28.83
$GC,2912,1.29,333.0,15.4,11.5,368,2921,0.00,1.95,0.00,0.000,4,0.000,0.027,3227,1074,1511,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2952,1.29,333.0,10.8,12.1,374,2961,0.00,1.92,0.00,0.000,6,0.000,0.028,3227,2401,1511,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,3017,end climb,SURFACE_DEPTH_REACHED
$STATE,3017,begin surface coast
$FINISH,0.7,1.023340
$STATE,3034,end surface coast,CONTROL_FINISHED_OK
$STATE,3034,begin surface
$SM_CCo,3048,95.55,0.112,0,0,504,580.13
$SM_GC,1.37,7.50,0.65,95.55,0.030,0.041,0.112,178,2847,504,-8.11,-1.41,580.13,0,0,0,0,0,0,27.06,27.05,26.72
$IRIDIUM_FIX,2742.10,-7053.06,110814,020233
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.45
$INTERNAL_PRESSURE,9.41377
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,25.4,2.710
$10V_AH,10.5,2.045
$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,17.850,44.500,302.300,95.550,0.000,49.976,101.696,255.493,0.000,0.000,5.972,899.250,453.102,450.814,1847.528,82.842,33.231,1025.221,0.000,1430.469,0.000,0.550,0.000
$DEVICE_MAMPS,204.255,59.670,852.210,112.455,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.873,1264.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334200
$DATA_FILE_SIZE,20246,384
$CAP_FILE_SIZE,64453,0
$CFSIZE,260034560,255193088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,032704,2748.906,-7052.055,3,1.0,3,-11.9