version: 66.06
glider: 146
mission: 6
dive: 627
start: 8 3 111 14 21 54
data:
$ID,146
$MISSION,6
$DIVE,627
$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,-283097.81
$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,26
$R_STBD_OVSHOOT,60
$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
$GPS1,141001,2146.891,-15804.727,37,1.5,37,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.1
$GPS2,142101,2146.981,-15804.739,9,1.5,9,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.035,-0.214
$KALMAN_X,-658852.4,-219.7,869.5,644630.4,-923.7
$KALMAN_Y,263418.3,-65.8,690.7,-369463.2,-119.7
$MHEAD_RNG_PITCHd_Wd,179.4,14066,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-68.97,0.000,2,0.000,0.000,478,2130,3217,0,0,0,0,0,0
$GC,90,-1.47,-97.3,4.0,-7.9,11,118,12.77,2.72,-3.65,0.000,4,0.163,0.054,2849,524,3407,0,0,0,0,0,0
$GC,208,-1.38,-97.3,28.0,-16.1,31,216,0.08,2.47,0.00,0.000,6,0.111,0.015,2868,2113,3409,0,0,0,0,0,0
$GC,599,-1.38,-97.3,78.7,-12.3,68,603,0.00,2.47,0.00,0.000,4,0.000,0.029,2868,3677,3410,0,0,0,0,0,0
$GC,620,-1.38,-97.3,81.1,-12.1,69,625,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,2106,3410,0,0,0,0,0,0
$GC,1011,-1.42,-97.3,123.1,-9.9,105,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2106,3411,0,0,0,0,0,0
$GC,1391,-1.49,-97.3,162.4,-10.8,141,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2106,3411,0,0,0,0,0,0
$GC,1775,-1.58,-97.3,196.9,-8.9,177,1777,0.15,0.00,0.00,0.000,6,0.058,0.000,2811,2105,3412,0,0,0,0,0,0
$GC,2170,-1.58,-97.3,236.3,-9.0,189,2172,0.10,0.00,0.00,0.000,6,0.120,0.000,2832,2106,3412,0,0,0,0,0,0
$GC,2536,-1.64,-97.3,269.9,-9.5,198,2541,0.00,2.53,0.00,0.000,4,0.000,0.035,2832,3677,3412,0,0,0,0,0,0
$GC,2623,-1.74,-97.3,278.9,-9.8,200,2629,0.15,2.42,0.00,0.000,6,0.060,0.025,2772,2136,3412,0,0,0,0,0,0
$GC,3029,-1.74,-97.3,321.8,-10.0,210,3034,0.10,2.78,0.00,0.000,4,0.120,0.074,2793,543,3411,0,0,0,0,0,0
$GC,3080,-1.74,-97.3,326.9,-10.2,211,3085,0.00,2.50,0.00,0.000,6,0.000,0.033,2793,2102,3411,0,0,0,0,0,0
$GC,3475,-1.74,-97.3,361.7,-8.6,221,3479,0.00,2.70,0.00,0.000,4,0.000,0.066,2793,536,3409,0,0,0,0,0,0
$GC,3496,-1.74,-97.3,363.7,-8.5,221,3501,0.00,2.55,0.00,0.000,6,0.000,0.032,2793,2120,3409,0,0,0,0,0,0
$GC,3875,-1.74,-97.3,396.4,-9.3,231,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2120,3406,0,0,0,0,0,0
$GC,4239,-2.09,-97.3,417.1,-0.4,240,4244,0.28,2.65,0.00,0.000,4,0.047,0.056,2710,3702,3404,0,0,0,0,0,0
$STATE,4365,end dive,NO_VERTICAL_VELOCITY
$STATE,4365,begin apogee
$GC,4374,-0.31,0.0,417.1,0.0,242,4460,1.65,0.00,80.57,0.839,6,0.053,0.000,3118,1814,3010,0,0,0,0,0,0
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4463,1.47,97.3,416.8,0.0,245,4557,1.55,2.72,81.93,0.824,4,0.044,0.045,3500,3393,2612,0,0,0,0,0,0
$GC,4811,1.38,139.9,409.4,7.1,252,4857,0.12,2.70,36.38,0.805,6,0.133,0.051,3477,1807,2437,0,0,0,0,0,0
$GC,5223,1.32,149.5,373.3,9.3,263,5237,0.00,2.67,8.50,0.699,4,0.000,0.041,3477,3392,2399,0,0,0,0,0,0
$GC,5404,1.29,168.1,356.4,8.7,267,5429,0.10,2.65,17.45,0.762,6,0.143,0.046,3458,1804,2324,0,0,0,0,0,0
$GC,5814,1.29,168.1,316.6,10.8,277,5818,0.00,2.80,0.00,0.000,4,0.000,0.082,3457,220,2319,0,0,0,0,0,0
$GC,5874,1.21,168.1,309.6,10.5,278,5879,0.00,2.58,0.00,0.000,6,0.000,0.021,3458,1824,2318,0,0,0,0,0,0
$GC,6259,1.28,225.0,282.0,6.1,288,6315,0.00,2.85,50.00,0.757,4,0.000,0.066,3457,219,2091,0,0,0,0,0,0
$GC,6401,1.28,227.9,270.2,9.8,291,6405,0.00,2.55,0.00,0.000,6,0.000,0.022,3457,1808,2087,0,0,0,0,0,0
$GC,6789,1.36,253.7,239.5,8.2,301,6820,0.00,2.60,25.65,0.718,4,0.000,0.040,3457,3381,1974,0,0,0,0,0,0
$GC,6860,1.43,258.4,233.0,9.7,302,6872,0.12,2.65,5.43,0.558,6,0.084,0.036,3491,1794,1956,0,0,0,0,0,0
$GC,7242,1.43,261.7,193.1,9.8,315,7253,0.00,2.78,3.53,0.421,4,0.000,0.072,3490,229,1943,0,0,0,0,0,0
$GC,7314,1.43,261.7,184.6,10.6,321,7320,0.00,2.45,0.00,0.000,6,0.000,0.024,3491,1795,1942,0,0,0,0,0,0
$GC,7703,1.48,261.7,145.0,10.4,358,7708,0.00,2.55,0.00,0.000,4,0.000,0.033,3491,3375,1942,0,0,0,0,0,0
$GC,7745,1.55,272.2,141.3,9.3,361,7761,0.00,2.62,10.65,0.604,6,0.000,0.038,3490,1779,1900,0,0,0,0,0,0
$GC,8146,1.65,298.1,105.0,8.2,398,8181,0.17,2.75,23.48,0.605,4,0.064,0.063,3538,226,1793,0,0,0,0,0,0
$GC,8245,1.59,298.1,93.3,13.2,406,8252,0.00,2.47,0.00,0.000,6,0.000,0.020,3538,1781,1791,0,0,0,0,0,0
$GC,8637,1.62,321.6,54.6,8.4,443,8665,0.00,0.00,21.23,0.554,6,0.000,0.000,3538,1782,1697,0,0,0,0,0,0
$GC,9048,1.67,329.2,12.6,9.5,498,9060,0.00,2.67,7.53,0.459,4,0.000,0.053,3538,215,1668,0,0,0,0,0,0
$STATE,9128,end climb,SURFACE_DEPTH_REACHED
$STATE,9128,begin surface coast
$FINISH,0.8,0.980053
$STATE,9169,end surface coast,CONTROL_FINISHED_OK
$STATE,9169,begin surface
$SM_CCo,9194,42.12,0.513,0,0,1459,380.21
$SM_GC,1.80,0.00,0.00,42.12,0.000,0.000,0.513,475,2188,1459,-12.42,1.92,380.21
$IRIDIUM_FIX,2141.13,-15804.59,271000,141456
$TT8_MAMPS,0.026078
$HUMID,67.91
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.70
$XPDR_PINGS,174
$24V_AH,23.4,80.303
$10V_AH,9.9,72.413
$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,29.850,79.550,372.300,42.125,0.000,57.298,71.477,327.862,43.500,0.000,11.038,972.937,6212.573,446.535,1548.591,718.102,33.361,1110.970,0.000,1542.312,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,82.069,839.098,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.935,310.289,302.679,746.357,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355920
$DATA_FILE_SIZE,38464,520
$CAP_FILE_SIZE,90039,0
$CFSIZE,260165632,147484672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,165722,2145.874,-15805.273,28,99.0,47,9.9