version: 66.06
glider: 146
mission: 6
dive: 623
start: 8 3 111 3 22 24
data:
$ID,146
$MISSION,6
$DIVE,623
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,300
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$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,380
$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,-282996.16
$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,3175
$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,2120
$C_ROLL_CLIMB,1805
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,101
$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,3010
$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,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,031435,2149.923,-15801.479,30,2.8,49,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.9
$GPS2,032136,2149.924,-15801.498,35,1.6,35,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,-0.215
$KALMAN_X,-654167.9,60.3,290.6,645789.4,-1291.6
$KALMAN_Y,261338.0,256.2,246.4,-361806.6,-164.0
$MHEAD_RNG_PITCHd_Wd,177.5,21710,-21.6,-10.000
$D_GRID,450
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-69.00,0.000,2,0.000,0.000,473,2172,3192,0,0,0,0,0,0
$GC,92,-1.47,-97.3,3.9,-7.3,11,120,12.60,2.78,-4.18,0.000,4,0.156,0.053,2848,529,3409,0,0,0,0,0,0
$GC,189,-1.39,-97.3,24.3,-14.5,27,196,0.08,2.42,0.00,0.000,6,0.109,0.016,2867,2082,3410,0,0,0,0,0,0
$GC,587,-1.39,-97.3,79.7,-13.3,67,592,0.00,2.55,0.00,0.000,4,0.000,0.029,2867,3680,3412,0,0,0,0,0,0
$GC,605,-1.39,-97.3,82.3,-12.4,68,610,0.00,2.50,0.00,0.000,6,0.000,0.022,2867,2098,3412,0,0,0,0,0,0
$GC,996,-1.43,-97.3,125.3,-11.5,104,1000,0.00,2.58,0.00,0.000,4,0.000,0.049,2867,540,3413,0,0,0,0,0,0
$GC,1016,-1.43,-97.3,127.9,-11.2,105,1022,0.00,2.38,0.00,0.000,6,0.000,0.016,2867,2114,3413,0,0,0,0,0,0
$GC,1407,-1.50,-97.3,163.0,-9.8,142,1411,0.00,2.47,0.00,0.000,4,0.000,0.031,2867,3670,3414,0,0,0,0,0,0
$GC,1470,-1.60,-97.3,169.2,-8.9,147,1475,0.17,2.42,0.00,0.000,6,0.052,0.025,2805,2110,3414,0,0,0,0,0,0
$GC,1855,-1.60,-97.3,209.5,-10.4,177,1860,0.10,2.60,0.00,0.000,4,0.119,0.052,2825,547,3414,0,0,0,0,0,0
$GC,1887,-1.60,-97.3,213.5,-11.2,177,1893,0.00,2.38,0.00,0.000,6,0.000,0.018,2826,2116,3414,0,0,0,0,0,0
$GC,2260,-1.63,-97.3,249.4,-10.0,187,2265,0.00,2.62,0.00,0.000,4,0.000,0.061,2825,548,3415,0,0,0,0,0,0
$GC,2284,-1.63,-97.3,251.9,-10.9,187,2288,0.00,2.38,0.00,0.000,6,0.000,0.018,2825,2094,3415,0,0,0,0,0,0
$GC,2661,-1.69,-97.3,285.2,-9.0,197,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2094,3414,0,0,0,0,0,0
$GC,3026,-1.75,-97.3,314.4,-7.1,206,3028,0.12,0.00,0.00,0.000,6,0.077,0.000,2784,2094,3414,0,0,0,0,0,0
$GC,3393,-1.75,-97.3,356.6,-11.5,215,3397,0.00,2.67,0.00,0.000,4,0.000,0.076,2783,551,3413,0,0,0,0,0,0
$GC,3420,-1.70,-97.3,360.3,-12.7,215,3425,0.10,2.47,0.00,0.000,6,0.127,0.028,2804,2088,3412,0,0,0,0,0,0
$GC,3792,-1.74,-97.3,396.9,-9.4,224,3797,0.00,2.67,0.00,0.000,4,0.000,0.071,2804,552,3410,0,0,0,0,0,0
$GC,3845,-1.74,-97.3,401.6,-9.1,225,3850,0.00,2.50,0.00,0.000,6,0.000,0.037,2804,2095,3410,0,0,0,0,0,0
$GC,4239,-1.78,-97.3,434.9,-8.2,235,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2095,3407,0,0,0,0,0,0
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4447,-0.31,0.0,452.4,8.6,240,4533,1.33,0.00,81.93,0.867,6,0.079,0.000,3104,1812,3010,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4536,1.47,97.3,454.0,0.0,242,4629,1.62,2.97,82.88,0.852,4,0.038,0.096,3500,235,2612,0,0,0,0,0,0
$GC,4654,1.34,173.3,453.5,4.8,244,4728,0.15,2.58,66.07,0.841,6,0.127,0.031,3470,1805,2302,0,0,0,0,0,0
$GC,5108,1.32,203.1,413.2,8.0,256,5142,0.00,2.75,26.38,0.812,4,0.000,0.053,3470,3393,2179,0,0,0,0,0,0
$GC,5171,1.32,203.1,407.6,10.0,257,5176,0.00,2.70,0.00,0.000,6,0.000,0.050,3470,1817,2177,0,0,0,0,0,0
$GC,5554,1.32,203.1,367.2,11.0,267,5558,0.00,2.60,0.00,0.000,4,0.000,0.035,3470,3400,2172,0,0,0,0,0,0
$GC,5571,1.32,203.1,365.1,11.9,267,5575,0.00,2.67,0.00,0.000,6,0.000,0.048,3470,1804,2171,0,0,0,0,0,0
$GC,5953,1.32,203.1,322.1,10.4,277,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1804,2169,0,0,0,0,0,0
$GC,6319,1.32,203.1,286.8,10.2,286,6323,0.00,2.60,0.00,0.000,4,0.000,0.038,3470,3399,2168,0,0,0,0,0,0
$GC,6392,1.33,209.6,279.5,9.6,287,6403,0.00,2.62,4.45,0.543,6,0.000,0.037,3470,1809,2155,0,0,0,0,0,0
$GC,6769,1.37,239.5,246.7,8.0,297,6803,0.00,2.67,27.92,0.732,4,0.000,0.034,3470,3392,2033,0,0,0,0,0,0
$GC,6869,1.44,259.5,238.9,8.6,299,6894,0.00,2.65,19.33,0.706,6,0.000,0.041,3470,1803,1951,0,0,0,0,0,0
$GC,7268,1.49,259.5,200.3,11.1,309,7269,0.12,0.00,0.00,0.000,6,0.078,0.000,3506,1803,1944,0,0,0,0,0,0
$GC,7646,1.49,259.5,158.3,10.4,342,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1803,1943,0,0,0,0,0,0
$GC,8029,1.49,265.2,120.4,9.6,378,8042,0.00,2.62,4.97,0.485,4,0.000,0.031,3506,3395,1927,0,0,0,0,0,0
$GC,8056,1.49,265.2,117.8,10.6,380,8060,0.00,2.58,0.00,0.000,6,0.000,0.035,3506,1815,1927,0,0,0,0,0,0
$GC,8444,1.51,280.7,81.1,8.9,416,8467,0.00,2.78,15.20,0.569,4,0.000,0.064,3506,221,1864,0,0,0,0,0,0
$GC,8536,1.51,280.7,71.8,11.7,424,8540,0.00,2.55,0.00,0.000,6,0.000,0.025,3506,1846,1862,0,0,0,0,0,0
$GC,8927,1.62,299.9,39.0,8.7,460,8951,0.00,2.80,17.75,0.534,4,0.000,0.054,3506,220,1785,0,0,0,0,0,0
$GC,9075,1.65,324.0,26.0,8.4,477,9103,0.08,2.47,21.73,0.527,6,0.051,0.018,3535,1796,1688,0,0,0,0,0,0
$STATE,9304,end climb,SURFACE_DEPTH_REACHED
$STATE,9304,begin surface coast
$FINISH,0.7,0.976077
$STATE,9337,end surface coast,CONTROL_FINISHED_OK
$STATE,9337,begin surface
$SM_CCo,9360,45.67,0.516,0,0,1460,380.21
$SM_GC,1.59,0.00,0.00,45.67,0.000,0.000,0.516,477,2163,1460,-12.41,1.22,380.21
$IRIDIUM_FIX,2141.13,-15801.57,271000,000004
$TT8_MAMPS,0.026078
$HUMID,67.01
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.40
$XPDR_PINGS,194
$24V_AH,23.3,79.860
$10V_AH,10.0,72.120
$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,28.925,83.975,368.600,45.675,0.000,25.788,35.693,205.663,48.500,0.000,37.236,959.533,6440.349,439.313,1473.957,511.165,33.373,1066.751,0.000,1447.431,0.000,0.534,0.000
$DEVICE_MAMPS,155.701,95.875,867.477,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.660,309.805,311.283,763.213,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,38344,525
$CAP_FILE_SIZE,85904,0
$CFSIZE,260165632,147668992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,060022,2148.613,-15802.966,9,99.0,28,9.9