version: 66.10
glider: 201
mission: 5
dive: 100
start: 8 23 114 23 49 31
data:
$ID,201
$MISSION,5
$DIVE,100
$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,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,-1996.0632
$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,103
$R_STBD_OVSHOOT,65
$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
$GPS1,230814,234309,2640.308,-7058.751,5,0.9,5,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-63.7
$GPS2,230814,234908,2640.225,-7058.723,7,0.9,7,-11.6
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,2650.656,-7055.591
$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,-19.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,51,0.00,0.00,-34.60,0.000,2,0.000,0.000,173,2671,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.15,-116.8,2.2,0.0,2,112,7.95,1.60,-38.90,0.000,4,0.199,0.059,2460,3733,3349,0,0,0,0,0,0,26.63,26.95,27.28
$GC,173,-1.15,-116.8,16.3,-18.9,9,181,0.00,1.48,0.00,0.000,6,0.000,0.019,2460,2592,3349,0,0,0,0,0,0,28.83,27.11,28.83
$GC,240,-1.15,-116.8,35.3,-25.2,14,243,0.00,1.80,0.00,0.000,4,0.000,0.021,2461,1290,3349,0,0,0,0,0,0,28.83,27.08,28.83
$GC,324,-1.15,-116.8,53.6,-21.6,19,329,0.00,2.00,0.00,0.000,6,0.000,0.025,2450,2640,3349,0,0,0,0,0,0,28.83,27.08,28.83
$GC,400,-1.15,-116.8,68.2,-19.3,24,404,0.00,1.58,0.00,0.000,4,0.000,0.039,2442,3745,3349,0,0,0,0,0,0,28.83,27.07,28.83
$GC,450,-1.15,-116.8,77.4,-17.9,27,453,0.00,1.48,0.00,0.000,6,0.000,0.021,2442,2621,3349,0,0,0,0,0,0,28.83,27.20,28.83
$GC,528,-1.15,-116.8,90.7,-17.3,32,531,0.00,1.80,0.00,0.000,4,0.000,0.020,2441,1308,3349,0,0,0,0,0,0,28.83,27.16,28.83
$GC,548,-1.15,-116.8,93.3,-16.1,33,553,0.12,1.95,0.00,0.000,6,0.150,0.025,2469,2659,3349,0,0,0,0,0,0,26.96,27.14,28.83
$GC,617,-1.15,-116.8,102.8,-13.4,37,620,0.00,1.55,0.00,0.000,4,0.000,0.040,2463,3745,3350,0,0,0,0,0,0,28.83,27.11,28.83
$GC,740,-1.15,-116.8,118.9,-13.9,44,749,0.00,1.42,0.00,0.000,6,0.000,0.020,2462,2653,3350,0,0,0,0,0,0,28.83,27.26,28.83
$GC,808,-1.15,-116.8,128.8,-12.9,49,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2653,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,869,-1.15,-116.8,136.6,-12.9,53,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2653,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-1.15,-116.8,144.8,-13.8,57,931,0.00,1.58,0.00,0.000,4,0.000,0.039,2454,3747,3351,0,0,0,0,0,0,28.83,27.16,28.83
$GC,969,-1.15,-116.8,149.7,-14.4,59,978,0.00,1.45,0.00,0.000,6,0.000,0.020,2454,2643,3350,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1039,-1.15,-116.8,159.6,-12.8,64,1043,0.00,1.83,0.00,0.000,4,0.000,0.020,2454,1317,3350,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1074,-1.15,-116.8,163.9,-12.7,66,1079,0.00,1.98,0.00,0.000,6,0.000,0.026,2444,2650,3351,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1149,-1.15,-116.8,174.0,-13.5,71,1152,0.00,1.55,0.00,0.000,4,0.000,0.039,2436,3748,3351,0,0,0,0,0,0,28.83,27.17,28.83
$GC,1184,-1.15,-116.8,178.4,-13.2,73,1190,0.10,1.45,0.00,0.000,6,0.158,0.020,2471,2646,3350,0,0,0,0,0,0,27.05,27.29,28.83
$GC,1259,-1.15,-116.8,187.5,-11.4,78,1262,0.00,1.85,0.00,0.000,4,0.000,0.021,2472,1317,3351,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1397,-1.15,-116.8,202.7,-11.5,86,1404,0.00,1.92,0.00,0.000,6,0.000,0.026,2465,2657,3351,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1493,-1.15,-116.8,215.2,-12.4,93,1496,0.00,1.55,0.00,0.000,4,0.000,0.040,2455,3745,3350,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1516,-1.15,-116.8,217.1,-12.5,94,1523,0.00,1.42,0.00,0.000,6,0.000,0.021,2455,2658,3350,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1613,-1.15,-116.8,230.1,-12.0,101,1617,0.00,1.85,0.00,0.000,4,0.000,0.021,2456,1281,3350,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1728,-1.15,-116.8,244.1,-11.8,109,1732,0.00,1.92,0.00,0.000,6,0.000,0.027,2445,2649,3349,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1814,-1.15,-116.8,254.1,-11.9,115,1817,0.00,1.85,0.00,0.000,4,0.000,0.021,2446,1284,3349,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1856,-1.15,-116.8,259.1,-12.3,118,1862,0.08,1.98,0.00,0.000,6,0.120,0.026,2468,2648,3349,0,0,0,0,0,0,27.04,27.24,28.83
$GC,1944,-1.15,-116.8,269.3,-11.2,124,1948,0.00,1.85,0.00,0.000,4,0.000,0.021,2468,1286,3349,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1972,-1.15,-116.8,272.1,-11.3,126,1976,0.00,1.98,0.00,0.000,6,0.000,0.027,2462,2649,3348,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2059,-1.15,-116.8,282.4,-11.4,132,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2649,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2149,-1.15,-116.8,292.6,-11.3,138,2153,0.00,1.85,0.00,0.000,4,0.000,0.021,2461,1287,3347,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2235,-1.15,-116.8,302.3,-11.3,144,2239,0.00,1.95,0.00,0.000,6,0.000,0.027,2451,2663,3347,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2320,-1.15,-116.8,312.1,-11.4,147,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2663,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-1.15,-116.8,322.7,-11.6,150,2414,0.00,1.88,0.00,0.000,4,0.000,0.021,2452,1288,3347,0,0,0,0,0,0,28.83,27.26,28.83
$GC,2454,-1.15,-116.8,325.8,-11.9,151,2458,0.00,1.98,0.00,0.000,6,0.000,0.027,2442,2649,3346,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2556,-1.15,-116.8,340.3,-12.1,155,2559,0.00,1.85,0.00,0.000,4,0.000,0.021,2442,1290,3345,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2606,-1.15,-116.8,344.3,-12.4,156,2610,0.12,1.92,0.00,0.000,6,0.148,0.028,2472,2652,3345,0,0,0,0,0,0,27.06,27.24,28.83
$GC,2701,-1.15,-116.8,357.6,-11.8,159,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2652,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-1.15,-116.8,367.7,-11.3,162,2795,0.00,1.85,0.00,0.000,4,0.000,0.021,2472,1295,3344,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2850,-1.15,-116.8,373.7,-11.1,164,2854,0.00,1.98,0.00,0.000,6,0.000,0.027,2465,2656,3343,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2937,-1.15,-116.8,383.5,-10.9,167,2940,0.00,1.60,0.00,0.000,4,0.000,0.041,2456,3757,3343,0,0,0,0,0,0,28.83,27.19,28.83
$GC,2967,-1.15,-116.8,387.0,-10.9,168,2970,0.00,1.45,0.00,0.000,6,0.000,0.021,2456,2652,3343,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3057,-1.15,-116.8,397.2,-11.3,171,3061,0.00,1.85,0.00,0.000,4,0.000,0.022,2456,1288,3343,0,0,0,0,0,0,28.83,27.27,28.83
$GC,3145,-1.15,-116.8,406.8,-11.4,174,3150,0.00,1.98,0.00,0.000,6,0.000,0.028,2446,2650,3342,0,0,0,0,0,0,28.83,27.24,28.83
$GC,3232,-1.15,-116.8,416.8,-11.0,177,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2650,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-1.15,-116.8,426.6,-11.0,180,3326,0.00,1.90,0.00,0.000,4,0.000,0.022,2446,1281,3342,0,0,0,0,0,0,28.83,27.27,28.83
$GC,3411,-1.15,-116.8,436.2,-11.1,183,3416,0.08,2.00,0.00,0.000,6,0.117,0.028,2468,2649,3341,0,0,0,0,0,0,27.05,27.24,28.83
$GC,3498,-1.15,-116.8,445.5,-10.4,186,3501,0.00,1.62,0.00,0.000,4,0.000,0.041,2462,3745,3341,0,0,0,0,0,0,28.83,27.20,28.83
$GC,3552,-1.15,-116.8,448.8,-10.5,187,3559,0.00,1.45,0.00,0.000,6,0.000,0.021,2461,2646,3340,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3648,-1.15,-116.8,461.8,-10.8,191,3652,0.00,1.85,0.00,0.000,4,0.000,0.022,2461,1286,3340,0,0,0,0,0,0,28.83,27.27,28.83
$GC,3738,-1.15,-116.8,471.7,-11.1,194,3742,0.00,1.95,0.00,0.000,6,0.000,0.028,2452,2653,3339,0,0,0,0,0,0,28.83,27.24,28.83
$GC,3824,-1.15,-116.8,481.2,-10.9,197,3827,0.00,1.58,0.00,0.000,4,0.000,0.041,2443,3749,3339,0,0,0,0,0,0,28.83,27.19,28.83
$GC,3862,-1.15,-116.8,484.7,-11.2,198,3866,0.00,1.45,0.00,0.000,6,0.000,0.021,2443,2653,3338,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3974,-1.15,-116.8,498.9,-11.8,202,3978,0.00,1.88,0.00,0.000,4,0.000,0.023,2444,1292,3338,0,0,0,0,0,0,28.83,27.26,28.83
$STATE,3998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3998,begin apogee
$GC,4004,-0.26,0.0,501.9,-11.7,203,4093,0.90,0.00,82.68,0.883,6,0.103,0.000,2755,2509,2870,0,0,0,0,0,0,27.01,28.83,25.60
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4095,1.15,116.8,505.1,0.0,206,4188,1.20,1.92,85.35,0.861,4,0.056,0.041,3217,3749,2392,0,0,0,0,0,0,26.19,25.91,25.38
$GC,4218,1.15,123.1,496.6,9.7,210,4228,0.00,1.75,4.78,0.938,6,0.000,0.019,3225,2533,2370,0,0,0,0,0,0,28.83,26.29,25.33
$GC,4330,1.15,123.1,481.2,12.8,214,4334,0.00,2.00,0.00,0.000,4,0.000,0.025,3233,1123,2373,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4415,1.15,123.1,470.2,12.9,217,4419,0.00,2.00,0.00,0.000,6,0.000,0.027,3233,2500,2373,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4501,1.15,123.1,459.2,12.8,220,4505,0.00,1.85,0.00,0.000,4,0.000,0.041,3234,3741,2373,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4569,1.15,123.1,451.3,13.6,222,4573,0.00,1.75,0.00,0.000,6,0.000,0.019,3233,2495,2372,0,0,0,0,0,0,28.83,26.93,28.83
$GC,4676,1.15,123.1,435.2,13.3,226,4680,0.00,1.92,0.00,0.000,4,0.000,0.027,3237,1119,2373,0,0,0,0,0,0,28.83,26.95,28.83
$GC,4735,1.15,123.1,427.9,13.1,228,4739,0.00,2.03,0.00,0.000,6,0.000,0.028,3237,2496,2372,0,0,0,0,0,0,28.83,26.97,28.83
$GC,4822,1.15,123.1,416.0,13.2,231,4825,0.00,1.85,0.00,0.000,4,0.000,0.041,3237,3756,2372,0,0,0,0,0,0,28.83,26.96,28.83
$GC,4870,1.15,123.1,412.4,13.5,232,4877,0.00,1.77,0.00,0.000,6,0.000,0.019,3238,2492,2372,0,0,0,0,0,0,28.83,27.08,28.83
$GC,4967,1.15,123.1,396.1,13.5,236,4971,0.00,1.92,0.00,0.000,4,0.000,0.027,3241,1112,2371,0,0,0,0,0,0,28.83,27.06,28.83
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$STATE,8393,end climb,SURFACE_DEPTH_REACHED
$STATE,8393,begin surface coast
$FINISH,0.9,0.997941
$STATE,8411,end surface coast,CONTROL_FINISHED_OK
$STATE,8411,begin surface
$SM_CCo,8426,40.72,0.112,0,0,1341,375.06
$SM_GC,1.96,7.65,0.22,40.72,0.034,0.063,0.112,168,2638,1341,-8.21,-1.58,375.06,0,0,0,0,0,0,27.15,27.13,26.82
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.44
$INTERNAL_PRESSURE,9.5212
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,25.3,9.262
$10V_AH,10.6,12.082
$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,18.900,173.975,242.500,40.725,0.000,24.416,49.980,94.912,0.000,0.000,9.271,1466.304,4586.122,407.268,2129.861,139.649,0.000,1403.116,0.000,1926.653,0.000,0.553,0.000
$DEVICE_MAMPS,198.900,62.730,937.890,112.455,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.771,675.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354716
$DATA_FILE_SIZE,26953,436
$CAP_FILE_SIZE,150375,0
$CFSIZE,260034560,248451072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240814,021152,2640.176,-7057.958,40,0.9,40,-11.7