version: 66.10
glider: 201
mission: 5
dive: 358
start: 10 23 114 14 6 40
data:
$ID,201
$MISSION,5
$DIVE,358
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,240
$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,80
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,7
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,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,-2470.1448
$T_RSLEEP,7
$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,20
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,147
$R_STBD_OVSHOOT,71
$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
$GPS1,231014,135708,2723.250,-7015.844,3,1.0,4,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-61.9
$GPS2,231014,140616,2723.265,-7015.893,6,1.0,6,-12.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7005.000
$TGT_RADIUS,4000.000
$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,26.8,70326,-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,16,-1.14,-116.8,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,172,2652,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.14,-116.8,2.3,-1.6,5,111,8.32,0.90,-31.20,0.000,4,0.197,0.047,2468,1932,3350,0,0,0,0,0,0,26.12,26.82,27.08
$GC,219,-1.14,-116.8,25.9,-21.2,26,228,0.00,0.98,0.00,0.000,6,0.000,0.030,2465,2613,3350,0,0,0,0,0,0,28.83,26.80,28.83
$GC,310,-1.14,-116.8,46.0,-23.1,37,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2613,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,399,-1.14,-116.8,63.1,-16.7,48,408,0.00,0.82,0.00,0.000,4,0.000,0.021,2465,1947,3350,0,0,0,0,0,0,28.83,27.01,28.83
$GC,431,-1.14,-116.8,68.0,-14.6,52,440,0.00,0.98,0.00,0.000,6,0.000,0.030,2460,2630,3350,0,0,0,0,0,0,28.83,26.89,28.83
$GC,521,-1.14,-116.8,80.6,-13.0,63,529,0.00,1.00,0.00,0.000,4,0.000,0.037,2455,3317,3350,0,0,0,0,0,0,28.83,26.86,28.83
$GC,581,-1.14,-116.8,88.5,-13.4,71,589,0.00,0.82,0.00,0.000,6,0.000,0.022,2455,2634,3350,0,0,0,0,0,0,28.83,27.06,28.83
$GC,670,-1.14,-116.8,100.7,-14.2,82,679,0.00,0.85,0.00,0.000,4,0.000,0.021,2455,1938,3350,0,0,0,0,0,0,28.83,27.08,28.83
$GC,914,-1.14,-116.8,133.3,-12.6,116,923,0.00,1.00,0.00,0.000,6,0.000,0.031,2449,2629,3351,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1005,-1.14,-116.8,146.1,-14.3,127,1013,0.00,0.85,0.00,0.000,4,0.000,0.020,2449,1945,3351,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1177,-1.14,-116.8,168.0,-12.3,151,1185,0.00,0.98,0.00,0.000,6,0.000,0.031,2444,2629,3351,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1267,-1.14,-116.8,179.6,-12.9,162,1276,0.00,1.02,0.00,0.000,4,0.000,0.038,2439,3331,3351,0,0,0,0,0,0,28.83,26.97,28.83
$STATE,1283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1283,begin apogee
$GC,1289,-0.26,0.0,181.9,-13.1,164,1376,0.90,0.00,83.28,0.701,6,0.107,0.000,2749,2488,2871,0,0,0,0,0,0,26.46,28.83,25.55
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,1.14,116.8,186.3,0.0,175,1475,1.20,0.88,83.25,0.702,4,0.062,0.022,3211,1842,2392,0,0,0,0,0,0,26.16,26.00,25.32
$GC,1507,1.14,118.3,178.2,9.9,191,1516,0.00,1.00,0.00,0.000,6,0.000,0.028,3211,2531,2391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1597,1.14,118.3,168.2,11.5,202,1606,0.00,1.00,0.00,0.000,4,0.000,0.034,3211,3209,2390,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1665,1.14,118.3,160.7,11.5,211,1674,0.00,0.90,0.00,0.000,6,0.000,0.020,3217,2488,2389,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1756,1.14,118.3,151.2,10.4,222,1765,0.00,0.80,0.00,0.000,4,0.000,0.023,3220,1861,2390,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1865,1.14,118.3,140.1,10.4,237,1873,0.00,0.93,0.00,0.000,6,0.000,0.029,3220,2515,2389,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1956,1.15,125.8,131.2,9.6,248,1965,0.00,1.00,3.45,0.661,4,0.000,0.031,3221,3218,2364,0,0,0,0,0,0,28.83,26.82,25.41
$GC,2002,1.15,125.8,126.0,10.9,254,2011,0.00,0.88,0.00,0.000,6,0.000,0.021,3225,2519,2365,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2093,1.15,127.7,116.7,9.9,265,2102,0.00,0.85,1.83,0.341,4,0.000,0.019,3230,1857,2357,0,0,0,0,0,0,28.83,26.95,25.79
$GC,2154,1.17,140.7,110.8,9.2,273,2171,0.00,0.95,7.28,0.775,6,0.000,0.029,3230,2527,2304,0,0,0,0,0,0,28.83,26.91,25.67
$GC,2254,1.17,140.7,100.8,10.4,285,2262,0.00,0.88,0.00,0.000,4,0.000,0.021,3234,1859,2303,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2271,1.17,140.7,99.0,10.0,287,2279,0.00,0.93,0.00,0.000,6,0.000,0.028,3233,2514,2303,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2361,1.17,140.7,89.7,10.8,298,2370,0.00,1.02,0.00,0.000,4,0.000,0.034,3234,3220,2303,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2387,1.17,140.7,86.8,10.9,301,2395,0.00,0.90,0.00,0.000,6,0.000,0.021,3238,2504,2303,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2476,1.17,140.7,76.5,10.7,312,2485,0.00,0.80,0.00,0.000,4,0.000,0.023,3243,1858,2302,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2530,1.18,147.4,71.1,9.6,319,2540,0.00,0.93,4.75,0.268,6,0.000,0.029,3243,2517,2273,0,0,0,0,0,0,28.83,26.97,26.09
$GC,2623,1.20,167.2,63.3,8.9,330,2641,0.00,1.05,13.90,0.255,4,0.000,0.035,3243,3218,2193,0,0,0,0,0,0,28.83,26.89,26.23
$GC,2756,1.28,233.7,52.1,6.2,348,2812,0.00,0.88,45.28,0.226,6,0.000,0.021,3246,2511,1921,0,0,0,0,0,0,28.83,27.06,26.24
$GC,2895,1.30,245.2,41.0,9.3,365,2913,0.00,0.82,7.47,0.212,4,0.000,0.024,3247,1878,1874,0,0,0,0,0,0,28.83,26.89,26.15
$GC,3000,1.30,245.2,30.4,10.3,379,3009,0.00,0.90,0.00,0.000,6,0.000,0.030,3247,2516,1874,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3091,1.30,245.2,20.8,10.4,390,3100,0.00,1.02,0.00,0.000,4,0.000,0.035,3247,3221,1873,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3130,1.30,245.2,16.2,12.1,395,3139,0.00,0.85,0.00,0.000,6,0.000,0.021,3247,2534,1874,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3223,1.30,245.2,5.9,11.8,406,3231,0.00,0.85,0.00,0.000,4,0.000,0.023,3247,1866,1873,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,3246,end climb,SURFACE_DEPTH_REACHED
$STATE,3246,begin surface coast
$FINISH,1.0,0.996565
$STATE,3275,end surface coast,CONTROL_FINISHED_OK
$STATE,3275,begin surface
$SM_CCo,3293,56.28,0.117,0,0,1340,375.06
$SM_GC,1.69,7.60,1.12,56.28,0.031,0.027,0.117,173,2637,1340,-8.19,-1.50,375.06,0,0,0,0,0,0,27.00,26.98,26.44
$IRIDIUM_FIX,2715.36,-7030.90,231014,121239
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.96
$INTERNAL_PRESSURE,9.53096
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,25.3,31.603
$10V_AH,10.5,45.040
$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,18.025,33.375,250.475,56.275,0.000,22.515,41.162,256.682,0.000,0.000,6.744,962.744,535.018,366.297,1761.061,149.590,0.000,922.221,0.000,1476.688,0.000,0.550,0.000
$DEVICE_MAMPS,196.605,47.430,774.945,117.045,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,284.736,1360.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,23606,413
$CAP_FILE_SIZE,63354,0
$CFSIZE,260034560,222302208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231014,150308,2723.495,-7016.101,3,1.3,3,-12.1