version: 66.10
glider: 201
mission: 5
dive: 57
start: 8 15 114 17 42 5
data:
$ID,201
$MISSION,5
$DIVE,57
$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,165
$T_MISSION,185
$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,5
$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,-1805.5885
$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,30
$C_ROLL_DIVE,3153
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,69
$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
$GPS1,150814,173706,2657.301,-7052.441,3,0.9,4,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.2
$GPS2,150814,174111,2657.263,-7052.435,4,1.5,4,-11.7
$SPEED_LIMITS,0.175,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,2708.021,-7051.377
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.134,0.223
$KALMAN_X,2312.1,-3.8,110.3,-985.7,1080.1
$KALMAN_Y,-14361.8,934.1,1307.5,7854.7,-4988.7
$MHEAD_RNG_PITCHd_Wd,16.7,20000,-17.3,-10.101
$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,-1.07,-146.0,0.0,0.0,0,50,0.00,0.00,-32.70,0.000,2,0.000,0.000,200,3186,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.07,-146.0,2.0,-2.6,4,116,7.93,0.77,-48.15,0.000,4,0.203,0.081,2456,3721,3467,0,0,0,0,0,0,26.75,27.05,27.37
$GC,222,-1.07,-146.0,26.5,-23.5,30,231,0.00,0.75,0.00,0.000,6,0.000,0.027,2456,3135,3468,0,0,0,0,0,0,28.83,27.17,28.83
$GC,263,-1.07,-146.0,36.9,-24.8,35,272,0.00,1.40,0.00,0.000,4,0.000,0.020,2456,2069,3468,0,0,0,0,0,0,28.83,27.19,28.83
$GC,315,-1.07,-146.0,49.5,-24.0,43,324,0.00,1.55,0.00,0.000,6,0.000,0.034,2448,3121,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,357,-1.07,-146.0,58.8,-22.5,48,365,0.00,0.93,0.00,0.000,4,0.000,0.045,2443,3763,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,379,-1.07,-146.0,63.9,-22.7,51,388,0.00,0.77,0.00,0.000,6,0.000,0.026,2443,3150,3468,0,0,0,0,0,0,28.83,27.22,28.83
$GC,421,-1.07,-146.0,72.2,-20.6,56,429,0.00,0.90,0.00,0.000,4,0.000,0.045,2438,3762,3468,0,0,0,0,0,0,28.83,27.13,28.83
$GC,437,-1.07,-146.0,75.7,-20.6,58,446,0.00,0.77,0.00,0.000,6,0.000,0.026,2439,3152,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,478,-1.07,-146.0,83.4,-18.7,63,487,0.00,1.42,0.00,0.000,4,0.000,0.020,2438,2072,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,553,-1.07,-146.0,96.3,-16.8,75,562,0.08,1.60,0.00,0.000,6,0.125,0.034,2459,3157,3468,0,0,0,0,0,0,27.01,27.17,28.83
$GC,595,-1.07,-146.0,103.2,-16.4,80,604,0.00,0.88,0.00,0.000,4,0.000,0.046,2457,3766,3468,0,0,0,0,0,0,28.83,27.17,28.83
$GC,641,-1.07,-146.0,110.8,-16.7,87,649,0.00,0.80,0.00,0.000,6,0.000,0.026,2456,3145,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,682,-1.07,-146.0,117.5,-15.9,92,691,0.00,1.40,0.00,0.000,4,0.000,0.020,2457,2082,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,803,-1.07,-146.0,137.0,-16.1,112,812,0.00,1.58,0.00,0.000,6,0.000,0.036,2448,3151,3468,0,0,0,0,0,0,28.83,27.20,28.83
$GC,844,-1.07,-146.0,143.7,-16.4,117,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,3151,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-1.07,-146.0,150.1,-15.3,122,894,0.00,1.45,0.00,0.000,4,0.000,0.020,2448,2069,3469,0,0,0,0,0,0,28.83,27.29,28.83
$GC,976,-1.07,-146.0,163.0,-13.1,137,985,0.00,1.60,0.00,0.000,6,0.000,0.034,2440,3159,3469,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1018,-1.07,-146.0,168.9,-14.2,142,1027,0.00,0.85,0.00,0.000,4,0.000,0.047,2435,3756,3468,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1060,-1.07,-146.0,175.1,-15.6,148,1065,0.12,0.80,0.00,0.000,6,0.151,0.024,2471,3142,3469,0,0,0,0,0,0,27.08,27.30,28.83
$GC,1106,-1.07,-146.0,181.2,-13.4,151,1109,0.00,1.40,0.00,0.000,4,0.000,0.020,2472,2079,3468,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1221,-1.07,-146.0,196.2,-12.6,158,1225,0.00,1.55,0.00,0.000,6,0.000,0.035,2465,3166,3469,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1268,-1.07,-146.0,202.5,-13.1,161,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,3166,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1298,-1.07,-146.0,206.4,-13.3,163,1302,0.00,1.45,0.00,0.000,4,0.000,0.020,2465,2081,3468,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1364,-1.07,-146.0,214.7,-12.6,167,1368,0.00,1.52,0.00,0.000,6,0.000,0.036,2457,3150,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1411,-1.07,-146.0,220.9,-13.0,170,1415,0.00,0.88,0.00,0.000,4,0.000,0.047,2451,3757,3468,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1436,-1.07,-146.0,223.3,-13.3,171,1446,0.00,0.80,0.00,0.000,6,0.000,0.024,2452,3139,3468,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1477,-1.07,-146.0,229.7,-13.7,174,1480,0.00,1.40,0.00,0.000,4,0.000,0.021,2452,2079,3468,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1592,-1.07,-146.0,245.8,-13.7,181,1595,0.00,1.55,0.00,0.000,6,0.000,0.036,2443,3163,3467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1639,-1.07,-146.0,252.1,-13.4,184,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3163,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-1.07,-146.0,256.3,-13.8,186,1672,0.00,1.45,0.00,0.000,4,0.000,0.021,2444,2084,3467,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1753,-1.07,-146.0,267.4,-13.6,191,1758,0.00,1.60,0.00,0.000,6,0.000,0.035,2435,3169,3467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1799,-1.07,-146.0,273.7,-13.5,194,1803,0.12,0.85,0.00,0.000,4,0.160,0.043,2473,3761,3467,0,0,0,0,0,0,27.13,27.24,28.83
$GC,1840,-1.07,-146.0,278.2,-13.3,196,1850,0.00,0.80,0.00,0.000,6,0.000,0.024,2473,3138,3466,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1879,-1.07,-146.0,284.0,-12.7,199,1883,0.00,1.38,0.00,0.000,4,0.000,0.021,2474,2095,3466,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2028,-1.07,-146.0,301.5,-11.7,208,2031,0.00,1.52,0.00,0.000,6,0.000,0.036,2466,3157,3465,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2073,-1.07,-146.0,307.2,-11.7,210,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,3157,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2103,-1.07,-146.0,310.9,-12.0,211,2106,0.00,1.42,0.00,0.000,4,0.000,0.021,2467,2101,3466,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2211,-1.07,-146.0,321.9,-12.2,214,2215,0.00,1.55,0.00,0.000,6,0.000,0.037,2459,3150,3465,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2253,-1.07,-146.0,329.1,-12.0,216,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,3150,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-1.07,-146.0,332.9,-12.2,217,2286,0.00,1.42,0.00,0.000,4,0.000,0.021,2459,2095,3465,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2381,-1.07,-146.0,344.0,-12.4,220,2385,0.00,1.58,0.00,0.000,6,0.000,0.035,2451,3155,3464,0,0,0,0,0,0,28.83,27.26,28.83
$GC,2433,-1.07,-146.0,351.7,-12.5,222,2437,0.00,1.42,0.00,0.000,4,0.000,0.021,2451,2102,3464,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2501,-1.07,-146.0,359.2,-12.7,224,2505,0.00,1.55,0.00,0.000,6,0.000,0.036,2443,3148,3463,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2554,-1.07,-146.0,367.0,-12.8,226,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3148,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-1.07,-146.0,370.9,-12.9,227,2586,0.00,1.42,0.00,0.000,4,0.000,0.021,2443,2092,3463,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2691,-1.07,-146.0,382.5,-12.9,230,2696,0.08,1.58,0.00,0.000,6,0.120,0.036,2465,3157,3462,0,0,0,0,0,0,27.11,27.26,28.83
$GC,2733,-1.07,-146.0,389.8,-12.5,232,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,3157,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,-1.07,-146.0,393.5,-12.3,233,2766,0.00,1.42,0.00,0.000,4,0.000,0.021,2465,2101,3461,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2866,-1.07,-146.0,403.8,-11.7,236,2870,0.00,1.58,0.00,0.000,6,0.000,0.036,2459,3160,3461,0,0,0,0,0,0,28.83,27.26,28.83
$GC,2913,-1.07,-146.0,410.9,-11.6,238,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,3160,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-1.07,-146.0,414.5,-11.8,239,2946,0.00,1.45,0.00,0.000,4,0.000,0.021,2459,2089,3460,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3021,-1.07,-146.0,421.5,-11.9,241,3025,0.00,1.58,0.00,0.000,6,0.000,0.036,2451,3153,3460,0,0,0,0,0,0,28.83,27.26,28.83
$GC,3063,-1.07,-146.0,428.8,-11.9,243,3066,0.00,1.42,0.00,0.000,4,0.000,0.021,2451,2094,3459,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3131,-1.07,-146.0,436.2,-12.3,245,3135,0.00,1.58,0.00,0.000,6,0.000,0.036,2443,3151,3459,0,0,0,0,0,0,28.83,27.25,28.83
$GC,3183,-1.07,-146.0,443.8,-12.4,247,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,3151,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-1.07,-146.0,447.5,-12.6,248,3216,0.00,1.42,0.00,0.000,4,0.000,0.021,2443,2101,3459,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3286,-1.07,-146.0,455.0,-12.7,250,3291,0.08,1.55,0.00,0.000,6,0.119,0.037,2465,3147,3459,0,0,0,0,0,0,27.10,27.25,28.83
$GC,3333,-1.07,-146.0,462.3,-12.3,252,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,3148,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-1.07,-146.0,466.0,-12.2,253,3366,0.00,1.42,0.00,0.000,4,0.000,0.021,2465,2098,3459,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3491,-1.07,-146.0,480.3,-11.9,257,3495,0.00,1.58,0.00,0.000,6,0.000,0.037,2458,3156,3457,0,0,0,0,0,0,28.83,27.25,28.83
$GC,3543,-1.07,-146.0,487.5,-11.9,259,3547,0.00,1.42,0.00,0.000,4,0.000,0.021,2459,2109,3457,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3606,-1.07,-146.0,494.9,-12.2,261,3611,0.00,1.55,0.00,0.000,6,0.000,0.037,2451,3150,3457,0,0,0,0,0,0,28.83,27.25,28.83
$STATE,3662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3662,begin apogee
$GC,3667,-0.26,0.0,502.5,-12.4,263,3777,0.75,0.00,102.88,0.858,6,0.104,0.000,2719,2343,2869,0,0,0,0,0,0,27.10,28.83,25.51
$STATE,3778,end apogee,CONTROL_FINISHED_OK
$STATE,3778,begin climb
$GC,3779,1.07,146.0,505.8,0.0,264,3890,1.17,0.00,104.75,0.870,6,0.067,0.000,3158,2342,2273,0,0,0,0,0,0,26.08,28.83,25.32
$GC,4083,1.07,146.0,478.4,11.4,273,4087,0.00,1.60,0.00,0.000,4,0.000,0.039,3158,3419,2270,0,0,0,0,0,0,28.83,26.67,28.83
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$STATE,8427,end climb,SURFACE_DEPTH_REACHED
$STATE,8427,begin surface coast
$FINISH,0.8,1.008863
$STATE,8453,end surface coast,CONTROL_FINISHED_OK
$STATE,8453,begin surface
$SM_CCo,8467,29.60,0.116,0,0,1342,375.06
$SM_GC,1.69,7.47,1.20,29.60,0.032,0.037,0.116,177,3141,1342,-8.10,-1.44,375.06,0,0,0,0,0,0,27.15,27.13,26.89
$IRIDIUM_FIX,2651.14,-7051.84,150814,171729
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,9.51143
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,25.3,6.025
$10V_AH,10.6,7.325
$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,18.450,190.650,292.300,29.600,0.000,0.000,0.000,0.000,0.000,0.000,5.497,1905.875,3110.210,544.714,2834.477,161.229,33.240,1853.897,0.000,2821.726,0.000,0.551,0.000
$DEVICE_MAMPS,202.725,81.090,941.715,115.515,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.307,1676.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,36919,626
$CAP_FILE_SIZE,203836,0
$CFSIZE,260034560,252542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150814,200453,2657.504,-7052.108,36,1.1,36,-11.7