version: 66.10
glider: 201
mission: 5
dive: 43
start: 8 14 114 19 48 35
data:
$ID,201
$MISSION,5
$DIVE,43
$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,220
$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,425
$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,-1588.6859
$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,93
$R_STBD_OVSHOOT,43
$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
$GPS1,140814,194338,2702.245,-7053.504,1,0.9,3,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.9
$GPS2,140814,194738,2702.202,-7053.470,4,0.9,5,-11.7
$SPEED_LIMITS,0.173,0.306
$TGT_NAME,DELTA
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.101,0.289
$KALMAN_X,6796.4,162.3,189.5,-3248.2,320.8
$KALMAN_Y,-1503.2,1268.5,-129.6,-18262.4,-181.6
$MHEAD_RNG_PITCHd_Wd,352.5,51543,-13.7,-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,-0.96,-214.1,0.0,0.0,0,65,0.00,0.00,-48.33,0.000,2,0.000,0.000,197,2848,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.96,-214.1,2.4,-2.2,6,131,8.05,1.98,-44.53,0.000,4,0.203,0.037,2489,1463,3746,0,0,0,0,0,0,26.77,27.08,27.36
$GC,158,-0.96,-214.1,10.3,-15.4,18,166,0.00,2.05,0.00,0.000,6,0.000,0.029,2482,2857,3747,0,0,0,0,0,0,28.83,27.08,28.83
$GC,231,-0.96,-214.1,23.2,-17.2,27,240,0.00,1.98,0.00,0.000,4,0.000,0.020,2482,1465,3746,0,0,0,0,0,0,28.83,27.15,28.83
$GC,265,-0.96,-214.1,29.2,-16.9,32,274,0.00,2.05,0.00,0.000,6,0.000,0.029,2471,2858,3747,0,0,0,0,0,0,28.83,27.11,28.83
$GC,338,-0.96,-214.1,41.7,-17.2,41,347,0.00,1.98,0.00,0.000,4,0.000,0.021,2471,1461,3746,0,0,0,0,0,0,28.83,27.17,28.83
$GC,373,-0.96,-214.1,47.0,-15.3,46,382,0.10,2.05,0.00,0.000,6,0.124,0.029,2498,2858,3746,0,0,0,0,0,0,26.97,27.13,28.83
$GC,448,-0.96,-214.1,57.5,-14.0,55,456,0.00,1.98,0.00,0.000,4,0.000,0.021,2498,1463,3746,0,0,0,0,0,0,28.83,27.20,28.83
$GC,499,-0.96,-214.1,64.2,-12.5,63,507,0.00,2.05,0.00,0.000,6,0.000,0.029,2490,2862,3747,0,0,0,0,0,0,28.83,27.15,28.83
$GC,572,-0.96,-214.1,74.2,-14.1,72,581,0.00,1.98,0.00,0.000,4,0.000,0.021,2490,1467,3747,0,0,0,0,0,0,28.83,27.21,28.83
$GC,618,-0.96,-214.1,80.4,-13.8,79,626,0.00,2.03,0.00,0.000,6,0.000,0.030,2480,2848,3746,0,0,0,0,0,0,28.83,27.17,28.83
$GC,691,-0.96,-214.1,90.9,-14.3,88,700,0.00,1.95,0.00,0.000,4,0.000,0.021,2480,1467,3746,0,0,0,0,0,0,28.83,27.23,28.83
$GC,737,-0.96,-214.1,97.1,-12.8,95,745,0.00,2.03,0.00,0.000,6,0.000,0.030,2471,2851,3746,0,0,0,0,0,0,28.83,27.19,28.83
$GC,810,-0.96,-214.1,107.0,-13.6,104,819,0.00,1.95,0.00,0.000,4,0.000,0.021,2470,1465,3746,0,0,0,0,0,0,28.83,27.24,28.83
$GC,874,-0.96,-214.1,115.4,-12.9,114,883,0.10,2.03,0.00,0.000,6,0.118,0.030,2500,2850,3746,0,0,0,0,0,0,27.05,27.20,28.83
$GC,948,-0.96,-214.1,124.5,-12.8,123,956,0.00,1.95,0.00,0.000,4,0.000,0.021,2500,1469,3747,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1011,-0.96,-214.1,131.8,-11.7,133,1019,0.00,2.03,0.00,0.000,6,0.000,0.030,2492,2854,3746,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1083,-0.96,-214.1,140.7,-12.3,142,1092,0.00,1.95,0.00,0.000,4,0.000,0.021,2492,1470,3746,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1147,-0.96,-214.1,148.2,-12.1,152,1156,0.00,2.03,0.00,0.000,6,0.000,0.030,2484,2853,3746,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1221,-0.96,-214.1,156.9,-12.3,161,1229,0.00,1.95,0.00,0.000,4,0.000,0.021,2484,1463,3746,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1289,-0.96,-214.1,165.0,-11.1,172,1298,0.00,2.03,0.00,0.000,6,0.000,0.031,2475,2853,3746,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1363,-0.96,-214.1,173.7,-12.2,181,1372,0.00,1.33,0.00,0.000,4,0.000,0.044,2468,3751,3746,0,0,0,0,0,0,28.83,27.20,28.83
$STATE,1417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1417,begin apogee
$GC,1423,-0.26,0.0,180.9,-13.2,186,1578,0.73,0.08,148.45,0.549,6,0.103,0.112,2727,2513,2870,0,0,0,0,0,0,27.09,26.13,25.79
$STATE,1579,end apogee,CONTROL_FINISHED_OK
$STATE,1579,begin climb
$GC,1580,0.96,214.1,187.6,0.0,196,1736,1.05,0.00,149.80,0.546,6,0.068,0.000,3123,2513,1997,0,0,0,0,0,0,26.20,28.83,25.66
$GC,1921,1.01,254.3,162.0,8.7,226,1954,0.00,2.08,27.33,0.968,4,0.000,0.028,3123,1141,1840,0,0,0,0,0,0,28.83,26.25,25.53
$GC,2004,1.05,285.4,154.6,9.0,238,2036,0.00,2.03,24.67,0.955,6,0.000,0.027,3123,2515,1712,0,0,0,0,0,0,28.83,26.50,25.42
$GC,2103,1.07,301.3,145.2,9.5,250,2120,0.00,2.05,7.68,0.846,4,0.000,0.025,3124,1137,1647,0,0,0,0,0,0,28.83,26.38,25.65
$GC,2162,1.08,312.8,139.2,9.6,259,2179,0.08,2.03,5.68,0.769,6,0.052,0.026,3210,2510,1599,0,0,0,0,0,0,26.53,26.55,25.75
$GC,2245,1.08,312.8,128.7,13.3,269,2254,0.15,2.03,0.00,0.000,4,0.148,0.027,3164,1137,1599,0,0,0,0,0,0,26.54,26.67,28.83
$GC,2303,1.08,312.8,121.7,11.8,278,2313,0.00,2.03,0.00,0.000,6,0.000,0.027,3165,2512,1598,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2378,1.08,312.8,113.4,11.2,287,2386,0.00,2.00,0.00,0.000,4,0.000,0.028,3169,1143,1598,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2458,1.08,312.8,104.0,11.8,300,2467,0.00,2.00,0.00,0.000,6,0.000,0.028,3170,2513,1597,0,0,0,0,0,0,28.83,26.92,28.83
$GC,2532,1.08,312.8,96.0,10.6,309,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2513,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,1.08,312.8,88.5,10.1,318,2613,0.00,1.85,0.00,0.000,4,0.000,0.043,3170,3743,1597,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2668,1.10,322.8,82.1,9.7,328,2678,0.00,1.73,4.80,0.285,6,0.000,0.021,3175,2513,1557,0,0,0,0,0,0,28.83,27.05,26.62
$GC,2744,1.10,322.8,74.7,10.1,337,2752,0.00,1.88,0.00,0.000,4,0.000,0.041,3175,3748,1558,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2795,1.10,322.8,68.9,11.5,345,2804,0.00,1.73,0.00,0.000,6,0.000,0.021,3176,2514,1558,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2869,1.13,347.3,61.7,9.2,354,2887,0.00,1.90,12.80,0.246,4,0.000,0.041,3175,3743,1457,0,0,0,0,0,0,28.83,26.98,26.68
$GC,2929,1.14,359.0,55.6,9.6,363,2946,0.00,1.73,5.82,0.235,6,0.000,0.021,3176,2507,1409,0,0,0,0,0,0,28.83,27.08,26.68
$GC,3012,1.21,414.7,48.6,8.2,373,3045,0.00,1.92,28.12,0.220,4,0.000,0.041,3175,3752,1181,0,0,0,0,0,0,28.83,26.89,26.63
$GC,3065,1.22,421.4,43.5,9.8,380,3074,0.00,1.75,3.38,0.214,6,0.000,0.021,3176,2500,1154,0,0,0,0,0,0,28.83,26.99,26.65
$GC,3141,1.24,438.3,36.6,9.5,389,3158,0.00,1.90,9.02,0.200,4,0.000,0.040,3176,3748,1084,0,0,0,0,0,0,28.83,26.92,26.67
$GC,3196,1.26,453.3,31.2,9.5,397,3214,0.08,1.75,7.57,0.185,6,0.051,0.021,3270,2489,1024,0,0,0,0,0,0,26.96,27.03,26.71
$GC,3280,1.26,453.3,20.2,14.2,407,3289,0.15,1.90,0.00,0.000,4,0.147,0.038,3219,3744,1023,0,0,0,0,0,0,26.89,26.98,28.83
$GC,3303,1.26,453.3,17.0,13.7,410,3312,0.00,1.73,0.00,0.000,6,0.000,0.021,3218,2516,1022,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3377,1.26,453.3,8.9,10.7,419,3386,0.00,1.85,0.00,0.000,4,0.000,0.041,3219,3739,1021,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3416,1.26,453.3,4.3,11.7,425,3424,0.00,1.73,0.00,0.000,6,0.000,0.020,3219,2503,1021,0,0,0,0,0,0,28.83,27.11,28.83
$STATE,3431,end climb,SURFACE_DEPTH_REACHED
$STATE,3431,begin surface coast
$FINISH,0.8,0.996127
$STATE,3458,end surface coast,CONTROL_FINISHED_OK
$STATE,3458,begin surface
$SM_CCo,3533,0.00,0.000,0,0,1018,454.79
$SM_GC,1.76,7.43,0.52,0.00,0.028,0.043,0.000,179,2858,1018,-8.11,-1.30,454.79,0,0,0,0,0,0,27.09,27.09,28.83
$IRIDIUM_FIX,2653.56,-7051.84,140814,191958
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.12
$INTERNAL_PRESSURE,9.53096
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,25.4,5.060
$10V_AH,10.7,6.179
$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,17.900,85.175,435.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,6.488,999.060,485.351,458.110,1572.864,80.642,33.237,1148.298,0.000,1599.175,0.000,0.552,0.000
$DEVICE_MAMPS,202.725,112.455,967.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.351,1416.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,23665,430
$CAP_FILE_SIZE,86122,0
$CFSIZE,260034560,253296640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,204809,2701.626,-7053.260,8,0.8,9,-11.7