version: 66.10
glider: 201
mission: 5
dive: 47
start: 8 14 114 23 11 28
data:
$ID,201
$MISSION,5
$DIVE,47
$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,420
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,0
$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,-1677.347
$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,3500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,110
$R_STBD_OVSHOOT,70
$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
$GPS1,140814,230544,2700.712,-7053.368,2,1.4,2,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-60.2
$GPS2,140814,231030,2700.688,-7053.352,4,1.4,4,-11.7
$SPEED_LIMITS,0.173,0.400
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.367,-0.157
$KALMAN_X,8590.0,189.3,67.7,-4744.7,877.4
$KALMAN_Y,-5945.7,-721.2,-576.3,-14179.1,-2620.9
$MHEAD_RNG_PITCHd_Wd,355.1,54030,-8.8,-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,-0.68,-408.8,0.0,0.0,0,57,0.00,0.00,-40.28,0.000,2,0.000,0.000,190,2885,2156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.68,-408.8,2.0,-1.7,5,138,10.52,0.00,-61.25,0.000,6,0.191,0.000,3275,2885,3960,0,0,0,0,0,0,26.85,28.83,27.34
$GC,204,-0.68,-408.8,11.4,-8.9,23,212,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2885,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,277,-0.68,-408.8,16.9,-7.3,32,285,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2885,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,350,-0.68,-408.8,22.9,-8.5,41,359,0.00,0.00,-0.05,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,26.37
$GC,424,-0.68,-408.8,28.8,-8.5,50,432,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,497,-0.68,-408.8,34.8,-8.5,59,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,570,-0.68,-408.8,40.5,-8.5,68,578,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,643,-0.68,-408.8,46.2,-7.5,77,651,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,716,-0.68,-408.8,52.7,-8.0,86,724,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,789,-0.68,-408.8,59.5,-9.0,95,797,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,862,-0.68,-408.8,66.1,-8.0,104,870,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.68,-408.8,73.5,-10.3,113,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1007,-0.68,-408.8,80.8,-10.9,122,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1080,-0.68,-408.8,88.2,-10.8,131,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1153,-0.68,-408.8,95.0,-9.6,140,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1226,-0.68,-408.8,102.4,-9.4,149,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.68,-408.8,110.8,-11.3,158,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-0.68,-408.8,118.8,-11.6,167,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1444,-0.68,-408.8,125.7,-9.2,176,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.68,-408.8,133.2,-9.9,185,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-0.68,-408.8,141.7,-12.1,194,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.68,-408.8,149.5,-11.7,203,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1735,-0.68,-408.8,156.7,-10.1,212,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2885,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1808,-0.68,-408.8,165.3,-11.4,221,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2885,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-0.68,-408.8,174.6,-13.5,230,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2885,3963,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1942,begin apogee
$GC,1946,-0.10,0.0,181.4,-11.7,235,2139,0.45,0.00,182.75,0.564,6,0.041,0.000,3517,2477,2865,0,0,0,0,0,0,27.34,28.83,25.77
$STATE,2140,end apogee,CONTROL_FINISHED_OK
$STATE,2140,begin climb
$GC,2141,0.68,408.8,209.5,0.0,248,2439,0.52,0.00,291.40,0.493,6,0.037,0.000,3757,2476,1199,0,0,0,0,0,0,26.32,28.83,25.76
$GC,2505,0.68,408.8,76.1,54.6,283,2514,0.12,0.00,0.00,0.000,6,0.215,0.000,3726,2476,1189,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2579,0.68,408.8,40.4,43.7,292,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,3726,2476,1188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,0.68,408.8,6.7,44.6,301,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,3726,2476,1185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2667,begin surface coast
$FINISH,1.0,0.996593
$STATE,2676,end surface coast,CONTROL_FINISHED_OK
$STATE,2676,begin surface
$SM_CCo,2692,4.88,0.128,0,0,1138,425.10
$SM_GC,2.25,8.70,0.52,4.88,0.026,0.045,0.128,167,2827,1138,-10.27,-2.06,425.10,0,0,0,0,0,0,26.88,26.85,26.70
$IRIDIUM_FIX,2651.14,-7051.84,140814,222245
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,9.54073
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,25.8,5.349
$10V_AH,10.7,6.396
$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,20.325,0.975,474.150,4.875,0.000,26.194,47.996,72.160,0.000,0.000,5.495,661.284,454.697,480.387,1272.893,62.225,33.223,1015.549,0.000,1137.126,0.000,0.551,0.000
$DEVICE_MAMPS,214.965,45.135,563.805,127.755,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.695,1001.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354804
$DATA_FILE_SIZE,16973,304
$CAP_FILE_SIZE,45838,0
$CFSIZE,260034560,253206528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,235713,2700.508,-7053.428,13,0.9,13,-11.7