version: 66.04
glider: 101
mission: 6
dive: 20
start: 10 10 108 11 17 1
data:
$ID,101
$MISSION,6
$DIVE,20
$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,-730105.06
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,111234,4805.978,-12221.908,7,2.1,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.7
$GPS2,111639,4805.928,-12221.861,14,1.1,14,18.3
$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,289.6,217,-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,16,-2.49,-30.9,0.0,0.0,0,110,0.00,0.00,-90.78,0.000,6,0.000,0.000,25,2425,3449
$GC,114,-2.53,-62.9,3.1,-1.9,16,134,9.98,2.35,-4.80,0.000,4,0.123,0.071,1936,3694,3579
$GC,312,-2.24,-64.0,14.3,-6.1,50,319,0.35,2.20,0.00,0.000,6,0.105,0.035,2003,2412,3580
$GC,389,-2.20,-74.6,18.4,-4.8,63,396,0.00,2.47,-0.77,0.000,4,0.000,0.059,2003,1014,3627
$GC,520,-2.20,-74.6,27.6,-8.3,77,526,0.00,2.47,0.00,0.000,6,0.000,0.041,2003,2418,3628
$GC,718,-2.20,-74.6,42.9,-8.1,96,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2418,3628
$GC,917,-2.20,-74.6,58.6,-8.0,110,921,0.00,2.28,0.00,0.000,4,0.000,0.055,2003,3693,3627
$GC,1040,-2.13,-74.6,68.9,-7.9,115,1047,0.12,2.20,0.00,0.000,6,0.106,0.036,2025,2410,3628
$GC,1357,-2.19,-74.6,91.8,-7.2,131,1361,0.00,2.33,0.00,0.000,4,0.000,0.054,2025,3699,3628
$GC,1425,-2.19,-74.6,97.2,-7.8,134,1429,0.00,2.20,0.00,0.000,6,0.000,0.036,2025,2419,3627
$STATE,1688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1688,begin apogee
$GC,1695,-0.45,0.0,115.3,6.6,157,1763,1.73,0.00,61.92,0.808,6,0.080,0.000,2389,2419,3322
$STATE,1763,end apogee,CONTROL_FINISHED_OK
$STATE,1763,begin climb
$GC,1767,2.54,74.6,116.4,0.0,164,1835,2.95,0.00,61.67,0.780,6,0.048,0.000,3060,2419,3017
$GC,2149,2.25,74.6,45.4,20.2,189,2154,0.38,2.47,0.00,0.000,4,0.123,0.046,2987,1015,3018
$STATE,2406,end climb,SURFACE_DEPTH_REACHED
$STATE,2406,begin surface coast
$FINISH,1.2,1.018610
$STATE,2424,end surface coast,CONTROL_FINISHED_OK
$STATE,2424,begin surface
$SM_CCo,2452,279.27,0.700,1,0,1283,500.17
$SM_GC,1.42,0.00,0.00,279.27,0.000,0.000,0.700,29,2417,1283,-11.33,0.00,500.17
$IRIDIUM_FIX,4748.51,-12214.67,040198,101009
$TT8_MAMPS,0.029146
$HUMID,1827
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.4,43.5
$24V_AH,23.3,2.483
$10V_AH,10.1,0.854
$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,29.100,23.500,123.600,279.275,0.000,26.711,29.130,87.685,1.000,0.000,0.000,15.891,401.769,1320.765,498.316,520.611,259.074,0.000,758.924,0.000,516.823,0.000,8.591,0.000
$DEVICE_MAMPS,123.487,70.564,807.651,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,154.004,170.486,386.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9648,225
$CAP_FILE_SIZE,32181,0
$CFSIZE,260165632,258347008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101008,120327,4805.959,-12221.970,7,1.7,7,18.3