version: 66.10
glider: 201
mission: 5
dive: 12
start: 8 11 114 4 40 4
data:
$ID,201
$MISSION,5
$DIVE,12
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1525.8754
$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,94
$R_STBD_OVSHOOT,41
$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
$GPS1,110814,043135,2748.212,-7051.876,3,0.9,3,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.2
$GPS2,110814,043908,2748.211,-7051.822,4,1.1,4,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.212,-0.148
$KALMAN_X,9160.5,-649.9,100.7,-6304.6,626.0
$KALMAN_Y,-4195.5,421.9,-30.2,-17826.9,-369.4
$MHEAD_RNG_PITCHd_Wd,247.1,34129,-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,-70.47,0.000,2,0.000,0.000,179,2870,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.06,-146.0,2.1,-2.2,9,146,8.15,1.98,-40.42,0.000,4,0.207,0.034,2461,1467,3467,0,0,0,0,0,0,26.65,26.96,27.20
$GC,172,-1.06,-146.0,8.5,-15.6,20,181,0.00,2.05,0.00,0.000,6,0.000,0.031,2453,2854,3468,0,0,0,0,0,0,28.83,26.94,28.83
$GC,245,-1.06,-146.0,25.6,-24.1,29,254,0.00,1.98,0.00,0.000,4,0.000,0.020,2453,1461,3468,0,0,0,0,0,0,28.83,27.03,28.83
$GC,268,-1.06,-146.0,31.0,-25.0,32,276,0.00,2.05,0.00,0.000,6,0.000,0.031,2443,2851,3467,0,0,0,0,0,0,28.83,26.99,28.83
$GC,341,-1.06,-146.0,47.7,-22.9,41,350,0.00,1.95,0.00,0.000,4,0.000,0.020,2443,1468,3468,0,0,0,0,0,0,28.83,27.08,28.83
$GC,398,-1.06,-146.0,58.9,-19.3,50,407,0.00,2.05,0.00,0.000,6,0.000,0.031,2433,2852,3468,0,0,0,0,0,0,28.83,27.05,28.83
$GC,471,-1.06,-146.0,73.2,-19.3,59,480,0.12,1.33,0.00,0.000,4,0.166,0.041,2468,3746,3467,0,0,0,0,0,0,26.95,27.05,28.83
$GC,581,-1.06,-146.0,92.4,-16.8,77,590,0.00,1.23,0.00,0.000,6,0.000,0.024,2468,2851,3467,0,0,0,0,0,0,28.83,27.17,28.83
$GC,655,-1.06,-146.0,104.4,-15.8,86,664,0.00,1.95,0.00,0.000,4,0.000,0.021,2468,1458,3468,0,0,0,0,0,0,28.83,27.17,28.83
$GC,701,-1.06,-146.0,111.3,-14.7,93,709,0.00,2.05,0.00,0.000,6,0.000,0.031,2458,2855,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,774,-1.06,-146.0,122.5,-15.3,102,783,0.00,1.33,0.00,0.000,4,0.000,0.044,2451,3748,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,861,-1.06,-146.0,135.9,-16.4,116,869,0.00,1.23,0.00,0.000,6,0.000,0.024,2451,2850,3468,0,0,0,0,0,0,28.83,27.22,28.83
$GC,934,-1.06,-146.0,147.2,-15.0,125,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2850,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1007,-1.06,-146.0,158.0,-14.9,134,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2850,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1079,-1.06,-146.0,168.5,-14.4,143,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2850,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1157,-1.06,-146.0,179.9,-14.3,151,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2850,3467,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1175,-0.26,0.0,182.1,-14.3,152,1284,0.77,0.05,102.80,0.627,6,0.106,0.063,2725,2415,2869,0,0,0,0,0,0,27.07,26.13,25.81
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1287,1.06,146.0,187.5,0.0,159,1399,1.12,2.03,102.30,0.633,4,0.066,0.025,3150,1043,2271,0,0,0,0,0,0,26.22,26.00,25.58
$GC,1426,1.12,200.3,180.4,7.5,168,1471,0.00,2.05,39.38,0.902,6,0.000,0.026,3150,2407,2052,0,0,0,0,0,0,28.83,26.26,25.46
$GC,1656,1.12,200.3,154.8,10.9,194,1664,0.00,2.05,0.00,0.000,4,0.000,0.043,3150,3746,2049,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1679,1.12,200.3,152.2,11.4,197,1688,0.00,1.90,0.00,0.000,6,0.000,0.021,3159,2411,2049,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1752,1.12,200.3,143.7,11.3,206,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2411,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,1.12,200.3,135.7,10.7,215,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2411,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1897,1.12,200.3,128.3,10.4,224,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2411,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1970,1.12,200.3,120.6,10.8,233,1979,0.00,2.03,0.00,0.000,4,0.000,0.043,3158,3738,2048,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1998,1.12,200.3,117.4,10.6,237,2007,0.00,1.88,0.00,0.000,6,0.000,0.021,3161,2402,2048,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2073,1.12,200.3,109.9,10.0,246,2081,0.00,2.05,0.00,0.000,4,0.000,0.043,3161,3746,2048,0,0,0,0,0,0,28.83,26.97,28.83
$GC,2107,1.12,200.3,105.9,11.5,251,2115,0.00,1.88,0.00,0.000,6,0.000,0.021,3166,2409,2048,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2180,1.12,200.3,97.9,10.4,260,2189,0.00,1.98,0.00,0.000,4,0.000,0.030,3169,1038,2047,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2220,1.12,200.8,93.8,10.0,266,2229,0.00,2.00,0.00,0.000,6,0.000,0.028,3169,2410,2047,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2293,1.12,200.8,86.7,10.0,275,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2410,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,1.13,206.8,79.8,9.7,284,2376,0.00,1.98,1.92,0.291,4,0.000,0.042,3169,3751,2031,0,0,0,0,0,0,28.83,27.05,26.71
$GC,2406,1.14,215.6,75.9,9.6,290,2417,0.00,1.88,3.83,0.275,6,0.000,0.021,3175,2417,1995,0,0,0,0,0,0,28.83,27.14,26.71
$GC,2483,1.15,220.5,68.5,9.8,299,2492,0.00,2.00,2.65,0.275,4,0.000,0.041,3175,3750,1975,0,0,0,0,0,0,28.83,27.05,26.74
$GC,2575,1.16,229.5,58.8,9.6,314,2585,0.00,1.88,4.25,0.244,6,0.000,0.021,3175,2412,1936,0,0,0,0,0,0,28.83,27.16,26.76
$GC,2651,1.17,239.6,51.7,9.5,323,2660,0.00,0.00,4.65,0.239,6,0.000,0.000,3175,2412,1896,0,0,0,0,0,0,28.83,28.83,26.78
$GC,2726,1.21,272.9,45.1,8.5,332,2751,0.00,2.00,14.40,0.220,4,0.000,0.029,3175,1032,1759,0,0,0,0,0,0,28.83,27.04,26.75
$GC,2879,1.27,318.6,33.6,7.9,357,2905,0.08,2.00,19.10,0.193,6,0.053,0.027,3268,2414,1572,0,0,0,0,0,0,27.08,27.12,26.77
$GC,2971,1.27,318.6,22.3,13.0,368,2979,0.15,0.00,0.00,0.000,6,0.149,0.000,3217,2414,1571,0,0,0,0,0,0,26.94,28.83,28.83
$GC,3044,1.27,318.6,13.1,11.8,377,3053,0.00,2.00,0.00,0.000,4,0.000,0.028,3217,1033,1571,0,0,0,0,0,0,28.83,27.09,28.83
$GC,3078,1.27,318.6,9.1,11.5,382,3086,0.00,2.00,0.00,0.000,6,0.000,0.028,3217,2404,1570,0,0,0,0,0,0,28.83,27.14,28.83
$STATE,3126,end climb,SURFACE_DEPTH_REACHED
$STATE,3126,begin surface coast
$FINISH,1.0,1.023339
$STATE,3143,end surface coast,CONTROL_FINISHED_OK
$STATE,3143,begin surface
$SM_CCo,3157,100.95,0.112,0,0,504,580.13
$SM_GC,1.49,7.45,0.65,100.95,0.031,0.043,0.112,180,2849,504,-8.11,-1.33,580.13,0,0,0,0,0,0,27.13,27.12,26.79
$IRIDIUM_FIX,2737.23,-7103.86,110814,030307
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.47
$INTERNAL_PRESSURE,9.45284
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,25.5,2.844
$10V_AH,10.7,2.203
$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,17.850,57.950,295.275,100.950,0.000,22.533,47.365,179.681,0.000,0.000,5.900,926.995,445.104,466.475,1688.444,77.151,33.229,1063.026,0.000,1445.856,0.000,0.553,0.000
$DEVICE_MAMPS,206.550,63.495,901.935,111.690,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.501,1284.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334220
$DATA_FILE_SIZE,20254,390
$CAP_FILE_SIZE,66393,0
$CFSIZE,260034560,255123456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,053510,2748.112,-7052.534,14,1.0,14,-11.9