version: 66.10
glider: 201
mission: 5
dive: 51
start: 8 15 114 2 39 58
data:
$ID,201
$MISSION,5
$DIVE,51
$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,125
$T_MISSION,135
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1773.587
$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,98
$R_STBD_OVSHOOT,54
$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
$GPS1,150814,023301,2659.610,-7053.324,4,1.4,5,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-56.7
$GPS2,150814,023905,2659.570,-7053.304,4,1.4,4,-11.7
$SPEED_LIMITS,0.231,0.283
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.007,0.283
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,10.3,111950,-22.2,-13.333
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.32,-146.0,0.0,0.0,0,80,0.00,0.00,-63.50,0.000,2,0.000,0.000,201,2872,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.32,-146.0,2.2,-2.1,8,131,7.68,1.92,-34.05,0.000,4,0.203,0.033,2381,1463,3468,0,0,0,0,0,0,26.82,27.17,27.43
$GC,264,-1.32,-146.0,36.8,-25.0,37,272,0.00,2.03,0.00,0.000,6,0.000,0.031,2373,2850,3468,0,0,0,0,0,0,28.83,27.17,28.83
$GC,338,-1.32,-146.0,55.9,-26.5,46,347,0.00,1.33,0.00,0.000,4,0.000,0.043,2366,3749,3468,0,0,0,0,0,0,28.83,27.16,28.83
$GC,361,-1.32,-146.0,62.3,-26.4,49,370,0.00,1.20,0.00,0.000,6,0.000,0.022,2366,2843,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,434,-1.32,-146.0,79.3,-22.4,58,443,0.00,1.90,0.00,0.000,4,0.000,0.021,2366,1480,3468,0,0,0,0,0,0,28.83,27.25,28.83
$GC,497,-1.32,-146.0,92.3,-20.3,68,506,0.08,2.00,0.00,0.000,6,0.145,0.030,2382,2854,3468,0,0,0,0,0,0,27.03,27.22,28.83
$GC,571,-1.32,-146.0,106.1,-18.5,77,580,0.00,1.30,0.00,0.000,4,0.000,0.042,2378,3742,3468,0,0,0,0,0,0,28.83,27.20,28.83
$GC,587,-1.32,-146.0,109.2,-18.2,79,596,0.00,1.17,0.00,0.000,6,0.000,0.022,2378,2844,3468,0,0,0,0,0,0,28.83,27.31,28.83
$GC,661,-1.32,-146.0,122.3,-17.8,88,669,0.00,1.90,0.00,0.000,4,0.000,0.021,2378,1471,3467,0,0,0,0,0,0,28.83,27.28,28.83
$GC,724,-1.32,-146.0,132.8,-16.0,98,732,0.00,2.00,0.00,0.000,6,0.000,0.030,2368,2848,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,797,-1.32,-146.0,144.6,-16.4,107,806,0.00,1.33,0.00,0.000,4,0.000,0.044,2361,3749,3468,0,0,0,0,0,0,28.83,27.22,28.83
$GC,877,-1.32,-146.0,158.6,-16.9,120,886,0.00,1.17,0.00,0.000,6,0.000,0.022,2361,2850,3468,0,0,0,0,0,0,28.83,27.34,28.83
$GC,950,-1.32,-146.0,171.0,-16.9,129,959,0.00,1.90,0.00,0.000,4,0.000,0.021,2361,1481,3468,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1056,-1.32,-146.0,189.2,-17.0,138,1062,0.10,1.95,0.00,0.000,6,0.140,0.031,2386,2861,3468,0,0,0,0,0,0,27.07,27.26,28.83
$GC,1251,-1.32,-146.0,219.4,-15.4,151,1254,0.00,1.30,0.00,0.000,4,0.000,0.044,2381,3748,3467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1316,-1.32,-146.0,229.3,-15.2,155,1320,0.00,1.17,0.00,0.000,6,0.000,0.022,2381,2849,3467,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1514,-1.32,-146.0,258.5,-14.6,168,1519,0.00,1.85,0.00,0.000,4,0.000,0.021,2381,1482,3466,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1628,-1.32,-146.0,274.8,-14.0,175,1633,0.00,2.00,0.00,0.000,6,0.000,0.030,2371,2855,3465,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1821,-1.32,-146.0,304.8,-15.4,187,1825,0.00,1.88,0.00,0.000,4,0.000,0.021,2371,1484,3464,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1960,-1.32,-146.0,322.1,-14.9,191,1967,0.00,2.00,0.00,0.000,6,0.000,0.031,2361,2880,3463,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2267,-1.32,-146.0,373.0,-15.6,202,2270,0.00,1.92,0.00,0.000,4,0.000,0.022,2361,1480,3461,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2420,-1.32,-146.0,395.4,-15.2,207,2425,0.10,2.00,0.00,0.000,6,0.136,0.031,2387,2842,3460,0,0,0,0,0,0,27.09,27.28,28.83
$GC,2744,-1.32,-146.0,444.3,-14.8,218,2747,0.00,1.35,0.00,0.000,4,0.000,0.045,2381,3757,3458,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2872,-1.32,-146.0,462.8,-15.2,222,2876,0.00,1.20,0.00,0.000,6,0.000,0.021,2382,2846,3457,0,0,0,0,0,0,28.83,27.37,28.83
$STATE,3132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3133,begin apogee
$GC,3137,-0.26,0.0,504.4,-15.5,231,3244,0.98,0.00,102.18,0.859,6,0.112,0.000,2724,2485,2870,0,0,0,0,0,0,27.10,28.83,25.57
$STATE,3245,end apogee,CONTROL_FINISHED_OK
$STATE,3245,begin climb
$GC,3246,1.32,146.0,508.9,0.0,234,3358,1.35,1.98,104.10,0.871,4,0.065,0.039,3231,3759,2272,0,0,0,0,0,0,26.14,25.94,25.40
$GC,3504,1.32,146.0,481.6,15.4,243,3508,0.00,1.73,0.00,0.000,6,0.000,0.021,3233,2549,2267,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3816,1.32,146.0,432.4,14.9,254,3819,0.00,1.80,0.00,0.000,4,0.000,0.042,3233,3756,2266,0,0,0,0,0,0,28.83,26.98,28.83
$GC,3906,1.32,146.0,418.1,15.6,257,3909,0.00,1.73,0.00,0.000,6,0.000,0.021,3233,2495,2266,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4237,1.32,146.0,368.8,15.0,268,4243,0.00,1.92,0.00,0.000,4,0.000,0.030,3239,1122,2264,0,0,0,0,0,0,28.83,27.16,28.83
$GC,4329,1.32,146.0,355.9,14.5,271,4333,0.00,2.03,0.00,0.000,6,0.000,0.029,3239,2547,2265,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4656,1.32,146.0,304.8,15.9,282,4659,0.00,1.75,0.00,0.000,4,0.000,0.044,3239,3740,2264,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4752,1.32,146.0,289.2,16.7,287,4755,0.00,1.67,0.00,0.000,6,0.000,0.021,3247,2505,2264,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4949,1.32,146.0,258.3,15.2,300,4954,0.00,1.90,0.00,0.000,4,0.000,0.028,3257,1132,2263,0,0,0,0,0,0,28.83,27.25,28.83
$GC,5069,1.32,146.0,241.9,14.4,307,5079,0.00,2.00,0.00,0.000,6,0.000,0.029,3257,2505,2263,0,0,0,0,0,0,28.83,27.25,28.83
$GC,5259,1.32,146.0,213.2,14.8,320,5262,0.00,1.83,0.00,0.000,4,0.000,0.044,3257,3743,2263,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5333,1.32,146.0,202.8,15.6,324,5343,0.08,1.73,0.00,0.000,6,0.155,0.021,3238,2501,2262,0,0,0,0,0,0,27.05,27.31,28.83
$GC,5521,1.32,149.3,176.1,13.1,337,5525,0.00,1.83,0.00,0.000,4,0.000,0.043,3238,3741,2262,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5573,1.32,149.3,168.5,14.8,344,5582,0.00,1.70,0.00,0.000,6,0.000,0.021,3245,2511,2262,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5647,1.33,160.2,159.2,12.7,353,5665,0.00,1.98,6.88,0.927,4,0.000,0.030,3254,1136,2228,0,0,0,0,0,0,28.83,27.15,26.34
$GC,5770,1.34,166.2,143.3,13.0,373,5780,0.00,2.00,3.75,0.693,6,0.000,0.029,3255,2510,2198,0,0,0,0,0,0,28.83,27.19,26.29
$GC,5846,1.35,177.0,133.7,12.7,382,5863,0.00,1.90,5.75,0.799,4,0.000,0.044,3255,3752,2160,0,0,0,0,0,0,28.83,27.03,26.28
$GC,5939,1.35,177.0,120.3,15.1,397,5948,0.00,1.73,1.20,0.200,6,0.000,0.021,3263,2513,2158,0,0,0,0,0,0,28.83,27.14,26.74
$GC,6014,1.35,177.0,110.5,13.4,406,6024,0.00,1.98,1.12,0.225,4,0.000,0.027,3268,1133,2158,0,0,0,0,0,0,28.83,27.12,26.77
$GC,6110,1.36,184.0,98.1,12.9,422,6120,0.00,2.00,3.88,0.289,6,0.000,0.029,3269,2507,2125,0,0,0,0,0,0,28.83,27.16,26.67
$GC,6186,1.38,200.9,88.8,12.3,431,6203,0.00,1.85,8.15,0.296,4,0.000,0.042,3268,3738,2060,0,0,0,0,0,0,28.83,27.06,26.68
$GC,6263,1.38,200.9,77.9,14.1,443,6273,0.00,1.70,0.82,0.190,6,0.000,0.021,3271,2512,2059,0,0,0,0,0,0,28.83,27.18,26.91
$GC,6339,1.41,218.8,68.4,12.2,452,6356,0.00,1.98,8.88,0.257,4,0.000,0.027,3271,1133,1987,0,0,0,0,0,0,28.83,27.10,26.72
$GC,6451,1.46,264.9,55.6,10.5,470,6483,0.00,2.00,22.35,0.234,6,0.000,0.028,3271,2512,1795,0,0,0,0,0,0,28.83,27.15,26.70
$GC,6549,1.48,280.4,45.0,12.4,482,6566,0.00,1.85,7.97,0.216,4,0.000,0.041,3271,3739,1733,0,0,0,0,0,0,28.83,27.00,26.72
$GC,6627,1.48,280.4,34.9,14.2,494,6635,0.00,1.70,0.00,0.000,6,0.000,0.021,3271,2521,1735,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6700,1.49,290.2,25.7,12.7,503,6710,0.00,2.03,5.22,0.180,4,0.000,0.028,3271,1125,1690,0,0,0,0,0,0,28.83,27.10,26.82
$GC,6797,1.52,310.7,14.0,12.1,519,6814,0.00,2.03,8.80,0.146,6,0.000,0.029,3271,2514,1604,0,0,0,0,0,0,28.83,27.12,26.88
$STATE,6879,end climb,SURFACE_DEPTH_REACHED
$STATE,6879,begin surface coast
$FINISH,0.7,1.002911
$STATE,6896,end surface coast,CONTROL_FINISHED_OK
$STATE,6897,begin surface
$SM_CCo,6911,25.02,0.119,0,0,1340,375.06
$SM_GC,1.42,7.60,0.47,25.02,0.031,0.044,0.119,175,2854,1340,-8.11,-1.53,375.06,0,0,0,0,0,0,27.14,27.14,26.89
$IRIDIUM_FIX,2646.31,-7052.63,150814,020240
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.08
$INTERNAL_PRESSURE,9.53096
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,25.4,5.583
$10V_AH,10.6,6.654
$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,17.950,92.900,291.050,25.025,0.000,0.000,0.000,0.000,0.000,0.000,5.463,1374.245,3100.171,406.016,2032.873,86.781,29.129,1201.171,0.000,2040.783,0.000,0.552,0.000
$DEVICE_MAMPS,203.490,45.135,927.180,118.575,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.589,1429.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,30319,531
$CAP_FILE_SIZE,105437,0
$CFSIZE,260034560,253022208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150814,043635,2659.345,-7053.172,26,1.1,26,-11.7