version: 66.10
glider: 201
mission: 5
dive: 69
start: 8 16 114 23 37 43
data:
$ID,201
$MISSION,5
$DIVE,69
$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,45
$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,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,-1873.4879
$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,2890
$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,2800
$C_ROLL_CLIMB,2623
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,134
$R_STBD_OVSHOOT,40
$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
$GPS1,160814,233152,2645.656,-7048.222,2,1.1,2,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.8
$GPS2,160814,233646,2645.613,-7048.204,4,1.2,5,-11.7
$SPEED_LIMITS,0.231,0.283
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.283,-0.021
$KALMAN_X,22095.5,-98.9,172.5,-13753.3,200.1
$KALMAN_Y,9259.7,6168.6,2574.3,-43894.5,-1393.5
$MHEAD_RNG_PITCHd_Wd,277.5,31032,-22.2,-13.333
$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,-1.32,-146.0,0.0,0.0,0,59,0.00,0.00,-42.20,0.000,2,0.000,0.000,181,2980,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.32,-146.0,2.6,-5.1,3,111,8.02,2.12,-34.03,0.000,4,0.206,0.032,2463,1444,3467,0,0,0,0,0,0,26.74,27.10,27.39
$GC,148,-1.32,-146.0,11.7,-14.1,9,152,0.00,1.98,0.00,0.000,6,0.000,0.030,2454,2808,3467,0,0,0,0,0,0,28.83,27.10,28.83
$GC,219,-1.32,-146.0,27.5,-22.9,14,222,0.00,1.38,0.00,0.000,4,0.000,0.043,2447,3739,3468,0,0,0,0,0,0,28.83,27.10,28.83
$GC,281,-1.32,-146.0,43.1,-26.1,18,286,0.00,1.25,0.00,0.000,6,0.000,0.020,2447,2798,3468,0,0,0,0,0,0,28.83,27.23,28.83
$GC,354,-1.32,-146.0,59.1,-20.9,23,358,0.00,1.88,0.00,0.000,4,0.000,0.020,2447,1429,3468,0,0,0,0,0,0,28.83,27.21,28.83
$GC,364,-1.32,-146.0,61.0,-20.1,24,368,0.00,1.95,0.00,0.000,6,0.000,0.029,2438,2802,3468,0,0,0,0,0,0,28.83,27.17,28.83
$GC,434,-1.32,-146.0,74.7,-19.3,29,438,0.12,1.35,0.00,0.000,4,0.160,0.039,2473,3752,3468,0,0,0,0,0,0,27.04,27.15,28.83
$GC,458,-1.32,-146.0,77.8,-19.3,30,465,0.00,1.25,0.00,0.000,6,0.000,0.021,2473,2802,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,525,-1.32,-146.0,90.4,-16.5,35,529,0.00,1.90,0.00,0.000,4,0.000,0.021,2473,1443,3467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,588,-1.32,-146.0,99.8,-15.6,39,593,0.00,1.98,0.00,0.000,6,0.000,0.029,2464,2795,3467,0,0,0,0,0,0,28.83,27.22,28.83
$GC,660,-1.32,-146.0,111.0,-15.2,44,664,0.00,1.40,0.00,0.000,4,0.000,0.044,2456,3746,3467,0,0,0,0,0,0,28.83,27.18,28.83
$GC,698,-1.32,-146.0,115.9,-15.4,46,706,0.00,1.25,0.00,0.000,6,0.000,0.021,2456,2802,3468,0,0,0,0,0,0,28.83,27.29,28.83
$GC,766,-1.32,-146.0,127.0,-14.8,51,769,0.00,1.88,0.00,0.000,4,0.000,0.021,2456,1426,3468,0,0,0,0,0,0,28.83,27.27,28.83
$GC,829,-1.32,-146.0,135.5,-15.1,55,836,0.00,2.00,0.00,0.000,6,0.000,0.029,2447,2800,3468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,896,-1.32,-146.0,146.0,-14.0,60,899,0.00,1.38,0.00,0.000,4,0.000,0.044,2439,3742,3468,0,0,0,0,0,0,28.83,27.20,28.83
$GC,974,-1.32,-146.0,157.3,-15.1,65,978,0.00,1.27,0.00,0.000,6,0.000,0.021,2439,2791,3468,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1046,-1.32,-146.0,168.1,-14.4,70,1049,0.00,1.42,0.00,0.000,4,0.000,0.043,2432,3750,3468,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1069,-1.32,-146.0,170.3,-14.4,71,1077,0.10,1.25,0.00,0.000,6,0.116,0.021,2469,2801,3467,0,0,0,0,0,0,27.08,27.33,28.83
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1139,-0.26,0.0,180.6,-13.5,76,1246,0.93,0.00,101.90,0.601,6,0.103,0.000,2801,2591,2871,0,0,0,0,0,0,27.08,28.83,25.94
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1249,1.32,146.0,183.9,0.0,83,1358,1.30,1.83,100.75,0.601,4,0.050,0.039,3318,3749,2273,0,0,0,0,0,0,26.41,26.20,25.78
$GC,1393,1.32,146.0,169.6,14.7,93,1398,0.00,1.52,0.00,0.000,6,0.000,0.019,3326,2663,2273,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1466,1.32,146.0,156.7,17.1,98,1469,0.00,2.00,0.00,0.000,4,0.000,0.025,3335,1241,2272,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1506,1.32,146.0,149.8,17.2,101,1510,0.00,2.00,0.00,0.000,6,0.000,0.029,3335,2630,2273,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1576,1.32,146.0,138.3,16.5,106,1580,0.00,1.62,0.00,0.000,4,0.000,0.042,3335,3746,2272,0,0,0,0,0,0,28.83,26.85,28.83
$GC,1651,1.32,146.0,125.9,16.6,111,1655,0.12,1.52,0.00,0.000,6,0.178,0.020,3312,2625,2271,0,0,0,0,0,0,26.77,27.01,28.83
$GC,1727,1.32,146.0,114.8,14.7,116,1731,0.00,1.95,0.00,0.000,4,0.000,0.027,3320,1240,2271,0,0,0,0,0,0,28.83,27.02,28.83
$GC,1775,1.32,146.0,109.4,13.8,119,1783,0.00,2.03,0.00,0.000,6,0.000,0.029,3320,2619,2271,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1842,1.32,146.0,99.4,13.3,124,1846,0.00,1.65,0.00,0.000,4,0.000,0.043,3320,3758,2270,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1887,1.32,146.0,93.2,13.8,127,1891,0.00,1.52,0.00,0.000,6,0.000,0.020,3329,2605,2270,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1963,1.33,160.5,83.7,12.4,132,1978,0.00,1.95,5.70,0.295,4,0.000,0.027,3337,1255,2221,0,0,0,0,0,0,28.83,27.09,26.63
$GC,2055,1.38,196.0,73.0,11.2,138,2077,0.00,1.95,16.52,0.269,6,0.000,0.029,3337,2626,2074,0,0,0,0,0,0,28.83,27.12,26.63
$GC,2144,1.38,196.0,61.3,13.5,144,2148,0.00,1.62,0.00,0.000,4,0.000,0.043,3337,3749,2076,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2312,1.38,196.0,38.4,13.5,155,2317,0.00,1.55,0.00,0.000,6,0.000,0.020,3345,2622,2075,0,0,0,0,0,0,28.83,27.21,28.83
$GC,2385,1.42,234.0,30.1,11.0,160,2408,0.00,1.95,17.52,0.176,4,0.000,0.027,3351,1259,1919,0,0,0,0,0,0,28.83,27.11,26.81
$GC,2483,1.45,252.7,19.5,12.2,166,2497,0.00,1.98,8.00,0.157,6,0.000,0.029,3350,2628,1839,0,0,0,0,0,0,28.83,27.14,26.86
$GC,2564,1.45,252.7,6.5,15.0,172,2568,0.00,1.62,0.00,0.000,4,0.000,0.043,3351,3752,1839,0,0,0,0,0,0,28.83,27.10,28.83
$STATE,2593,end climb,SURFACE_DEPTH_REACHED
$STATE,2593,begin surface coast
$FINISH,0.8,1.023424
$STATE,2609,end surface coast,CONTROL_FINISHED_OK
$STATE,2609,begin surface
$SM_CCo,2625,47.28,0.111,0,0,1341,375.06
$SM_GC,1.92,7.85,1.30,47.28,0.036,0.019,0.111,177,2785,1341,-8.37,2.94,375.06,0,0,0,0,0,0,27.15,27.23,26.87
$IRIDIUM_FIX,2636.66,-7048.86,160814,222215
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,9.59932
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,25.8,6.739
$10V_AH,10.8,8.822
$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,18.450,60.600,250.400,47.275,0.000,22.967,44.311,78.200,0.000,0.000,5.501,559.826,1229.015,346.871,716.854,53.889,33.228,750.775,0.000,556.574,0.000,0.551,0.000
$DEVICE_MAMPS,205.785,65.025,601.290,110.925,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,113.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354500
$DATA_FILE_SIZE,10264,175
$CAP_FILE_SIZE,59153,0
$CFSIZE,260034560,251912192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170814,002306,2645.093,-7048.563,16,0.8,16,-11.7