version: 66.06
glider: 146
mission: 6
dive: 625
start: 8 3 111 8 53 18
data:
$ID,146
$MISSION,6
$DIVE,625
$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,-283071.34
$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,18
$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
$GPS1,084516,2147.708,-15804.440,8,5.7,27,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.4
$GPS2,085230,2147.708,-15804.560,36,1.5,40,9.9
$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,-657509.2,-207.5,-756.7,645226.3,-656.9
$KALMAN_Y,261808.4,138.3,-340.5,-365682.9,484.6
$MHEAD_RNG_PITCHd_Wd,175.2,15383,-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,-97.3,0.0,0.0,0,89,0.00,0.00,-69.12,0.000,2,0.000,0.000,473,2125,3203,0,0,0,0,0,0
$GC,92,-1.47,-97.3,4.1,-8.6,11,120,12.68,2.72,-3.90,0.000,4,0.158,0.054,2849,523,3410,0,0,0,0,0,0
$GC,200,-1.36,-97.3,26.7,-16.0,29,208,0.10,2.50,0.00,0.000,6,0.106,0.016,2873,2115,3410,0,0,0,0,0,0
$GC,601,-1.41,-97.3,79.2,-12.6,67,605,0.00,2.50,0.00,0.000,4,0.000,0.030,2873,3678,3412,0,0,0,0,0,0
$GC,632,-1.48,-97.3,84.0,-14.8,69,636,0.00,2.50,0.00,0.000,6,0.000,0.022,2873,2092,3412,0,0,0,0,0,0
$GC,1025,-1.56,-97.3,143.0,-13.9,105,1030,0.17,2.55,0.00,0.000,4,0.058,0.054,2815,547,3413,0,0,0,0,0,0
$GC,1063,-1.56,-97.3,149.5,-15.7,108,1068,0.00,2.40,0.00,0.000,6,0.000,0.015,2815,2132,3413,0,0,0,0,0,0
$GC,1452,-1.56,-97.3,190.5,-9.0,144,1456,0.00,2.42,0.00,0.000,4,0.000,0.036,2815,3673,3414,0,0,0,0,0,0
$GC,1470,-1.56,-97.3,192.1,-9.3,145,1474,0.00,2.40,0.00,0.000,6,0.000,0.020,2815,2124,3415,0,0,0,0,0,0
$GC,1875,-1.56,-97.3,234.8,-11.0,160,1879,0.00,2.62,0.00,0.000,4,0.000,0.054,2815,548,3415,0,0,0,0,0,0
$GC,1897,-1.56,-97.3,237.3,-11.4,160,1902,0.00,2.40,0.00,0.000,6,0.000,0.023,2815,2118,3415,0,0,0,0,0,0
$GC,2274,-1.56,-97.3,276.5,-10.9,170,2278,0.00,2.50,0.00,0.000,4,0.000,0.033,2815,3676,3415,0,0,0,0,0,0
$GC,2290,-1.60,-97.3,278.4,-11.4,170,2294,0.00,2.45,0.00,0.000,6,0.000,0.026,2815,2122,3415,0,0,0,0,0,0
$GC,2674,-1.64,-97.3,320.7,-11.0,180,2678,0.00,2.53,0.00,0.000,4,0.000,0.042,2815,3674,3415,0,0,0,0,0,0
$GC,2701,-1.69,-97.3,323.9,-11.2,180,2705,0.00,2.50,0.00,0.000,6,0.000,0.035,2815,2118,3415,0,0,0,0,0,0
$GC,3073,-1.73,-97.3,357.9,-8.3,189,3078,0.00,2.55,0.00,0.000,4,0.000,0.044,2815,3677,3414,0,0,0,0,0,0
$GC,3092,-1.77,-97.3,359.5,-8.4,189,3097,0.12,2.53,0.00,0.000,6,0.070,0.041,2768,2120,3414,0,0,0,0,0,0
$GC,3475,-1.73,-97.3,400.6,-11.5,199,3477,0.15,0.00,0.00,0.000,6,0.106,0.000,2800,2121,3412,0,0,0,0,0,0
$GC,3842,-1.73,-97.3,438.6,-10.3,208,3846,0.00,2.62,0.00,0.000,4,0.000,0.059,2800,3677,3409,0,0,0,0,0,0
$STATE,3945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3945,begin apogee
$GC,3954,-0.31,0.0,450.4,11.0,210,4040,1.33,0.00,82.18,0.858,6,0.084,0.000,3100,1815,3009,0,0,0,0,0,0
$STATE,4041,end apogee,CONTROL_FINISHED_OK
$STATE,4041,begin climb
$GC,4043,1.47,97.3,452.8,0.0,212,4137,1.62,3.08,82.30,0.844,4,0.046,0.105,3498,213,2612,0,0,0,0,0,0
$GC,4177,1.32,164.6,453.1,5.4,215,4242,0.17,2.55,58.08,0.835,6,0.120,0.034,3465,1776,2338,0,0,0,0,0,0
$GC,4614,1.33,178.5,411.9,9.1,226,4634,0.00,2.80,12.48,0.749,4,0.000,0.051,3464,3392,2281,0,0,0,0,0,0
$GC,4713,1.33,178.5,401.9,10.2,228,4718,0.00,2.67,0.00,0.000,6,0.000,0.048,3465,1807,2278,0,0,0,0,0,0
$GC,5109,1.35,189.2,366.6,9.3,238,5125,0.00,2.62,10.25,0.723,4,0.000,0.039,3464,3398,2236,0,0,0,0,0,0
$GC,5148,1.35,189.2,362.5,10.3,239,5153,0.00,2.67,0.00,0.000,6,0.000,0.043,3465,1811,2235,0,0,0,0,0,0
$GC,5555,1.39,224.6,328.7,7.6,249,5592,0.00,0.00,32.08,0.772,6,0.000,0.000,3464,1811,2094,0,0,0,0,0,0
$GC,5958,1.41,242.5,294.8,8.8,259,5982,0.00,2.70,16.65,0.731,4,0.000,0.036,3465,3402,2021,0,0,0,0,0,0
$GC,5994,1.48,266.9,291.8,8.3,259,6024,0.15,2.67,23.08,0.736,6,0.074,0.038,3504,1805,1923,0,0,0,0,0,0
$GC,6412,1.48,266.9,239.4,12.4,270,6417,0.00,2.80,0.00,0.000,4,0.000,0.069,3505,219,1917,0,0,0,0,0,0
$GC,6429,1.43,266.9,236.9,11.0,270,6433,0.00,2.58,0.00,0.000,6,0.000,0.024,3505,1833,1916,0,0,0,0,0,0
$GC,6813,1.47,295.8,201.0,8.0,280,6844,0.00,2.83,25.75,0.680,4,0.000,0.061,3504,223,1802,0,0,0,0,0,0
$GC,6898,1.43,295.8,191.3,13.3,285,6902,0.00,2.53,0.00,0.000,6,0.000,0.021,3504,1816,1800,0,0,0,0,0,0
$GC,7286,1.43,295.8,152.0,10.4,321,7290,0.00,2.75,0.00,0.000,4,0.000,0.064,3505,220,1797,0,0,0,0,0,0
$GC,7391,1.43,295.8,140.2,11.1,330,7396,0.00,2.47,0.00,0.000,6,0.000,0.018,3504,1809,1796,0,0,0,0,0,0
$GC,7782,1.54,334.4,105.7,7.4,366,7827,0.00,2.78,33.60,0.598,4,0.000,0.060,3505,220,1644,0,0,0,0,0,0
$GC,7889,1.60,334.4,96.9,11.0,375,7893,0.00,2.50,0.00,0.000,6,0.000,0.023,3505,1811,1642,0,0,0,0,0,0
$GC,8279,1.69,334.4,59.4,10.1,411,8281,0.15,0.00,0.00,0.000,6,0.074,0.000,3545,1812,1641,0,0,0,0,0,0
$GC,8663,1.69,334.4,17.4,11.1,457,8670,0.00,2.72,0.00,0.000,4,0.000,0.054,3545,221,1641,0,0,0,0,0,0
$GC,8779,1.64,334.4,5.9,11.6,478,8787,0.00,2.45,0.00,0.000,6,0.000,0.018,3545,1793,1641,0,0,0,0,0,0
$STATE,8792,end climb,SURFACE_DEPTH_REACHED
$STATE,8792,begin surface coast
$FINISH,0.8,0.980035
$STATE,8825,end surface coast,CONTROL_FINISHED_OK
$STATE,8825,begin surface
$SM_CCo,8848,37.12,0.504,0,0,1459,380.21
$SM_GC,1.62,0.00,0.00,37.12,0.000,0.000,0.504,474,2146,1459,-12.42,0.74,380.21
$IRIDIUM_FIX,2138.81,-15804.59,271000,060619
$TT8_MAMPS,0.025311
$HUMID,65.43
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.70
$XPDR_PINGS,213
$24V_AH,23.4,80.081
$10V_AH,10.0,72.263
$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,29.100,94.550,376.425,37.125,0.000,27.901,38.299,202.318,53.250,0.000,42.046,915.448,6029.845,452.188,1409.755,507.314,33.358,1068.961,0.000,1374.277,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,105.079,857.506,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.472,286.341,277.151,687.523,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,35108,486
$CAP_FILE_SIZE,85522,0
$CFSIZE,260165632,147582976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,112236,2147.395,-15804.614,30,1.9,30,9.9