version: 66.10
glider: 201
mission: 5
dive: 99
start: 8 23 114 22 50 44
data:
$ID,201
$MISSION,5
$DIVE,99
$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,120
$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,15
$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,65
$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,-1994.8112
$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,2840
$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,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,111
$R_STBD_OVSHOOT,57
$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
$GPS1,230814,224524,2640.344,-7059.141,1,1.1,2,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-60.3
$GPS2,230814,225020,2640.322,-7059.128,5,0.8,5,-11.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,HEADING
$TGT_LATLONG,2650.753,-7055.996
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.075,0.222
$KALMAN_X,70971.9,31.7,-219.0,-81211.8,336.1
$KALMAN_Y,-63526.2,149.8,159.9,28139.1,-443.7
$MHEAD_RNG_PITCHd_Wd,26.6,20000,-19.4,-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,-1.14,-116.8,0.0,0.0,0,51,0.00,0.00,-34.20,0.000,2,0.000,0.000,172,2671,2196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.14,-116.8,2.2,0.0,2,112,8.05,1.60,-39.20,0.000,4,0.200,0.057,2468,3732,3350,0,0,0,0,0,0,26.64,26.92,27.25
$GC,154,-1.14,-116.8,11.6,-12.9,8,164,0.00,1.45,0.00,0.000,6,0.000,0.019,2468,2606,3350,0,0,0,0,0,0,28.83,27.08,28.83
$GC,225,-1.14,-116.8,29.5,-23.9,13,228,0.00,1.75,0.00,0.000,4,0.000,0.022,2468,1330,3350,0,0,0,0,0,0,28.83,27.03,28.83
$GC,282,-1.14,-116.8,41.7,-24.1,16,291,0.00,1.92,0.00,0.000,6,0.000,0.026,2458,2641,3350,0,0,0,0,0,0,28.83,27.03,28.83
$GC,352,-1.14,-116.8,57.3,-20.6,21,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2642,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,411,-1.14,-116.8,68.9,-19.5,25,415,0.00,1.62,0.00,0.000,4,0.000,0.038,2449,3760,3350,0,0,0,0,0,0,28.83,27.03,28.83
$GC,461,-1.14,-116.8,77.8,-17.8,28,465,0.00,1.42,0.00,0.000,6,0.000,0.020,2449,2670,3349,0,0,0,0,0,0,28.83,27.17,28.83
$GC,540,-1.14,-116.8,91.0,-16.8,33,545,0.00,1.88,0.00,0.000,4,0.000,0.020,2449,1278,3349,0,0,0,0,0,0,28.83,27.13,28.83
$GC,569,-1.14,-116.8,95.9,-15.4,35,575,0.08,1.92,0.00,0.000,6,0.122,0.026,2469,2653,3349,0,0,0,0,0,0,26.92,27.12,28.83
$GC,644,-1.14,-116.8,106.9,-14.7,40,647,0.00,1.60,0.00,0.000,4,0.000,0.038,2463,3758,3350,0,0,0,0,0,0,28.83,27.08,28.83
$GC,718,-1.14,-116.8,116.3,-14.2,44,727,0.00,1.45,0.00,0.000,6,0.000,0.019,2463,2648,3350,0,0,0,0,0,0,28.83,27.22,28.83
$GC,788,-1.14,-116.8,126.2,-12.9,49,791,0.00,1.83,0.00,0.000,4,0.000,0.021,2463,1323,3350,0,0,0,0,0,0,28.83,27.17,28.83
$GC,862,-1.14,-116.8,135.0,-13.1,53,871,0.00,1.98,0.00,0.000,6,0.000,0.026,2453,2654,3350,0,0,0,0,0,0,28.83,27.17,28.83
$GC,931,-1.14,-116.8,144.5,-12.5,58,934,0.00,1.58,0.00,0.000,4,0.000,0.039,2444,3756,3350,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1004,-1.14,-116.8,154.1,-14.4,62,1014,0.00,1.45,0.00,0.000,6,0.000,0.020,2444,2642,3350,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1073,-1.14,-116.8,163.6,-12.3,67,1077,0.00,1.80,0.00,0.000,4,0.000,0.020,2444,1328,3350,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1114,-1.14,-116.8,167.7,-12.4,69,1124,0.10,1.95,0.00,0.000,6,0.109,0.026,2474,2650,3350,0,0,0,0,0,0,27.03,27.20,28.83
$GC,1183,-1.14,-116.8,177.1,-12.1,74,1186,0.00,1.58,0.00,0.000,4,0.000,0.039,2467,3761,3350,0,0,0,0,0,0,28.83,27.15,28.83
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1221,-0.26,0.0,181.1,-12.0,76,1307,0.80,0.00,81.18,0.659,6,0.099,0.000,2753,2479,2870,0,0,0,0,0,0,26.99,28.83,25.91
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1310,1.14,116.8,184.9,0.0,82,1400,1.17,2.00,81.88,0.646,4,0.058,0.037,3208,3751,2392,0,0,0,0,0,0,26.34,26.08,25.67
$GC,1455,1.14,116.8,173.7,11.3,91,1464,0.00,1.70,0.00,0.000,6,0.000,0.018,3215,2539,2391,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1523,1.14,116.8,165.0,11.0,96,1528,0.00,1.98,0.00,0.000,4,0.000,0.024,3225,1126,2391,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1538,1.14,116.8,163.4,10.6,97,1543,0.00,2.00,0.00,0.000,6,0.000,0.027,3225,2518,2391,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1614,1.14,116.8,154.3,12.2,102,1617,0.00,1.83,0.00,0.000,4,0.000,0.041,3225,3745,2391,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1738,1.14,116.8,140.3,12.1,109,1746,0.00,1.73,0.00,0.000,6,0.000,0.019,3230,2505,2390,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1805,1.14,116.8,132.2,10.6,114,1811,0.00,1.92,0.00,0.000,4,0.000,0.025,3240,1120,2390,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1877,1.14,116.8,125.4,10.7,118,1887,0.08,2.00,0.00,0.000,6,0.132,0.027,3212,2494,2389,0,0,0,0,0,0,26.77,26.94,28.83
$GC,1946,1.16,136.4,118.3,8.9,123,1962,0.00,1.98,7.50,0.790,4,0.000,0.024,3217,1130,2319,0,0,0,0,0,0,28.83,26.89,26.15
$GC,2071,1.18,148.3,107.9,9.3,130,2081,0.00,2.00,5.40,0.689,6,0.000,0.027,3217,2499,2266,0,0,0,0,0,0,28.83,26.97,26.13
$GC,2140,1.21,174.5,101.4,8.5,135,2159,0.00,1.98,12.38,0.763,4,0.000,0.025,3225,1118,2163,0,0,0,0,0,0,28.83,26.77,26.07
$GC,2170,1.24,197.1,98.7,8.7,137,2186,0.00,2.03,10.23,0.322,6,0.000,0.026,3225,2494,2069,0,0,0,0,0,0,28.83,26.78,26.36
$GC,2246,1.24,197.1,91.0,10.5,142,2251,0.00,1.85,0.00,0.000,4,0.000,0.041,3225,3748,2070,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2479,1.26,219.6,66.3,8.7,156,2495,0.00,1.73,11.27,0.249,6,0.000,0.018,3227,2496,1975,0,0,0,0,0,0,28.83,27.06,26.55
$GC,2560,1.31,257.7,59.7,7.8,161,2590,0.10,1.92,19.50,0.239,4,0.103,0.041,3318,3746,1822,0,0,0,0,0,0,27.02,26.86,26.53
$GC,2730,1.31,257.7,37.9,13.8,171,2740,0.17,1.73,0.00,0.000,6,0.125,0.018,3266,2497,1820,0,0,0,0,0,0,26.81,27.06,28.83
$GC,2801,1.32,262.9,29.9,9.7,176,2815,0.00,1.90,2.50,0.201,4,0.000,0.023,3272,1127,1799,0,0,0,0,0,0,28.83,27.03,26.72
$GC,2819,1.33,271.5,28.4,9.5,177,2835,0.00,2.00,4.47,0.174,6,0.000,0.027,3272,2500,1764,0,0,0,0,0,0,28.83,27.03,26.72
$GC,2895,1.33,271.5,19.6,11.5,182,2900,0.00,1.83,0.00,0.000,4,0.000,0.041,3272,3743,1764,0,0,0,0,0,0,28.83,26.99,28.83
$GC,2957,1.33,271.5,11.1,13.3,186,2960,0.00,1.67,0.00,0.000,6,0.000,0.018,3272,2493,1764,0,0,0,0,0,0,28.83,27.13,28.83
$STATE,3033,end climb,SURFACE_DEPTH_REACHED
$STATE,3033,begin surface coast
$FINISH,1.0,1.023159
$STATE,3049,end surface coast,CONTROL_FINISHED_OK
$STATE,3049,begin surface
$SM_CCo,3064,41.15,0.110,0,0,1340,375.06
$SM_GC,2.23,7.60,0.22,41.15,0.031,0.055,0.110,181,2666,1340,-8.20,-1.55,375.06,0,0,0,0,0,0,27.08,27.13,26.83
$IRIDIUM_FIX,2631.83,-7102.63,230814,222258
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.18
$INTERNAL_PRESSURE,9.57979
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,25.7,9.203
$10V_AH,10.6,12.008
$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,18.150,68.425,236.300,41.150,0.000,23.275,45.411,84.294,0.000,0.000,6.273,616.519,1175.875,314.928,1175.190,66.068,0.000,824.072,0.000,1013.156,0.000,0.552,0.000
$DEVICE_MAMPS,200.430,57.375,790.245,110.160,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,124.671,632.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354700
$DATA_FILE_SIZE,10316,192
$CAP_FILE_SIZE,64705,0
$CFSIZE,260034560,248594432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230814,234309,2640.308,-7058.751,5,0.9,5,-11.6