version: 66.10
glider: 201
mission: 5
dive: 54
start: 8 15 114 12 55 34
data:
$ID,201
$MISSION,5
$DIVE,54
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,180
$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,-1784.6836
$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,132
$R_STBD_OVSHOOT,41
$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
$GPS1,150814,124945,2658.336,-7053.165,2,1.1,2,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.0
$GPS2,150814,125438,2658.283,-7053.159,4,1.0,5,-11.7
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,2647.484,-7053.159
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.003,-0.258
$KALMAN_X,233.8,74.5,-39.4,-30.4,10.4
$KALMAN_Y,-5029.0,-1245.3,-1580.7,5483.0,521.0
$MHEAD_RNG_PITCHd_Wd,191.7,20000,-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,15,-1.06,-146.0,0.0,0.0,0,65,0.00,0.00,-47.67,0.000,2,0.000,0.000,172,2851,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.06,-146.0,2.3,-1.9,6,116,8.18,1.40,-35.10,0.000,4,0.205,0.066,2457,3760,3468,0,0,0,0,0,0,26.56,26.82,27.13
$GC,142,-1.06,-146.0,8.7,-15.4,16,151,0.00,1.17,0.00,0.000,6,0.000,0.021,2457,2869,3468,0,0,0,0,0,0,28.83,26.95,28.83
$GC,184,-1.06,-146.0,17.9,-22.1,21,192,0.00,1.95,0.00,0.000,4,0.000,0.021,2457,1495,3468,0,0,0,0,0,0,28.83,26.94,28.83
$GC,316,-1.06,-146.0,48.3,-21.5,43,325,0.00,2.00,0.00,0.000,6,0.000,0.031,2447,2846,3468,0,0,0,0,0,0,28.83,26.96,28.83
$GC,358,-1.06,-146.0,56.2,-19.1,48,366,0.00,1.35,0.00,0.000,4,0.000,0.044,2441,3755,3468,0,0,0,0,0,0,28.83,26.96,28.83
$GC,403,-1.06,-146.0,65.8,-21.2,55,412,0.00,1.20,0.00,0.000,6,0.000,0.023,2440,2870,3468,0,0,0,0,0,0,28.83,27.07,28.83
$GC,445,-1.06,-146.0,73.7,-19.0,60,453,0.00,1.98,0.00,0.000,4,0.000,0.021,2440,1471,3468,0,0,0,0,0,0,28.83,27.06,28.83
$GC,582,-1.06,-146.0,98.4,-15.7,83,592,0.10,2.05,0.00,0.000,6,0.118,0.031,2468,2867,3468,0,0,0,0,0,0,26.93,27.06,28.83
$GC,624,-1.06,-146.0,104.7,-14.5,88,633,0.00,1.30,0.00,0.000,4,0.000,0.044,2463,3745,3468,0,0,0,0,0,0,28.83,27.03,28.83
$GC,681,-1.06,-146.0,113.2,-15.2,97,690,0.00,1.20,0.00,0.000,6,0.000,0.023,2463,2847,3468,0,0,0,0,0,0,28.83,27.15,28.83
$GC,723,-1.06,-146.0,119.2,-14.8,102,731,0.00,1.92,0.00,0.000,4,0.000,0.021,2463,1473,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,821,-1.06,-146.0,133.2,-13.7,118,829,0.00,2.03,0.00,0.000,6,0.000,0.030,2453,2858,3469,0,0,0,0,0,0,28.83,27.12,28.83
$GC,862,-1.06,-146.0,138.8,-13.8,123,870,0.00,1.33,0.00,0.000,4,0.000,0.044,2447,3754,3469,0,0,0,0,0,0,28.83,27.08,28.83
$GC,931,-1.06,-146.0,149.8,-15.6,134,939,0.00,1.23,0.00,0.000,6,0.000,0.023,2447,2845,3468,0,0,0,0,0,0,28.83,27.21,28.83
$GC,972,-1.06,-146.0,156.3,-15.1,139,981,0.00,1.92,0.00,0.000,4,0.000,0.021,2447,1471,3469,0,0,0,0,0,0,28.83,27.17,28.83
$GC,1046,-1.06,-146.0,168.1,-15.4,151,1056,0.08,2.03,0.00,0.000,6,0.119,0.030,2467,2847,3468,0,0,0,0,0,0,27.01,27.15,28.83
$GC,1089,-1.06,-146.0,174.0,-14.1,156,1097,0.00,1.33,0.00,0.000,4,0.000,0.044,2462,3748,3469,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1118,-1.06,-146.0,177.2,-14.1,158,1128,0.00,1.20,0.00,0.000,6,0.000,0.022,2462,2850,3469,0,0,0,0,0,0,28.83,27.22,28.83
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1145,-0.26,0.0,181.8,-14.3,160,1251,0.75,0.05,100.85,0.625,6,0.106,0.068,2726,2523,2869,0,0,0,0,0,0,27.01,26.13,25.80
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1254,1.06,146.0,187.9,0.0,167,1369,1.12,1.92,100.78,0.635,4,0.067,0.041,3148,3742,2271,0,0,0,0,0,0,26.21,25.96,25.58
$GC,1412,1.08,168.2,178.8,9.0,177,1437,0.00,1.73,14.80,0.988,6,0.000,0.019,3151,2538,2193,0,0,0,0,0,0,28.83,26.38,25.36
$GC,1467,1.08,168.2,172.4,10.0,182,1475,0.00,2.05,0.00,0.000,4,0.000,0.027,3156,1141,2194,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1535,1.08,168.2,165.4,10.2,193,1544,0.00,2.03,0.00,0.000,6,0.000,0.028,3156,2508,2194,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1577,1.08,168.2,161.2,10.3,198,1585,0.00,1.90,0.00,0.000,4,0.000,0.043,3156,3754,2194,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1634,1.08,168.2,154.7,11.9,207,1643,0.00,1.75,0.85,0.245,6,0.000,0.021,3162,2511,2192,0,0,0,0,0,0,28.83,26.76,26.26
$GC,1677,1.08,168.2,150.2,10.5,212,1686,0.00,1.98,0.00,0.000,4,0.000,0.027,3169,1138,2193,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1706,1.08,168.2,147.1,10.4,216,1714,0.00,2.03,0.00,0.000,6,0.000,0.028,3170,2514,2193,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1747,1.08,168.2,142.7,11.0,221,1755,0.00,1.85,0.00,0.000,4,0.000,0.043,3170,3737,2193,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1810,1.08,168.2,135.2,12.3,231,1819,0.00,1.73,0.00,0.000,6,0.000,0.020,3176,2499,2193,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1852,1.08,168.2,130.4,11.8,236,1861,0.00,1.95,0.00,0.000,4,0.000,0.028,3176,1144,2193,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1909,1.08,168.2,124.0,10.4,245,1918,0.00,2.00,0.00,0.000,6,0.000,0.028,3176,2505,2192,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1951,1.09,168.8,119.8,10.0,250,1960,0.00,1.88,1.05,0.308,4,0.000,0.041,3176,3749,2188,0,0,0,0,0,0,28.83,26.92,26.46
$GC,1998,1.09,168.8,114.5,12.5,257,2006,0.00,1.73,0.00,0.000,6,0.000,0.021,3182,2506,2188,0,0,0,0,0,0,28.83,27.02,28.83
$GC,2039,1.09,168.8,110.0,10.7,262,2048,0.00,1.95,0.00,0.000,4,0.000,0.027,3189,1140,2188,0,0,0,0,0,0,28.83,27.00,28.83
$GC,2090,1.09,168.8,104.8,10.2,270,2099,0.00,2.00,0.00,0.000,6,0.000,0.028,3190,2506,2188,0,0,0,0,0,0,28.83,27.02,28.83
$GC,2132,1.09,168.8,100.6,10.0,275,2141,0.00,1.85,0.00,0.000,4,0.000,0.043,3189,3737,2188,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2194,1.09,168.8,94.1,10.5,285,2204,0.10,1.70,0.00,0.000,6,0.132,0.020,3160,2504,2188,0,0,0,0,0,0,26.91,27.10,28.83
$GC,2238,1.13,205.1,90.6,8.3,290,2263,0.00,1.95,15.95,0.306,4,0.000,0.025,3162,1143,2039,0,0,0,0,0,0,28.83,26.97,26.55
$GC,2305,1.19,257.4,85.2,7.6,300,2337,0.00,2.00,23.33,0.296,6,0.000,0.028,3162,2514,1824,0,0,0,0,0,0,28.83,27.01,26.46
$GC,2372,1.22,277.4,79.4,9.1,308,2389,0.12,1.83,9.50,0.282,4,0.085,0.040,3275,3742,1744,0,0,0,0,0,0,26.94,26.82,26.46
$GC,2416,1.22,277.4,73.2,15.8,314,2425,0.22,1.70,0.00,0.000,6,0.123,0.021,3204,2526,1743,0,0,0,0,0,0,26.73,26.92,28.83
$GC,2458,1.22,277.4,67.1,13.3,319,2467,0.00,2.00,0.00,0.000,4,0.000,0.028,3211,1135,1742,0,0,0,0,0,0,28.83,26.92,28.83
$GC,2522,1.22,277.4,59.1,11.7,329,2531,0.00,2.00,0.00,0.000,6,0.000,0.028,3211,2504,1742,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2564,1.22,277.4,54.5,11.0,334,2572,0.00,1.85,0.00,0.000,4,0.000,0.043,3211,3736,1742,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2644,1.22,277.4,44.2,12.9,347,2652,0.00,1.70,0.00,0.000,6,0.000,0.020,3217,2511,1742,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2685,1.22,277.4,39.4,11.4,352,2694,0.00,1.98,0.00,0.000,4,0.000,0.028,3217,1129,1741,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2778,1.23,286.0,30.4,9.6,367,2787,0.00,2.00,4.18,0.184,6,0.000,0.028,3217,2507,1704,0,0,0,0,0,0,28.83,27.07,26.78
$GC,2822,1.24,291.4,26.2,9.8,372,2831,0.00,1.80,2.75,0.193,4,0.000,0.041,3216,3740,1683,0,0,0,0,0,0,28.83,27.01,26.80
$GC,2862,1.24,291.4,21.5,11.9,378,2870,0.00,1.73,0.00,0.000,6,0.000,0.021,3223,2500,1683,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2904,1.24,291.4,16.9,10.9,383,2913,0.00,1.92,0.00,0.000,4,0.000,0.028,3227,1150,1683,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2950,1.24,291.4,11.6,10.6,390,2959,0.00,1.98,0.00,0.000,6,0.000,0.028,3227,2507,1683,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2992,1.24,291.4,7.0,11.0,395,3000,0.00,1.85,0.00,0.000,4,0.000,0.043,3227,3742,1683,0,0,0,0,0,0,28.83,27.06,28.83
$STATE,3024,end climb,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,0.9,1.023507
$STATE,3038,end surface coast,CONTROL_FINISHED_OK
$STATE,3038,begin surface
$SM_CCo,3053,32.42,0.112,0,0,1339,375.06
$SM_GC,2.06,7.40,1.23,32.42,0.025,0.021,0.112,179,2842,1339,-8.09,2.69,375.06,0,0,0,0,0,0,27.13,27.17,26.88
$IRIDIUM_FIX,2646.31,-7052.63,150814,121239
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.66
$INTERNAL_PRESSURE,9.55049
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,25.4,5.802
$10V_AH,10.6,6.994
$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,18.075,92.525,274.025,32.425,0.000,22.799,44.395,77.301,0.000,0.000,5.494,973.513,207.759,424.430,1626.780,85.631,32.227,1068.034,0.000,1493.114,0.000,0.553,0.000
$DEVICE_MAMPS,205.020,68.085,988.380,112.455,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.430,1324.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,23605,402
$CAP_FILE_SIZE,77550,0
$CFSIZE,260034560,252866560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150814,134735,2657.488,-7052.893,2,1.5,2,-11.7