version: 66.06
glider: 146
mission: 6
dive: 626
start: 8 3 111 11 29 46
data:
$ID,146
$MISSION,6
$DIVE,626
$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,-283086.16
$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,19
$R_STBD_OVSHOOT,72
$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
$GPS1,112236,2147.395,-15804.614,30,1.9,30,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.7
$GPS2,112856,2147.477,-15804.600,12,1.9,12,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.053,-0.210
$KALMAN_X,-658192.1,-206.0,-27.7,645088.9,-162.2
$KALMAN_Y,262772.6,22.5,270.0,-367576.2,801.7
$MHEAD_RNG_PITCHd_Wd,184.1,14977,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,81,0.00,0.00,-63.22,0.000,2,0.000,0.000,473,2146,3005,0,0,0,0,0,0
$GC,84,-1.47,-97.3,3.0,-4.8,10,112,12.70,2.70,-8.77,0.000,4,0.159,0.051,2851,523,3407,0,0,0,0,0,0
$GC,224,-1.39,-97.3,27.8,-13.4,34,232,0.08,2.47,0.00,0.000,6,0.110,0.015,2869,2114,3409,0,0,0,0,0,0
$GC,624,-1.39,-97.3,80.0,-12.8,72,628,0.00,2.47,0.00,0.000,4,0.000,0.038,2869,3676,3410,0,0,0,0,0,0
$GC,644,-1.39,-97.3,82.6,-12.0,73,648,0.00,2.47,0.00,0.000,6,0.000,0.021,2869,2110,3410,0,0,0,0,0,0
$GC,1036,-1.43,-97.3,127.0,-8.6,109,1041,0.00,2.50,0.00,0.000,4,0.000,0.030,2869,3675,3411,0,0,0,0,0,0
$GC,1059,-1.49,-97.3,129.6,-9.9,110,1066,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2132,3411,0,0,0,0,0,0
$GC,1449,-1.55,-97.3,171.4,-9.8,147,1454,0.12,2.62,0.00,0.000,4,0.073,0.054,2822,548,3412,0,0,0,0,0,0
$GC,1477,-1.55,-97.3,174.4,-10.6,149,1482,0.00,2.42,0.00,0.000,6,0.000,0.015,2822,2145,3412,0,0,0,0,0,0
$GC,1892,-1.55,-97.3,215.2,-9.1,176,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2146,3413,0,0,0,0,0,0
$GC,2256,-1.55,-97.3,253.6,-9.9,185,2260,0.00,2.45,0.00,0.000,4,0.000,0.031,2822,3681,3413,0,0,0,0,0,0
$GC,2278,-1.58,-97.3,256.1,-11.2,185,2282,0.00,2.40,0.00,0.000,6,0.000,0.022,2822,2141,3413,0,0,0,0,0,0
$GC,2657,-1.62,-97.3,293.7,-8.2,195,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2140,3413,0,0,0,0,0,0
$GC,3021,-1.68,-97.3,327.8,-9.6,204,3025,0.00,2.50,0.00,0.000,4,0.000,0.044,2822,3670,3413,0,0,0,0,0,0
$GC,3070,-1.76,-97.3,332.9,-10.2,205,3075,0.12,2.45,0.00,0.000,6,0.064,0.037,2766,2144,3413,0,0,0,0,0,0
$GC,3466,-1.72,-97.3,376.9,-10.8,215,3471,0.15,2.55,0.00,0.000,4,0.109,0.046,2798,3672,3412,0,0,0,0,0,0
$GC,3500,-1.76,-97.3,380.5,-10.0,215,3505,0.00,2.53,0.00,0.000,6,0.000,0.039,2798,2139,3412,0,0,0,0,0,0
$GC,3872,-1.76,-97.3,416.0,-9.6,225,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2139,3409,0,0,0,0,0,0
$STATE,4235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4235,begin apogee
$GC,4243,-0.31,0.0,450.4,8.2,234,4329,1.30,0.00,81.95,0.854,6,0.051,0.000,3112,1803,3009,0,0,0,0,0,0
$STATE,4329,end apogee,CONTROL_FINISHED_OK
$STATE,4329,begin climb
$GC,4332,1.47,97.3,450.2,0.0,236,4419,1.60,0.00,82.15,0.838,6,0.044,0.000,3497,1804,2613,0,0,0,0,0,0
$GC,4779,1.42,162.9,430.6,5.5,247,4844,0.00,2.72,56.42,0.831,4,0.000,0.051,3497,3362,2344,0,0,0,0,0,0
$GC,5102,1.35,175.7,402.7,9.1,254,5122,0.12,2.65,11.48,0.746,6,0.130,0.048,3472,1799,2292,0,0,0,0,0,0
$GC,5503,1.34,201.1,368.8,8.3,264,5532,0.00,2.65,22.83,0.785,4,0.000,0.037,3472,3360,2190,0,0,0,0,0,0
$GC,5603,1.36,218.1,359.8,8.8,266,5626,0.00,2.62,16.25,0.759,6,0.000,0.050,3472,1810,2120,0,0,0,0,0,0
$GC,6000,1.38,231.6,325.6,9.1,276,6020,0.00,2.60,12.77,0.726,4,0.000,0.038,3472,3352,2064,0,0,0,0,0,0
$GC,6032,1.39,238.9,322.4,9.5,276,6046,0.00,2.60,8.25,0.671,6,0.000,0.039,3472,1806,2035,0,0,0,0,0,0
$GC,6454,1.39,238.9,276.3,11.0,287,6458,0.00,2.55,0.00,0.000,4,0.000,0.037,3472,3365,2029,0,0,0,0,0,0
$GC,6516,1.42,238.9,269.6,10.8,288,6521,0.00,2.58,0.00,0.000,6,0.000,0.042,3472,1813,2028,0,0,0,0,0,0
$GC,6900,1.47,248.2,232.3,9.4,298,6915,0.10,2.83,8.38,0.639,4,0.090,0.071,3501,229,1997,0,0,0,0,0,0
$GC,6950,1.39,248.2,227.2,11.0,299,6955,0.12,2.50,0.00,0.000,6,0.125,0.025,3477,1799,1996,0,0,0,0,0,0
$GC,7333,1.44,255.7,194.3,9.5,310,7347,0.00,2.78,8.07,0.606,4,0.000,0.061,3477,225,1966,0,0,0,0,0,0
$GC,7423,1.44,255.7,184.6,11.2,318,7427,0.00,2.50,0.00,0.000,6,0.000,0.025,3477,1809,1965,0,0,0,0,0,0
$GC,7812,1.56,285.7,154.7,8.0,354,7842,0.17,0.00,27.33,0.641,6,0.071,0.000,3524,1811,1844,0,0,0,0,0,0
$GC,8226,1.57,287.9,114.7,9.9,393,8230,0.00,2.70,0.00,0.000,4,0.000,0.058,3524,223,1841,0,0,0,0,0,0
$GC,8418,1.52,287.9,94.6,10.4,410,8422,0.00,2.50,0.00,0.000,6,0.000,0.018,3524,1821,1839,0,0,0,0,0,0
$GC,8810,1.54,299.2,60.3,9.2,446,8834,0.00,2.50,12.70,0.528,4,0.000,0.031,3524,3377,1789,0,0,0,0,0,0
$GC,8861,1.61,310.3,55.6,9.2,450,8882,0.00,2.55,11.00,0.510,6,0.000,0.038,3524,1826,1743,0,0,0,0,0,0
$GC,9265,1.70,336.0,20.9,8.2,498,9298,0.00,2.80,23.02,0.510,4,0.000,0.056,3524,224,1639,0,0,0,0,0,0
$STATE,9438,end climb,SURFACE_DEPTH_REACHED
$STATE,9439,begin surface coast
$FINISH,0.8,0.975144
$STATE,9472,end surface coast,CONTROL_FINISHED_OK
$STATE,9472,begin surface
$SM_CCo,9499,36.08,0.502,0,0,1460,380.21
$SM_GC,1.48,0.00,0.00,36.08,0.000,0.000,0.502,478,2130,1460,-12.41,0.28,380.21
$IRIDIUM_FIX,2141.13,-15806.74,271000,080816
$TT8_MAMPS,0.026078
$HUMID,65.00
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.10
$XPDR_PINGS,201
$24V_AH,23.4,80.188
$10V_AH,10.0,72.337
$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,28.925,83.225,382.600,36.075,0.000,23.804,39.358,178.913,50.250,0.000,14.190,990.284,6439.988,445.334,1542.409,495.174,33.361,1109.806,0.000,1535.025,0.000,0.534,0.000
$DEVICE_MAMPS,158.769,80.535,853.671,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.707,324.038,312.862,783.466,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,41432,536
$CAP_FILE_SIZE,88500,0
$CFSIZE,260165632,147525632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,141001,2146.891,-15804.727,37,1.5,37,9.9