version: 66.06
glider: 146
mission: 6
dive: 624
start: 8 3 111 6 7 54
data:
$ID,146
$MISSION,6
$DIVE,624
$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,-283028.69
$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,87
$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
$GPS1,060022,2148.613,-15802.966,9,99.0,28,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.5
$GPS2,060706,2148.583,-15803.092,30,1.5,30,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.019,-0.216
$KALMAN_X,-655730.5,-51.3,-424.7,645465.9,-1228.9
$KALMAN_Y,261355.1,217.4,-253.4,-363766.1,-133.3
$MHEAD_RNG_PITCHd_Wd,175.2,18097,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.47,-97.3,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,477,2163,3162,0,0,0,0,0,0
$GC,91,-1.47,-97.3,3.7,-6.9,11,119,12.75,2.78,-4.88,0.000,4,0.163,0.056,2848,537,3409,0,0,0,0,0,0
$GC,160,-1.36,-97.3,20.0,-18.4,22,168,0.10,2.42,0.00,0.000,6,0.110,0.016,2873,2087,3410,0,0,0,0,0,0
$GC,559,-1.36,-97.3,72.9,-10.0,65,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2089,3412,0,0,0,0,0,0
$GC,948,-1.42,-97.3,116.5,-9.2,102,953,0.00,2.58,0.00,0.000,4,0.000,0.052,2873,524,3413,0,0,0,0,0,0
$GC,992,-1.49,-97.3,120.2,-9.6,105,996,0.00,2.42,0.00,0.000,6,0.000,0.015,2872,2121,3413,0,0,0,0,0,0
$GC,1381,-1.58,-97.3,154.2,-9.2,141,1386,0.17,2.50,0.00,0.000,4,0.059,0.038,2815,3677,3414,0,0,0,0,0,0
$GC,1426,-1.58,-97.3,159.3,-11.7,144,1432,0.00,2.45,0.00,0.000,6,0.000,0.027,2815,2105,3414,0,0,0,0,0,0
$GC,1836,-1.58,-97.3,204.8,-9.9,180,1840,0.00,2.58,0.00,0.000,4,0.000,0.059,2815,548,3414,0,0,0,0,0,0
$GC,1859,-1.58,-97.3,207.1,-9.6,180,1863,0.00,2.40,0.00,0.000,6,0.000,0.022,2815,2133,3414,0,0,0,0,0,0
$GC,2236,-1.58,-97.3,244.5,-10.4,190,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2134,3414,0,0,0,0,0,0
$GC,2601,-1.58,-97.3,284.3,-10.4,199,2605,0.00,2.50,0.00,0.000,4,0.000,0.036,2815,3674,3415,0,0,0,0,0,0
$GC,2635,-1.63,-97.3,287.7,-10.2,199,2641,0.00,2.45,0.00,0.000,6,0.000,0.026,2815,2129,3415,0,0,0,0,0,0
$GC,3007,-1.68,-97.3,325.1,-10.6,209,3012,0.00,2.53,0.00,0.000,4,0.000,0.046,2815,3671,3414,0,0,0,0,0,0
$GC,3051,-1.75,-97.3,330.2,-11.9,210,3056,0.00,2.50,0.00,0.000,6,0.000,0.031,2815,2130,3414,0,0,0,0,0,0
$GC,3454,-1.80,-97.3,370.9,-9.4,220,3455,0.12,0.00,0.00,0.000,6,0.075,0.000,2769,2131,3413,0,0,0,0,0,0
$GC,3817,-1.80,-97.3,410.2,-11.3,229,3821,0.00,2.55,0.00,0.000,4,0.000,0.052,2769,3660,3410,0,0,0,0,0,0
$GC,3843,-1.80,-97.3,413.5,-12.2,229,3848,0.00,2.55,0.00,0.000,6,0.000,0.043,2769,2126,3410,0,0,0,0,0,0
$STATE,4172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4180,-0.31,0.0,451.6,11.5,237,4266,1.50,0.00,82.07,0.867,6,0.085,0.000,3103,1807,3010,0,0,0,0,0,0
$STATE,4267,end apogee,CONTROL_FINISHED_OK
$STATE,4267,begin climb
$GC,4269,1.47,97.3,454.6,0.0,239,4357,1.62,0.00,83.05,0.854,6,0.038,0.000,3500,1806,2613,0,0,0,0,0,0
$GC,4721,1.40,152.5,435.0,6.2,250,4775,0.00,2.67,47.38,0.842,4,0.000,0.052,3500,3345,2387,0,0,0,0,0,0
$GC,4850,1.29,152.5,422.9,10.3,253,4855,0.22,2.65,0.00,0.000,6,0.118,0.051,3456,1807,2383,0,0,0,0,0,0
$GC,5257,1.34,192.5,388.9,7.3,263,5298,0.00,2.60,35.33,0.820,4,0.000,0.037,3456,3352,2224,0,0,0,0,0,0
$GC,5394,1.36,211.7,377.9,8.7,266,5418,0.00,2.60,18.02,0.785,6,0.000,0.046,3455,1809,2145,0,0,0,0,0,0
$GC,5800,1.38,226.3,339.7,9.0,276,5815,0.00,0.00,13.30,0.755,6,0.000,0.000,3456,1809,2087,0,0,0,0,0,0
$GC,6162,1.41,251.1,310.1,8.3,285,6192,0.10,2.60,23.05,0.771,4,0.094,0.039,3483,3348,1985,0,0,0,0,0,0
$GC,6227,1.43,266.1,304.4,9.0,286,6248,0.00,2.58,14.70,0.736,6,0.000,0.045,3483,1818,1924,0,0,0,0,0,0
$GC,6614,1.43,266.1,264.9,11.2,296,6618,0.00,2.80,0.00,0.000,4,0.000,0.077,3483,222,1919,0,0,0,0,0,0
$GC,6642,1.38,266.1,261.4,13.1,296,6647,0.00,2.47,0.00,0.000,6,0.000,0.025,3483,1793,1918,0,0,0,0,0,0
$GC,7014,1.38,266.1,219.0,10.7,305,7019,0.00,2.72,0.00,0.000,4,0.000,0.066,3483,223,1917,0,0,0,0,0,0
$GC,7064,1.34,266.1,213.8,10.5,306,7068,0.00,2.53,0.00,0.000,6,0.000,0.020,3483,1815,1916,0,0,0,0,0,0
$GC,7447,1.34,273.5,176.9,9.5,332,7460,0.00,2.78,6.57,0.581,4,0.000,0.060,3483,223,1893,0,0,0,0,0,0
$GC,7499,1.34,273.5,171.1,11.1,336,7505,0.00,2.53,0.00,0.000,6,0.000,0.025,3483,1817,1892,0,0,0,0,0,0
$GC,7893,1.40,280.0,134.9,9.6,373,7907,0.00,2.83,7.18,0.561,4,0.000,0.064,3483,220,1867,0,0,0,0,0,0
$GC,7940,1.40,280.0,129.3,11.8,377,7946,0.00,2.47,0.00,0.000,6,0.000,0.025,3483,1808,1866,0,0,0,0,0,0
$GC,8331,1.51,312.1,92.1,7.8,414,8366,0.00,2.78,29.12,0.601,4,0.000,0.062,3483,221,1735,0,0,0,0,0,0
$GC,8416,1.51,312.1,83.8,10.7,421,8422,0.00,2.47,0.00,0.000,6,0.000,0.019,3483,1798,1733,0,0,0,0,0,0
$GC,8807,1.67,342.2,52.0,8.0,458,8843,0.22,2.78,26.50,0.555,4,0.058,0.057,3543,222,1613,0,0,0,0,0,0
$GC,8914,1.67,342.2,39.7,12.9,467,8919,0.00,2.42,0.00,0.000,6,0.000,0.018,3543,1773,1612,0,0,0,0,0,0
$STATE,9266,end climb,SURFACE_DEPTH_REACHED
$STATE,9266,begin surface coast
$FINISH,0.8,0.974983
$STATE,9317,end surface coast,CONTROL_FINISHED_OK
$STATE,9317,begin surface
$SM_CCo,9340,30.92,0.511,0,0,1459,380.21
$SM_GC,1.30,0.00,0.00,30.92,0.000,0.000,0.511,473,2124,1459,-12.43,0.14,380.21
$IRIDIUM_FIX,2143.45,-15801.57,271000,030322
$TT8_MAMPS,0.026845
$HUMID,67.83
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.60
$XPDR_PINGS,200
$24V_AH,23.4,79.970
$10V_AH,10.0,72.194
$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,29.350,83.550,386.275,30.925,0.000,29.419,33.710,185.207,50.000,0.000,31.919,971.146,6323.006,461.611,1519.683,495.203,33.369,1092.298,0.000,1496.582,0.000,0.534,0.000
$DEVICE_MAMPS,162.604,115.050,867.477,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.710,315.462,320.084,786.536,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,41412,534
$CAP_FILE_SIZE,85398,0
$CFSIZE,260165632,147619840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,084516,2147.708,-15804.440,8,5.7,27,9.9