version: 66.04
glider: 101
mission: 6
dive: 18
start: 10 10 108 9 35 53
data:
$ID,101
$MISSION,6
$DIVE,18
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,80
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-730073.69
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2493
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,177
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2417
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,657
$VBD_MAX,3935
$C_VBD,3323
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.306441
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0042858003
$SEABIRD_T_H,0.00062598009
$SEABIRD_T_I,2.1740922e-05
$SEABIRD_T_J,2.0518198e-06
$SEABIRD_C_G,-9.9824123
$SEABIRD_C_H,1.1171527
$SEABIRD_C_I,-0.00017022179
$SEABIRD_C_J,0.00010324208
$GPS1,093114,4806.150,-12222.337,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-56.5
$GPS2,093532,4806.088,-12222.308,8,1.8,14,18.3
$SPEED_LIMITS,0.108,0.213
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,95.0,414,-27.0,-6.250
$D_GRID,150
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-2.49,-30.9,0.0,0.0,0,115,0.00,0.00,-95.90,0.000,6,0.000,0.000,25,2418,3450
$GC,119,-2.54,-69.2,2.2,-1.0,17,145,9.88,2.55,-6.80,0.000,4,0.119,0.058,1935,1021,3606
$GC,400,-2.33,-69.2,19.0,-7.0,66,408,0.25,2.47,0.00,0.000,6,0.116,0.041,1980,2423,3605
$GC,479,-2.25,-69.2,24.8,-7.2,74,484,0.10,2.53,0.00,0.000,4,0.111,0.045,1998,1011,3606
$GC,737,-2.25,-69.2,45.2,-8.2,96,743,0.00,2.50,0.00,0.000,6,0.000,0.041,1997,2424,3605
$GC,932,-2.25,-69.2,60.4,-8.0,109,936,0.00,2.53,0.00,0.000,4,0.000,0.047,1997,1011,3606
$GC,1191,-2.25,-69.2,80.0,-7.3,120,1198,0.00,2.50,0.00,0.000,6,0.000,0.041,1998,2425,3605
$GC,1509,-2.25,-69.2,102.7,-7.1,137,1513,0.00,2.53,0.00,0.000,4,0.000,0.047,1997,1008,3605
$GC,1661,-2.25,-69.2,113.7,-7.1,150,1666,0.00,2.47,0.00,0.000,6,0.000,0.041,1997,2417,3605
$STATE,1676,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1676,begin apogee
$GC,1684,-0.45,0.0,114.9,6.8,151,1750,1.90,0.00,57.70,0.813,6,0.089,0.000,2389,2417,3323
$STATE,1751,end apogee,CONTROL_FINISHED_OK
$STATE,1751,begin climb
$GC,1755,2.54,69.2,116.2,0.0,158,1822,2.97,0.00,57.08,0.786,6,0.056,0.000,3043,2416,3041
$GC,2138,2.26,69.2,51.4,17.8,183,2143,0.28,2.50,0.00,0.000,4,0.140,0.045,2992,1017,3041
$GC,2393,2.06,69.2,11.2,14.7,210,2400,0.28,2.47,0.00,0.000,6,0.156,0.041,2947,2425,3041
$STATE,2461,end climb,SURFACE_DEPTH_REACHED
$STATE,2461,begin surface coast
$FINISH,1.6,1.021067
$STATE,2496,end surface coast,CONTROL_FINISHED_OK
$STATE,2496,begin surface
$SM_CCo,2522,254.75,0.706,1,0,1283,500.17
$SM_GC,1.46,0.00,0.00,254.75,0.000,0.000,0.706,29,2425,1283,-11.33,0.23,500.17
$IRIDIUM_FIX,4748.51,-12231.73,040198,080810
$TT8_MAMPS,0.029146
$HUMID,1858
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,33.9
$24V_AH,23.3,2.293
$10V_AH,10.1,0.789
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.275,25.050,114.775,254.750,0.000,24.436,26.037,104.134,1.500,0.000,0.000,18.627,415.244,1295.396,477.947,591.510,274.737,0.000,771.165,0.000,582.906,0.000,12.969,0.000
$DEVICE_MAMPS,156.468,58.292,813.020,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.618,174.469,391.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9690,228
$CAP_FILE_SIZE,33911,0
$CFSIZE,260165632,258396160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101008,102329,4805.975,-12222.028,12,2.8,31,18.3