version: 66.10
glider: 201
mission: 5
dive: 66
start: 8 16 114 21 49 8
data:
$ID,201
$MISSION,5
$DIVE,66
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,-1868.4301
$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,2810
$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,3023
$C_ROLL_CLIMB,2923
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,143
$R_STBD_OVSHOOT,50
$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
$GPS1,160814,214023,2647.082,-7048.167,1,0.9,1,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-62.7
$GPS2,160814,214811,2647.015,-7048.148,4,0.9,4,-11.8
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.199,-0.165
$KALMAN_X,21722.9,-272.7,124.3,-13067.5,119.8
$KALMAN_Y,7239.6,3809.4,8589.2,-42994.9,-366.9
$MHEAD_RNG_PITCHd_Wd,242.2,33496,-17.1,-10.000
$D_GRID,90
$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,-1.06,-145.9,0.0,0.0,0,57,0.00,0.00,-40.25,0.000,2,0.000,0.000,169,3035,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.06,-146.0,2.3,-2.7,5,116,8.15,1.92,-37.58,0.000,4,0.203,0.036,2459,1664,3469,0,0,0,0,0,0,26.63,27.03,27.27
$GC,135,-1.06,-146.0,8.5,-15.2,15,144,0.00,2.00,0.00,0.000,6,0.000,0.031,2451,3019,3469,0,0,0,0,0,0,28.83,26.98,28.83
$GC,210,-1.06,-146.0,24.4,-23.6,24,218,0.00,1.08,0.00,0.000,4,0.000,0.045,2445,3751,3469,0,0,0,0,0,0,28.83,27.00,28.83
$GC,250,-1.06,-146.0,34.8,-25.5,30,258,0.00,0.88,0.00,0.000,6,0.000,0.024,2445,3057,3469,0,0,0,0,0,0,28.83,27.15,28.83
$GC,323,-1.06,-146.0,51.5,-22.6,39,332,0.00,1.95,0.00,0.000,4,0.000,0.020,2445,1647,3469,0,0,0,0,0,0,28.83,27.14,28.83
$GC,386,-1.06,-146.0,64.4,-20.3,49,396,0.08,2.05,0.00,0.000,6,0.129,0.031,2465,3029,3469,0,0,0,0,0,0,26.94,27.10,28.83
$GC,461,-1.06,-146.0,78.3,-18.8,58,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,3029,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,532,begin apogee
$GC,536,-0.26,0.0,90.7,-16.3,67,607,0.75,0.00,65.40,0.318,6,0.112,0.000,2728,3029,2875,0,0,0,0,0,0,26.98,28.83,26.35
$STATE,608,end apogee,CONTROL_FINISHED_OK
$STATE,608,begin climb
$GC,609,1.06,146.0,95.6,0.0,76,681,1.10,2.17,63.92,0.321,4,0.072,0.021,3148,1565,2280,0,0,0,0,0,0,26.73,26.60,26.15
$GC,859,1.14,213.0,79.5,6.9,116,899,0.00,2.03,30.95,0.282,6,0.000,0.031,3148,2925,2006,0,0,0,0,0,0,28.83,26.91,26.38
$GC,966,1.17,237.2,70.9,8.9,129,984,0.12,2.00,12.40,0.265,4,0.084,0.023,3271,1554,1905,0,0,0,0,0,0,26.94,26.86,26.44
$GC,1071,1.17,237.2,57.1,12.7,146,1080,0.22,2.03,0.00,0.000,6,0.116,0.032,3191,2922,1905,0,0,0,0,0,0,26.77,26.93,28.83
$GC,1146,1.17,237.2,48.8,11.3,155,1155,0.00,1.25,0.00,0.000,4,0.000,0.044,3191,3762,1905,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1186,1.17,239.2,44.7,9.9,161,1195,0.00,1.10,0.00,0.000,6,0.000,0.021,3191,2897,1905,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1260,1.21,265.8,37.9,8.8,170,1285,0.00,1.85,14.12,0.195,4,0.000,0.023,3191,1594,1788,0,0,0,0,0,0,28.83,27.05,26.70
$GC,1379,1.24,297.6,27.7,8.5,189,1404,0.00,1.95,15.10,0.171,6,0.000,0.031,3191,2923,1657,0,0,0,0,0,0,28.83,27.07,26.73
$GC,1470,1.26,306.9,19.2,9.6,200,1480,0.00,1.95,4.00,0.171,4,0.000,0.023,3191,1559,1619,0,0,0,0,0,0,28.83,27.08,26.81
$GC,1540,1.26,309.1,12.1,9.9,211,1549,0.00,2.00,0.00,0.000,6,0.000,0.031,3191,2922,1618,0,0,0,0,0,0,28.83,27.09,28.83
$GC,1613,1.26,309.1,4.4,10.5,220,1622,0.00,1.23,0.00,0.000,4,0.000,0.044,3191,3752,1618,0,0,0,0,0,0,28.83,27.09,28.83
$STATE,1629,end climb,SURFACE_DEPTH_REACHED
$STATE,1629,begin surface coast
$FINISH,0.9,1.007091
$STATE,1660,end surface coast,CONTROL_FINISHED_OK
$STATE,1660,begin surface
$SM_CCo,1675,26.60,0.112,0,0,1339,375.06
$SM_GC,1.69,7.28,0.93,26.60,0.024,0.022,0.112,175,3045,1339,-8.11,3.79,375.06,0,0,0,0,0,0,27.15,27.22,26.90
$IRIDIUM_FIX,2639.07,-7041.23,160814,212154
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.25
$INTERNAL_PRESSURE,9.63839
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,26.2,6.619
$10V_AH,10.8,8.708
$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,17.700,30.350,205.900,26.600,0.000,20.086,43.437,252.923,0.000,0.000,6.157,535.986,145.178,256.651,1100.680,68.565,33.263,611.569,0.000,813.014,0.000,0.554,0.000
$DEVICE_MAMPS,203.490,45.135,321.300,111.690,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.761,747.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354772
$DATA_FILE_SIZE,13608,227
$CAP_FILE_SIZE,39277,0
$CFSIZE,260034560,252014592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160814,221806,2646.591,-7048.228,2,1.1,2,-11.8