version: 66.10
glider: 201
mission: 5
dive: 11
start: 8 11 114 3 36 11
data:
$ID,201
$MISSION,5
$DIVE,11
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1524.6224
$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,121
$R_STBD_OVSHOOT,39
$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
$GPS1,110814,032704,2748.906,-7052.055,3,1.0,3,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-57.5
$GPS2,110814,033514,2748.897,-7052.006,4,1.0,4,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.151,-0.211
$KALMAN_X,8214.2,-626.2,205.0,-5788.1,412.0
$KALMAN_Y,-3645.6,455.1,-121.1,-17049.0,-172.9
$MHEAD_RNG_PITCHd_Wd,227.5,35341,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,177,2862,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.06,-146.0,2.3,-2.7,9,146,8.18,1.90,-39.80,0.000,4,0.207,0.034,2463,1484,3467,0,0,0,0,0,0,26.60,26.92,27.17
$GC,210,-1.06,-146.0,17.1,-21.6,27,219,0.00,2.03,0.00,0.000,6,0.000,0.032,2455,2849,3467,0,0,0,0,0,0,28.83,26.93,28.83
$GC,285,-1.06,-146.0,34.5,-22.9,36,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2849,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,357,-1.06,-146.0,50.9,-21.9,45,366,0.00,1.92,0.00,0.000,4,0.000,0.021,2455,1488,3467,0,0,0,0,0,0,28.83,27.05,28.83
$GC,415,-1.06,-146.0,61.0,-16.6,54,423,0.00,2.03,0.00,0.000,6,0.000,0.032,2445,2859,3467,0,0,0,0,0,0,28.83,27.01,28.83
$GC,487,-1.06,-146.0,73.6,-17.6,63,496,0.00,1.33,0.00,0.000,4,0.000,0.044,2438,3750,3467,0,0,0,0,0,0,28.83,27.01,28.83
$GC,648,-1.06,-146.0,101.5,-18.0,90,657,0.00,1.17,0.00,0.000,6,0.000,0.024,2438,2880,3468,0,0,0,0,0,0,28.83,27.16,28.83
$GC,721,-1.06,-146.0,113.3,-15.9,99,730,0.12,0.00,0.00,0.000,6,0.157,0.000,2479,2880,3468,0,0,0,0,0,0,26.98,28.83,28.83
$GC,795,-1.06,-146.0,124.0,-14.2,108,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2881,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,867,-1.06,-146.0,133.6,-13.3,117,877,0.00,1.30,0.00,0.000,4,0.000,0.044,2474,3751,3468,0,0,0,0,0,0,28.83,27.12,28.83
$GC,902,-1.06,-146.0,138.7,-13.9,122,910,0.00,1.23,0.00,0.000,6,0.000,0.024,2474,2848,3468,0,0,0,0,0,0,28.83,27.21,28.83
$GC,975,-1.06,-146.0,148.5,-12.9,131,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2848,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1048,-1.06,-146.0,158.3,-14.0,140,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2848,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1120,-1.06,-146.0,167.9,-13.3,149,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2848,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-1.06,-146.0,177.3,-13.0,157,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2848,3468,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1221,begin apogee
$GC,1224,-0.26,0.0,181.4,-13.6,159,1333,0.70,0.05,103.12,0.635,6,0.104,0.066,2722,2418,2869,0,0,0,0,0,0,27.06,26.08,25.75
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1336,1.06,146.0,186.6,0.0,166,1449,1.15,2.05,102.65,0.634,4,0.066,0.025,3161,1033,2271,0,0,0,0,0,0,26.18,25.95,25.52
$GC,1486,1.10,183.4,178.1,8.3,176,1517,0.00,2.08,25.67,1.033,6,0.000,0.026,3161,2412,2125,0,0,0,0,0,0,28.83,26.26,25.09
$GC,1702,1.10,183.4,153.2,12.0,201,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2411,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,1.10,183.4,145.0,11.7,210,1784,0.00,2.03,0.00,0.000,4,0.000,0.042,3161,3746,2131,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1815,1.10,183.4,140.1,12.2,216,1824,0.00,1.90,0.00,0.000,6,0.000,0.021,3164,2408,2131,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1888,1.10,183.4,131.8,11.0,225,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2408,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,1.10,183.4,124.3,10.1,234,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2408,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2034,1.11,186.1,116.7,9.9,243,2043,0.00,0.00,1.70,0.336,6,0.000,0.000,3164,2408,2118,0,0,0,0,0,0,28.83,28.83,26.47
$GC,2107,1.12,195.5,109.7,9.6,252,2117,0.00,2.08,4.03,0.656,4,0.000,0.042,3164,3743,2081,0,0,0,0,0,0,28.83,26.87,26.11
$GC,2170,1.12,195.5,102.8,11.5,262,2179,0.00,1.88,0.00,0.000,6,0.000,0.021,3171,2410,2082,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2245,1.13,201.2,95.5,9.7,271,2254,0.00,1.95,2.80,0.318,4,0.000,0.027,3175,1029,2056,0,0,0,0,0,0,28.83,26.95,26.56
$GC,2285,1.15,218.1,91.6,9.2,277,2302,0.00,2.03,7.20,0.312,6,0.000,0.028,3175,2416,1985,0,0,0,0,0,0,28.83,26.98,26.55
$GC,2368,1.15,218.1,83.3,10.2,287,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2416,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,1.15,218.1,75.3,10.7,296,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2416,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,1.15,218.1,67.8,10.3,305,2521,0.00,2.00,0.00,0.000,4,0.000,0.044,3175,3745,1985,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2642,1.15,219.8,55.0,9.9,327,2652,0.00,1.88,0.88,0.238,6,0.000,0.021,3174,2404,1979,0,0,0,0,0,0,28.83,27.13,26.75
$GC,2718,1.17,237.4,48.5,9.2,336,2735,0.00,2.03,7.97,0.229,4,0.000,0.041,3175,3736,1906,0,0,0,0,0,0,28.83,27.02,26.76
$GC,2743,1.20,258.7,45.9,9.0,339,2760,0.00,1.88,9.10,0.220,6,0.000,0.021,3175,2400,1817,0,0,0,0,0,0,28.83,27.10,26.73
$GC,2826,1.23,290.0,38.8,8.6,349,2844,0.00,1.92,13.70,0.210,4,0.000,0.024,3175,1034,1687,0,0,0,0,0,0,28.83,26.99,26.72
$GC,2950,1.28,327.3,28.3,8.3,369,2976,0.10,2.00,15.38,0.183,6,0.045,0.027,3278,2414,1536,0,0,0,0,0,0,27.03,27.05,26.74
$GC,3041,1.28,327.3,17.0,13.4,380,3051,0.15,2.00,0.00,0.000,4,0.149,0.026,3230,1041,1535,0,0,0,0,0,0,26.90,27.03,28.83
$GC,3070,1.28,327.3,13.4,12.1,384,3079,0.00,2.00,0.00,0.000,6,0.000,0.027,3230,2408,1534,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3143,1.28,327.3,4.7,12.4,393,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2408,1534,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3158,begin surface coast
$FINISH,0.7,1.016025
$STATE,3176,end surface coast,CONTROL_FINISHED_OK
$STATE,3176,begin surface
$SM_CCo,3190,97.95,0.114,0,0,504,580.13
$SM_GC,1.34,7.47,0.65,97.95,0.028,0.040,0.114,180,2856,504,-8.11,-1.22,580.13,0,0,0,0,0,0,27.09,27.08,26.74
$IRIDIUM_FIX,2737.23,-7050.76,110814,020234
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,9.4333
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,25.1,2.778
$10V_AH,10.7,2.125
$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,17.875,45.825,294.200,97.950,0.000,23.702,50.275,218.261,0.000,0.000,5.866,936.954,458.162,459.774,1744.675,77.872,33.224,1050.591,0.000,1462.158,0.000,0.551,0.000
$DEVICE_MAMPS,206.550,65.790,1032.750,113.985,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.298,1307.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334252
$DATA_FILE_SIZE,20291,397
$CAP_FILE_SIZE,65838,0
$CFSIZE,260034560,255156224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,043135,2748.212,-7051.876,3,0.9,3,-11.9