version: 66.10
glider: 118
mission: 6
dive: 13
start: 1 31 112 10 3 56
data:
$ID,118
$MISSION,6
$DIVE,13
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$T_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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51539
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0023278999
$HD_B,0.010866
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-51587.129
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,176
$PITCH_MAX,3933
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3836
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,3355
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,98
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-3.9689138
$PRESSURE_SLOPE,0.0001161622
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043071429
$SEABIRD_T_H,0.00063708809
$SEABIRD_T_I,2.3396524e-05
$SEABIRD_T_J,2.3594623e-06
$SEABIRD_C_G,-9.9806595
$SEABIRD_C_H,1.1263306
$SEABIRD_C_I,-0.0021160755
$SEABIRD_C_J,0.0002166138
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,310112,095842,4808.108,-12223.335,34,1.0,44,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.5
$GPS2,310112,100300,4808.160,-12223.401,12,1.1,22,18.3
$SPEED_LIMITS,0.080,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.221
$KALMAN_X,-121.8,-106.0,-101.7,262.9,-112.3
$KALMAN_Y,250.0,220.3,212.0,-614.2,232.1
$MHEAD_RNG_PITCHd_Wd,136.7,4360,-17.2,-10.000
$D_GRID,103
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.75,-146.6,0.0,0.0,0,73,0.00,0.00,-55.90,0.000,2,0.000,0.000,166,2495,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.75,-146.6,3.3,-7.0,10,128,7.25,1.92,-35.45,0.000,4,0.243,0.092,1887,3568,3894,0,0,0,0,0,0,25.88,26.13,26.33
$GC,140,-0.75,-146.6,8.1,-4.0,21,147,0.00,1.77,0.00,0.000,6,0.000,0.044,1887,2491,3895,0,0,0,0,0,0,28.83,26.17,28.83
$GC,209,-0.75,-146.6,14.8,-11.6,34,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2491,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,276,-0.75,-146.6,22.4,-11.1,47,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2491,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,344,-0.75,-146.6,29.1,-10.0,60,351,0.00,1.88,0.00,0.000,4,0.000,0.073,1887,3569,3895,0,0,0,0,0,0,28.83,26.27,28.83
$GC,368,-0.75,-146.6,31.4,-9.8,64,374,0.00,1.75,0.00,0.000,6,0.000,0.044,1887,2500,3895,0,0,0,0,0,0,28.83,26.32,28.83
$GC,436,-0.75,-146.6,39.0,-10.5,77,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2500,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,504,-0.75,-146.6,46.4,-10.7,90,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2500,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,632,-0.75,-146.6,60.1,-10.8,115,637,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2500,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,759,-0.75,-146.6,73.3,-10.3,140,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2500,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,887,-0.75,-146.6,85.6,-9.2,165,893,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2500,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1015,-0.75,-146.6,97.6,-9.8,190,1022,0.00,1.80,0.00,0.000,4,0.000,0.074,1887,3564,3895,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1065,-0.75,-146.6,102.4,-10.1,199,1071,0.00,1.75,0.00,0.000,6,0.000,0.044,1887,2490,3895,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1076,begin apogee
$GC,1080,-0.17,0.0,103.8,-9.7,201,1137,0.62,0.00,52.95,0.987,6,0.128,0.000,2081,2490,3353,0,0,0,0,0,0,26.40,28.83,24.60
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1138,begin climb
$GC,1140,0.75,146.6,104.9,0.0,211,1207,0.90,0.00,61.10,0.954,6,0.074,0.000,2382,2490,2755,0,0,0,0,0,0,25.49,28.83,24.14
$GC,1329,0.75,146.6,75.7,19.6,247,1336,0.00,1.90,0.00,0.000,4,0.000,0.070,2382,3565,2753,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1427,0.75,146.6,54.9,21.3,266,1434,0.00,1.80,0.00,0.000,6,0.000,0.048,2383,2502,2753,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1557,0.75,146.6,31.2,17.8,291,1563,0.00,1.85,0.00,0.000,4,0.000,0.069,2383,3566,2752,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1651,0.75,146.6,13.6,16.3,309,1658,0.00,1.77,0.00,0.000,6,0.000,0.047,2383,2500,2752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1721,0.97,324.6,7.1,1.6,322,1795,0.17,1.98,68.38,0.617,4,0.070,0.070,2458,3571,2026,0,0,0,0,0,0,26.29,25.50,24.92
$GC,1987,1.24,537.4,6.7,-0.0,373,2083,0.22,1.80,85.28,0.606,6,0.063,0.047,2543,2495,1159,0,0,0,0,0,0,26.06,26.03,24.72
$STATE,2098,end climb,SURFACE_DEPTH_REACHED
$STATE,2098,begin surface coast
$FINISH,0.4,1.013379
$STATE,2244,end surface coast,CONTROL_FINISHED_OK
$STATE,2244,begin surface
$SM_CCo,2258,44.45,0.151,0,0,701,650.04
$SM_GC,1.75,6.85,0.00,44.45,0.049,0.000,0.151,169,2495,701,-6.11,-0.14,650.04,0,0,0,0,0,0,25.91,28.83,25.71
$IRIDIUM_FIX,4751.72,-12056.72,310112,090926
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.77
$INTERNAL_PRESSURE,8.87608
$TCM_TEMP,19.20
$24V_AH,24.1,1.402
$10V_AH,10.5,0.950
$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,16.025,21.975,267.700,44.450,0.000,27.781,38.598,98.253,0.000,0.000,23.671,885.427,434.115,396.639,804.894,58.830,31.302,782.901,0.000,617.128,0.000,0.000,0.000
$DEVICE_MAMPS,243.270,91.800,986.850,151.470,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,293.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,13434,422
$CAP_FILE_SIZE,51906,0
$CFSIZE,-70844416,-77201408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,104318,4808.090,-12223.330,14,1.4,24,18.3