version: 66.06
glider: 128
mission: 2
dive: 6
start: 3 24 110 23 44 41
data:
$ID,128
$MISSION,2
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,60
$T_ABORT,720
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51580
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19
$TGT_DEFAULT_LON,118
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-172201.05
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3958
$C_PITCH,2923
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,190
$ROLL_MAX,3778
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3007
$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,1
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.18169
$PRESSURE_SLOPE,0.0001162386
$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,5
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043202997
$SEABIRD_T_H,0.00063066871
$SEABIRD_T_I,2.423454e-05
$SEABIRD_T_J,2.6245777e-06
$SEABIRD_C_G,-9.8552961
$SEABIRD_C_H,1.1169292
$SEABIRD_C_I,-0.0010928692
$SEABIRD_C_J,0.00015437596
$GPS1,233708,4806.586,-12222.445,7,1.6,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.4
$GPS2,234349,4806.559,-12222.424,11,1.4,16,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.205
$KALMAN_X,103.4,77.7,51.7,857.6,46.4
$KALMAN_Y,259.6,-25.5,-37.3,-1611.6,142.9
$MHEAD_RNG_PITCHd_Wd,144.2,1160,-22.4,-10.000
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.24,-97.3,0.0,0.0,0,103,0.00,0.00,-81.03,0.000,6,0.000,0.000,148,2243,3404,0,0,0,0,0,0
$GC,107,-1.24,-97.3,3.8,-7.2,14,121,9.85,2.30,0.00,0.000,4,0.239,0.033,2528,845,3405,0,0,0,0,0,0
$GC,375,-1.24,-97.3,52.9,-16.7,61,381,0.00,2.28,0.00,0.000,6,0.000,0.033,2520,2254,3405,0,0,0,0,0,0
$GC,521,-1.24,-97.3,77.5,-17.3,86,527,0.00,2.30,0.00,0.000,4,0.000,0.042,2509,3654,3405,0,0,0,0,0,0
$GC,566,-1.24,-97.3,85.4,-18.5,93,571,0.00,2.22,0.00,0.000,6,0.000,0.030,2509,2246,3405,0,0,0,0,0,0
$GC,709,-1.24,-97.3,109.1,-15.0,118,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2241,3405,0,0,0,0,0,0
$STATE,764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,764,begin apogee
$GC,771,-0.25,0.0,117.5,14.6,128,853,1.12,0.00,72.95,0.981,6,0.161,0.000,2835,2235,3006,0,0,0,0,0,0
$STATE,854,end apogee,CONTROL_FINISHED_OK
$STATE,854,begin climb
$GC,860,1.24,97.3,121.1,0.0,143,941,1.48,0.00,74.12,0.887,6,0.081,0.000,3317,2235,2609,0,0,0,0,0,0
$GC,1078,1.24,97.3,87.7,17.6,182,1085,0.00,2.42,0.00,0.000,4,0.000,0.043,3316,3654,2609,0,0,0,0,0,0
$GC,1247,1.24,97.3,56.2,18.5,211,1252,0.00,2.30,0.00,0.000,6,0.000,0.030,3327,2248,2608,0,0,0,0,0,0
$GC,1393,1.24,97.3,30.9,16.6,236,1399,0.00,2.38,0.00,0.000,4,0.000,0.043,3327,3654,2609,0,0,0,0,0,0
$STATE,1570,end climb,SURFACE_DEPTH_REACHED
$STATE,1570,begin surface coast
$FINISH,2.2,1.021135
$STATE,1621,end surface coast,CONTROL_FINISHED_OK
$STATE,1621,begin surface
$SM_CCo,1647,110.72,0.077,0,0,1579,350.04
$SM_GC,1.07,0.00,0.00,110.72,0.000,0.000,0.077,147,2234,1579,-8.68,-0.45,350.04
$IRIDIUM_FIX,4751.72,-12220.85,180699,232340
$TT8_MAMPS,0.026845
$HUMID,32.51
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,13.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,42.2
$24V_AH,24.2,0.602
$10V_AH,10.5,0.337
$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,22.125,18.500,147.075,110.725,0.000,25.172,29.926,173.832,1.000,0.000,18.100,424.861,344.833,276.647,611.097,510.862,33.324,588.607,0.000,699.082,0.000,9.946,0.000
$DEVICE_MAMPS,238.537,42.952,980.993,76.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,192.023,460.001,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324352
$DATA_FILE_SIZE,12876,276
$CAP_FILE_SIZE,34313,0
$CFSIZE,260165632,188837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,001524,4806.385,-12222.262,24,1.5,42,18.3