version: 66.10
glider: 201
mission: 5
dive: 16
start: 8 11 114 8 49 44
data:
$ID,201
$MISSION,5
$DIVE,16
$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,-1530.8915
$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,81
$R_STBD_OVSHOOT,40
$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
$GPS1,110814,084240,2745.671,-7051.973,14,1.2,15,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.1
$GPS2,110814,084846,2745.392,-7051.228,15,1.1,16,-11.9
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.067,-0.250
$KALMAN_X,12540.4,-181.5,-191.6,-8884.4,1239.4
$KALMAN_Y,-6678.6,-91.9,89.6,-20178.6,-961.3
$MHEAD_RNG_PITCHd_Wd,206.9,29171,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.06,-146.0,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,187,2863,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.06,-146.0,2.0,-2.0,9,147,8.07,1.33,-38.40,0.000,4,0.208,0.063,2455,3750,3468,0,0,0,0,0,0,26.77,27.03,27.34
$GC,223,-1.06,-146.0,20.9,-23.1,29,231,0.00,1.25,0.00,0.000,6,0.000,0.023,2455,2832,3468,0,0,0,0,0,0,28.83,27.16,28.83
$GC,298,-1.06,-146.0,37.8,-23.0,38,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2831,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,370,-1.06,-146.0,53.2,-20.2,47,379,0.00,1.38,0.00,0.000,4,0.000,0.044,2448,3752,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,603,-1.06,-146.0,99.6,-17.3,86,611,0.00,1.20,0.00,0.000,6,0.000,0.024,2448,2854,3469,0,0,0,0,0,0,28.83,27.27,28.83
$GC,676,-1.06,-146.0,111.8,-16.8,95,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2853,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-1.06,-146.0,123.6,-15.6,104,757,0.00,1.92,0.00,0.000,4,0.000,0.021,2448,1478,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,811,-1.06,-146.0,133.1,-15.7,114,820,0.05,2.00,0.00,0.000,6,0.148,0.031,2459,2849,3468,0,0,0,0,0,0,27.07,27.23,28.83
$GC,885,-1.06,-146.0,144.0,-14.9,123,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2848,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-1.06,-146.0,154.6,-14.4,132,966,0.00,1.33,0.00,0.000,4,0.000,0.045,2454,3748,3469,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1003,-1.06,-146.0,161.4,-15.1,139,1012,0.00,1.20,0.00,0.000,6,0.000,0.024,2454,2853,3468,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1077,-1.06,-146.0,171.7,-13.7,148,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2853,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1149,-0.26,0.0,181.5,-14.1,154,1258,0.77,0.05,102.57,0.627,6,0.106,0.064,2728,2416,2869,0,0,0,0,0,0,27.13,26.22,25.89
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1260,1.06,146.0,186.1,0.0,161,1373,1.12,2.03,102.00,0.617,4,0.066,0.026,3158,1041,2273,0,0,0,0,0,0,26.31,26.10,25.68
$GC,1410,1.09,174.9,177.1,8.7,171,1441,0.00,2.05,19.77,1.001,6,0.000,0.026,3158,2411,2167,0,0,0,0,0,0,28.83,26.41,25.33
$GC,1625,1.10,178.4,154.8,9.8,196,1635,0.00,2.05,4.57,0.803,4,0.000,0.042,3158,3742,2150,0,0,0,0,0,0,28.83,26.66,25.89
$GC,1706,1.10,178.4,146.1,11.2,209,1715,0.00,1.88,0.00,0.000,6,0.000,0.021,3164,2419,2152,0,0,0,0,0,0,28.83,26.86,28.83
$GC,1780,1.10,182.8,138.6,9.8,218,1789,0.00,1.98,2.53,0.558,4,0.000,0.027,3172,1033,2131,0,0,0,0,0,0,28.83,26.86,26.01
$GC,1809,1.10,184.1,135.7,9.9,222,1818,0.00,2.03,1.12,0.313,6,0.000,0.028,3172,2408,2126,0,0,0,0,0,0,28.83,26.90,26.41
$GC,1884,1.10,184.1,127.9,10.8,231,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2408,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1956,1.10,184.1,119.9,10.7,240,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2408,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,1.10,184.1,112.0,10.6,249,2038,0.00,2.00,0.00,0.000,4,0.000,0.029,3175,1034,2127,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2069,1.10,184.1,107.9,10.0,255,2077,0.00,2.00,0.00,0.000,6,0.000,0.028,3175,2409,2127,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2142,1.10,184.1,100.3,10.9,264,2151,0.00,2.00,0.00,0.000,4,0.000,0.044,3175,3736,2127,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2193,1.10,184.1,94.3,12.4,272,2202,0.00,1.85,0.00,0.000,6,0.000,0.020,3178,2414,2127,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2267,1.10,184.1,86.3,10.5,281,2276,0.00,1.98,0.00,0.000,4,0.000,0.029,3178,1034,2126,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2324,1.12,199.8,80.8,9.3,290,2342,0.00,2.00,6.47,0.288,6,0.000,0.027,3178,2416,2060,0,0,0,0,0,0,28.83,27.14,26.72
$GC,2408,1.15,223.1,73.4,8.9,300,2425,0.00,0.00,9.82,0.278,6,0.000,0.000,3178,2416,1964,0,0,0,0,0,0,28.83,28.83,26.71
$GC,2491,1.17,240.9,65.7,9.2,310,2507,0.00,0.00,7.62,0.262,6,0.000,0.000,3178,2416,1893,0,0,0,0,0,0,28.83,28.83,26.72
$GC,2573,1.17,240.9,57.6,10.2,320,2582,0.00,1.98,0.00,0.000,4,0.000,0.043,3178,3734,1893,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2671,1.17,240.9,47.3,11.2,336,2680,0.00,1.85,0.00,0.000,6,0.000,0.021,3178,2408,1893,0,0,0,0,0,0,28.83,27.18,28.83
$GC,2744,1.19,253.1,40.3,9.4,345,2754,0.00,2.05,5.32,0.216,4,0.000,0.041,3178,3745,1841,0,0,0,0,0,0,28.83,27.09,26.84
$GC,2872,1.24,295.5,29.1,8.0,366,2897,0.00,1.88,18.17,0.183,6,0.000,0.021,3178,2412,1665,0,0,0,0,0,0,28.83,27.20,26.85
$GC,2963,1.27,317.8,21.1,9.0,377,2980,0.12,0.00,9.15,0.167,6,0.092,0.000,3289,2408,1574,0,0,0,0,0,0,27.17,28.83,26.87
$GC,3046,1.27,317.8,9.5,15.6,387,3055,0.20,1.98,0.00,0.000,4,0.142,0.027,3229,1032,1573,0,0,0,0,0,0,26.99,27.15,28.83
$GC,3087,1.27,317.8,4.1,12.0,393,3095,0.00,2.00,0.00,0.000,6,0.000,0.028,3229,2412,1572,0,0,0,0,0,0,28.83,27.14,28.83
$STATE,3102,end climb,SURFACE_DEPTH_REACHED
$STATE,3102,begin surface coast
$FINISH,0.7,1.009179
$STATE,3120,end surface coast,CONTROL_FINISHED_OK
$STATE,3120,begin surface
$SM_CCo,3134,101.57,0.113,0,0,504,580.13
$SM_GC,1.34,7.50,0.62,101.57,0.032,0.041,0.113,180,2847,504,-8.11,-1.55,580.13,0,0,0,0,0,0,27.15,27.15,26.81
$IRIDIUM_FIX,2737.23,-7046.16,110814,070757
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,9.48213
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,25.3,3.082
$10V_AH,10.7,2.513
$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,17.850,48.375,289.150,101.575,0.000,25.561,46.766,90.499,0.000,0.000,17.291,935.728,405.002,455.118,1625.267,78.990,33.223,1036.218,0.000,1468.226,0.000,0.552,0.000
$DEVICE_MAMPS,208.080,64.260,1000.620,113.220,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.569,1307.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334276
$DATA_FILE_SIZE,20232,397
$CAP_FILE_SIZE,62445,0
$CFSIZE,260034560,254996480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,094453,2744.765,-7051.385,39,0.9,39,-11.9