version: 66.10
glider: 201
mission: 5
dive: 30
start: 8 13 114 1 44 19
data:
$ID,201
$MISSION,5
$DIVE,30
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,500
$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,240
$T_MISSION,260
$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,120
$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,375
$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,-1557.1057
$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,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,44
$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
$GPS1,130814,012913,2725.298,-7056.260,15,0.9,15,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-64.8
$GPS2,130814,014322,2725.177,-7056.200,4,0.7,5,-11.8
$SPEED_LIMITS,0.120,0.206
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.093,-0.184
$KALMAN_X,26953.6,340.2,80.6,-32221.6,1585.8
$KALMAN_Y,-29936.0,241.6,271.8,-34879.5,-3250.7
$MHEAD_RNG_PITCHd_Wd,218.6,46671,-13.3,-6.944
$D_GRID,500
$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,-0.83,-116.8,0.0,0.0,0,57,0.00,0.00,-39.62,0.000,2,0.000,0.000,178,2852,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.83,-116.8,2.5,-3.1,5,108,8.32,1.98,-31.65,0.000,4,0.201,0.035,2536,1468,3348,0,0,0,0,0,0,26.61,26.93,27.18
$GC,150,-0.83,-116.8,11.0,-16.1,18,158,0.00,2.05,0.00,0.000,6,0.000,0.031,2528,2855,3348,0,0,0,0,0,0,28.83,26.93,28.83
$GC,225,-0.83,-116.8,24.5,-19.2,27,233,0.00,1.33,0.00,0.000,4,0.000,0.044,2521,3745,3348,0,0,0,0,0,0,28.83,26.95,28.83
$GC,311,-0.83,-116.8,42.2,-19.8,41,320,0.00,1.23,0.00,0.000,6,0.000,0.024,2522,2846,3348,0,0,0,0,0,0,28.83,27.08,28.83
$GC,384,-0.83,-116.8,54.7,-16.8,50,393,0.00,1.95,0.00,0.000,4,0.000,0.021,2522,1467,3349,0,0,0,0,0,0,28.83,27.10,28.83
$GC,494,-0.83,-116.8,71.3,-14.1,68,504,0.08,2.03,0.00,0.000,6,0.122,0.031,2539,2850,3349,0,0,0,0,0,0,26.94,27.08,28.83
$GC,568,-0.83,-116.8,80.7,-12.5,77,577,0.00,1.33,0.00,0.000,4,0.000,0.044,2536,3746,3349,0,0,0,0,0,0,28.83,27.08,28.83
$GC,602,-0.83,-116.8,85.1,-13.0,82,611,0.00,1.20,0.00,0.000,6,0.000,0.024,2535,2862,3349,0,0,0,0,0,0,28.83,27.18,28.83
$GC,676,-0.83,-116.8,93.9,-11.7,91,684,0.00,1.98,0.00,0.000,4,0.000,0.021,2536,1462,3349,0,0,0,0,0,0,28.83,27.17,28.83
$GC,768,-0.83,-116.8,104.8,-11.5,106,777,0.00,2.05,0.00,0.000,6,0.000,0.031,2528,2865,3349,0,0,0,0,0,0,28.83,27.15,28.83
$GC,841,-0.83,-116.8,113.4,-11.8,115,850,0.00,1.30,0.00,0.000,4,0.000,0.044,2521,3745,3349,0,0,0,0,0,0,28.83,27.14,28.83
$GC,875,-0.83,-116.8,117.4,-11.9,120,884,0.00,1.20,0.00,0.000,6,0.000,0.024,2521,2849,3349,0,0,0,0,0,0,28.83,27.24,28.83
$GC,950,-0.83,-116.8,126.3,-11.7,129,958,0.00,1.92,0.00,0.000,4,0.000,0.022,2520,1477,3349,0,0,0,0,0,0,28.83,27.22,28.83
$GC,972,-0.83,-116.8,129.0,-11.9,132,981,0.08,2.03,0.00,0.000,6,0.120,0.030,2541,2858,3349,0,0,0,0,0,0,27.04,27.18,28.83
$GC,1046,-0.83,-116.8,136.9,-10.5,141,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2858,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1119,-0.83,-116.8,144.0,-10.0,150,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2858,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-0.83,-116.8,151.1,-9.9,159,1200,0.00,1.95,0.00,0.000,4,0.000,0.021,2542,1482,3349,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1243,-0.83,-116.8,156.1,-9.6,167,1252,0.00,2.00,0.00,0.000,6,0.000,0.031,2534,2854,3349,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1316,-0.83,-116.8,163.1,-9.3,176,1325,0.00,1.95,0.00,0.000,4,0.000,0.021,2535,1479,3349,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1352,-0.83,-116.8,166.5,-9.5,181,1360,0.00,2.00,0.00,0.000,6,0.000,0.031,2526,2853,3350,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1425,-0.83,-116.8,174.0,-10.6,190,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2853,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-0.83,-116.8,181.8,-10.3,196,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2853,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1682,-0.83,-116.8,200.1,-9.9,208,1687,0.00,1.90,0.00,0.000,4,0.000,0.022,2526,1478,3349,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1747,-0.83,-116.8,206.4,-9.8,212,1752,0.00,2.03,0.00,0.000,6,0.000,0.030,2517,2859,3349,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1942,-0.83,-116.8,225.6,-9.6,225,1945,0.00,1.30,0.00,0.000,4,0.000,0.044,2511,3742,3348,0,0,0,0,0,0,28.83,27.23,28.83
$GC,2024,-0.83,-116.8,234.0,-10.5,230,2028,0.08,1.20,0.00,0.000,6,0.117,0.024,2540,2853,3348,0,0,0,0,0,0,27.13,27.33,28.83
$GC,2222,-0.83,-116.8,251.3,-8.3,243,2227,0.00,1.90,0.00,0.000,4,0.000,0.023,2540,1470,3348,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2286,-0.83,-116.8,256.7,-8.5,247,2292,0.00,1.98,0.00,0.000,6,0.000,0.031,2534,2855,3348,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2481,-0.83,-116.8,273.5,-8.7,260,2487,0.00,1.92,0.00,0.000,4,0.000,0.022,2534,1473,3347,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2561,-0.83,-116.8,280.6,-8.8,265,2566,0.00,1.95,0.00,0.000,6,0.000,0.031,2525,2853,3347,0,0,0,0,0,0,28.83,27.28,28.83
$GC,2758,-0.83,-116.8,298.9,-9.6,278,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2853,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.83,-116.8,316.6,-9.9,290,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2853,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-0.83,-116.8,334.2,-9.8,302,3121,0.00,1.90,0.00,0.000,4,0.000,0.024,2526,1478,3344,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3180,-0.83,-116.8,340.6,-10.0,306,3186,0.00,1.98,0.00,0.000,6,0.000,0.031,2518,2867,3344,0,0,0,0,0,0,28.83,27.28,28.83
$GC,3375,-0.83,-116.8,360.2,-9.9,319,3380,0.00,1.95,0.00,0.000,4,0.000,0.024,2517,1457,3343,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3439,-0.83,-116.8,366.8,-10.4,323,3445,0.08,1.98,0.00,0.000,6,0.116,0.031,2539,2854,3342,0,0,0,0,0,0,27.13,27.29,28.83
$GC,3635,-0.83,-116.8,384.1,-8.4,336,3640,0.00,1.92,0.00,0.000,4,0.000,0.023,2540,1469,3342,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3666,-0.83,-116.8,386.7,-8.2,338,3671,0.00,2.03,0.00,0.000,6,0.000,0.031,2534,2847,3341,0,0,0,0,0,0,28.83,27.29,28.83
$GC,3861,-0.83,-116.8,404.2,-8.9,351,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2846,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-0.83,-116.8,419.9,-8.6,363,4047,0.00,1.92,0.00,0.000,4,0.000,0.024,2534,1468,3340,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4107,-0.83,-116.8,425.5,-8.7,367,4112,0.00,2.05,0.00,0.000,6,0.000,0.032,2527,2859,3339,0,0,0,0,0,0,28.83,27.29,28.83
$GC,4302,-0.83,-116.8,442.5,-8.7,380,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2859,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.83,-116.8,458.3,-8.8,392,4487,0.00,1.92,0.00,0.000,4,0.000,0.024,2527,1478,3338,0,0,0,0,0,0,28.83,27.32,28.83
$GC,4536,-0.83,-116.8,462.5,-8.7,395,4546,0.00,2.03,0.00,0.000,6,0.000,0.032,2519,2857,3338,0,0,0,0,0,0,28.83,27.29,28.83
$GC,4727,-0.83,-116.8,480.1,-9.0,408,4732,0.00,1.95,0.00,0.000,4,0.000,0.024,2519,1474,3337,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4764,-0.83,-116.8,482.7,-8.5,410,4774,0.08,2.03,0.00,0.000,6,0.119,0.032,2542,2855,3337,0,0,0,0,0,0,27.13,27.32,28.83
$GC,4953,-0.83,-116.8,498.6,-7.9,423,4958,0.00,1.92,0.00,0.000,4,0.000,0.024,2541,1476,3336,0,0,0,0,0,0,28.83,27.33,28.83
$STATE,4983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4983,begin apogee
$GC,4988,-0.26,0.0,501.0,-7.9,425,5075,0.50,0.00,82.95,0.877,6,0.098,0.000,2721,2517,2870,0,0,0,0,0,0,27.15,28.83,25.61
$STATE,5076,end apogee,CONTROL_FINISHED_OK
$STATE,5076,begin climb
$GC,5078,0.83,116.8,503.8,0.0,428,5168,0.95,0.00,86.00,0.867,6,0.066,0.000,3080,2517,2394,0,0,0,0,0,0,26.13,28.83,25.32
$GC,5464,0.83,116.8,476.5,7.9,450,5470,0.00,1.95,0.00,0.000,4,0.000,0.028,3087,1143,2389,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5551,0.83,116.8,470.3,7.7,455,5561,0.00,2.03,0.00,0.000,6,0.000,0.029,3087,2511,2389,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5740,0.83,116.8,455.1,7.8,468,5743,0.00,1.83,0.00,0.000,4,0.000,0.044,3087,3745,2389,0,0,0,0,0,0,28.83,26.94,28.83
$GC,5773,0.83,116.8,452.2,8.2,470,5777,0.00,1.70,0.00,0.000,6,0.000,0.022,3093,2504,2389,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5970,0.83,116.8,436.5,8.0,483,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2503,2388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,0.83,116.8,422.1,8.1,495,6156,0.00,1.92,0.00,0.000,4,0.000,0.029,3101,1131,2388,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6189,0.83,116.8,419.7,8.0,497,6199,0.00,2.03,0.00,0.000,6,0.000,0.029,3101,2512,2388,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6380,0.83,116.8,403.9,8.0,510,6385,0.00,1.98,0.00,0.000,4,0.000,0.029,3107,1125,2387,0,0,0,0,0,0,28.83,27.15,28.83
$GC,6409,0.83,116.8,401.5,8.0,512,6415,0.08,1.98,0.00,0.000,6,0.119,0.030,3077,2514,2386,0,0,0,0,0,0,27.01,27.15,28.83
$GC,6604,0.83,116.8,387.2,7.3,525,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2514,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6784,0.83,116.8,374.4,7.2,537,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2514,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6964,0.83,116.8,361.5,7.3,549,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2514,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7144,0.83,116.8,348.3,7.5,561,7150,0.00,1.98,0.00,0.000,4,0.000,0.029,3077,1122,2386,0,0,0,0,0,0,28.83,27.23,28.83
$GC,7183,0.83,116.8,346.2,7.2,563,7193,0.00,2.03,0.00,0.000,6,0.000,0.029,3077,2507,2386,0,0,0,0,0,0,28.83,27.22,28.83
$GC,7374,0.83,118.7,332.5,6.9,576,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2507,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7552,0.83,118.7,320.0,6.9,588,7558,0.00,1.95,0.00,0.000,4,0.000,0.029,3077,1116,2386,0,0,0,0,0,0,28.83,27.24,28.83
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$STATE,11984,end climb,SURFACE_DEPTH_REACHED
$STATE,11984,begin surface coast
$FINISH,0.8,1.022738
$STATE,12017,end surface coast,CONTROL_FINISHED_OK
$STATE,12018,begin surface
$SM_CCo,12032,18.10,0.118,0,0,1341,375.06
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,9.50166
$TCM_TEMP,26.00
$XPDR_PINGS,0
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$10V_AH,10.6,4.363
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.075,153.850,289.550,18.100,0.000,45.019,109.143,223.751,0.000,0.000,5.752,2610.606,4957.597,519.967,4302.689,198.390,33.235,1787.555,0.000,3953.028,0.000,0.552,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334028
$DATA_FILE_SIZE,56825,1033
$CAP_FILE_SIZE,170002,0
$CFSIZE,260034560,254038016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130814,050606,2722.622,-7056.021,23,1.9,23,-11.8