version: 66.06
glider: 146
mission: 5
dive: 669
start: 11 17 110 15 0 38
data:
$ID,146
$MISSION,5
$DIVE,669
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,350
$D_NO_BLEED,200
$D_BOOST,0
$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,66
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-264214.91
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,145349,2256.479,-15752.303,7,1.5,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.8
$GPS2,145944,2256.531,-15752.326,14,1.6,14,10.1
$SPEED_LIMITS,0.144,0.253
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,-0.248
$KALMAN_X,-301184.4,-54.1,-179.6,332888.3,-278.9
$KALMAN_Y,-296303.4,-207.7,-5.3,437162.0,724.1
$MHEAD_RNG_PITCHd_Wd,159.1,13798,-18.4,-10.101
$D_GRID,200
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.31,-136.0,0.0,0.0,0,99,0.00,0.00,-80.97,0.000,2,0.000,0.000,473,1746,3298,0,0,0,0,0,0
$GC,103,-1.32,-136.3,3.8,-9.8,15,127,11.98,2.65,-5.22,0.000,4,0.163,0.064,2702,181,3559,0,0,0,0,0,0
$GC,153,-1.16,-136.3,15.5,-14.4,23,161,0.17,2.45,0.00,0.000,6,0.095,0.015,2742,1774,3559,0,0,0,0,0,0
$GC,550,-1.09,-136.3,55.5,-9.8,72,554,0.00,2.42,0.00,0.000,4,0.000,0.025,2742,3327,3559,0,0,0,0,0,0
$GC,570,-1.04,-136.3,57.5,-10.1,73,575,0.12,2.53,0.00,0.000,6,0.109,0.027,2771,1754,3559,0,0,0,0,0,0
$GC,962,-1.08,-136.3,93.7,-8.3,109,966,0.00,2.47,0.00,0.000,4,0.000,0.025,2771,3325,3560,0,0,0,0,0,0
$GC,995,-1.16,-136.3,97.0,-9.4,111,1002,0.08,2.47,0.00,0.000,6,0.044,0.025,2730,1784,3560,0,0,0,0,0,0
$GC,1385,-1.16,-136.3,133.1,-7.8,148,1389,0.00,2.65,0.00,0.000,4,0.000,0.063,2730,197,3560,0,0,0,0,0,0
$GC,1480,-1.16,-136.3,141.4,-8.5,156,1485,0.00,2.38,0.00,0.000,6,0.000,0.015,2730,1806,3561,0,0,0,0,0,0
$GC,1869,-1.16,-136.3,176.5,-9.8,192,1873,0.00,2.30,0.00,0.000,4,0.000,0.025,2730,3299,3561,0,0,0,0,0,0
$GC,1885,-1.16,-136.3,178.3,-10.5,193,1889,0.00,2.42,0.00,0.000,6,0.000,0.025,2730,1775,3561,0,0,0,0,0,0
$STATE,2133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2133,begin apogee
$GC,2142,-0.31,0.0,200.1,7.3,216,2256,0.88,0.00,109.20,0.624,6,0.071,0.000,2930,1775,3001,0,0,0,0,0,0
$STATE,2256,end apogee,CONTROL_FINISHED_OK
$STATE,2257,begin climb
$GC,2259,1.32,136.3,203.5,0.0,219,2380,1.45,2.55,109.10,0.616,4,0.037,0.029,3291,3350,2444,0,0,0,0,0,0
$GC,2554,1.38,225.4,190.8,5.6,233,2634,0.00,2.47,74.07,0.604,6,0.000,0.030,3291,1819,2081,0,0,0,0,0,0
$GC,3026,1.46,289.8,159.4,6.9,278,3087,0.10,2.80,54.45,0.589,4,0.091,0.064,3323,241,1818,0,0,0,0,0,0
$GC,3111,1.36,289.8,151.3,10.7,286,3116,0.12,2.38,0.00,0.000,6,0.120,0.021,3298,1797,1816,0,0,0,0,0,0
$GC,3502,1.40,317.0,116.4,8.7,322,3537,0.00,2.58,23.50,0.552,4,0.000,0.030,3298,3365,1707,0,0,0,0,0,0
$GC,3543,1.47,338.3,112.6,9.0,325,3570,0.00,2.55,19.02,0.541,6,0.000,0.038,3298,1815,1622,0,0,0,0,0,0
$GC,3952,1.62,387.8,77.5,7.6,364,4006,0.22,2.80,42.50,0.540,4,0.054,0.055,3361,233,1419,0,0,0,0,0,0
$GC,4075,1.55,387.8,63.7,11.9,375,4081,0.12,2.42,0.00,0.000,6,0.117,0.018,3336,1813,1417,0,0,0,0,0,0
$GC,4465,1.55,387.8,25.7,10.9,414,4472,0.00,2.50,0.00,0.000,4,0.000,0.028,3336,3376,1416,0,0,0,0,0,0
$GC,4556,1.65,414.7,17.2,8.8,429,4586,0.08,2.65,23.23,0.489,6,0.052,0.038,3364,1770,1309,0,0,0,0,0,0
$STATE,4674,end climb,SURFACE_DEPTH_REACHED
$STATE,4674,begin surface coast
$FINISH,0.3,1.000036
$STATE,4708,end surface coast,CONTROL_FINISHED_OK
$STATE,4708,begin surface
$SM_CCo,4791,0.00,0.000,0,0,1302,416.76
$SM_GC,1.14,11.75,0.00,0.00,0.027,0.000,0.000,474,1769,1302,-11.52,-0.03,416.76
$IRIDIUM_FIX,2246.36,-15751.06,110200,131353
$TT8_MAMPS,0.025311
$HUMID,51.96
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,44
$24V_AH,23.6,93.556
$10V_AH,10.0,85.125
$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,27.075,50.450,455.075,0.000,0.000,25.578,44.969,152.742,11.000,0.000,16.466,758.263,2466.693,453.293,1050.407,420.129,33.352,978.235,0.000,1044.002,0.000,0.538,0.000
$DEVICE_MAMPS,162.604,64.428,623.571,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.736,211.320,298.644,0.000,480.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,35223,456
$CAP_FILE_SIZE,62078,0
$CFSIZE,260165632,143200256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171110,162136,2256.849,-15752.469,29,0.9,30,10.1