version: 66.04
glider: 150
mission: 6
dive: 6
start: 10 7 109 22 35 1
data:
$ID,150
$MISSION,6
$DIVE,6
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,500
$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,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52219
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$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,-15718.527
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,2501
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,257
$ROLL_MAX,3938
$ROLL_DEG,40
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3430
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.2719669
$PRESSURE_SLOPE,0.000116226
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,150
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$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,0.004369698
$SEABIRD_T_H,0.00063770782
$SEABIRD_T_I,2.6189617e-05
$SEABIRD_T_J,2.9323592e-06
$SEABIRD_C_G,-9.9919777
$SEABIRD_C_H,1.1278584
$SEABIRD_C_I,-0.00075603358
$SEABIRD_C_J,0.00015749504
$GPS1,222536,4806.823,-12222.753,8,1.0,24,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.1
$GPS2,223407,4806.813,-12222.729,10,1.1,14,18.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.204
$KALMAN_X,-271.7,-203.7,-129.1,1486.8,26.5
$KALMAN_Y,-190.2,-107.5,-69.3,-266.3,-16.6
$MHEAD_RNG_PITCHd_Wd,132.3,1755,-19.8,-10.000
$D_GRID,107
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.6,0.0,0.0,0,64,0.00,0.00,-46.33,0.000,2,0.000,0.000,419,2100,3147
$GC,67,-1.38,-116.6,2.1,-4.3,8,110,9.43,2.35,-26.35,0.000,4,0.160,0.059,2195,685,3906
$GC,353,-1.38,-116.6,35.4,-12.7,72,360,0.00,2.28,0.00,0.000,6,0.000,0.031,2196,2116,3906
$GC,428,-1.38,-116.6,44.5,-12.9,85,434,0.00,2.38,0.00,0.000,4,0.000,0.051,2196,689,3906
$GC,612,-1.38,-116.6,68.6,-13.8,125,618,0.00,2.25,0.00,0.000,6,0.000,0.031,2196,2108,3906
$GC,753,-1.38,-116.6,85.9,-11.9,150,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2108,3905
$GC,897,-1.38,-116.6,103.0,-11.5,175,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2109,3905
$STATE,929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,935,-0.31,0.0,107.4,12.2,181,1036,1.08,0.00,92.62,0.913,6,0.104,0.000,2429,2108,3429
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1040,1.38,116.6,111.0,0.0,199,1141,1.60,0.00,92.80,0.881,6,0.061,0.000,2802,2109,2955
$GC,1276,1.38,116.6,88.8,12.6,241,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2109,2952
$GC,1417,1.38,116.6,71.6,12.0,266,1424,0.00,2.42,0.00,0.000,4,0.000,0.061,2802,688,2950
$GC,1471,1.38,116.6,64.9,12.5,277,1477,0.00,2.28,0.00,0.000,6,0.000,0.031,2802,2091,2950
$GC,1613,1.38,116.6,48.0,11.9,302,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2091,2950
$GC,1755,1.38,116.6,32.1,10.8,327,1761,0.00,2.35,0.00,0.000,4,0.000,0.050,2802,690,2950
$GC,1827,1.38,116.6,24.0,10.2,343,1834,0.00,2.28,0.00,0.000,6,0.000,0.036,2802,2103,2949
$GC,1902,1.38,116.6,15.5,11.5,356,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2103,2949
$GC,1977,1.38,116.6,7.8,10.6,369,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2103,2950
$STATE,2026,end climb,SURFACE_DEPTH_REACHED
$STATE,2026,begin surface coast
$FINISH,0.4,1.021964
$STATE,2100,end surface coast,CONTROL_FINISHED_OK
$STATE,2100,begin surface
$SM_CCo,2120,149.27,0.821,0,0,2206,300.00
$SM_GC,1.08,0.00,0.00,149.27,0.000,0.000,0.821,416,2107,2206,-9.59,0.28,300.00
$IRIDIUM_FIX,4748.51,-12224.57,010199,222209
$TT8_MAMPS,0.027612
$HUMID,1771
$INTERNAL_PRESSURE,9.26132
$TCM_TEMP,18.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,100.4,22.8
$24V_AH,23.2,1.007
$10V_AH,10.2,0.749
$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,21.900,18.575,185.425,149.275,0.000,53.712,51.564,220.368,5.250,0.000,0.000,15.896,588.159,633.901,392.936,717.055,463.680,33.324,754.653,0.000,707.061,0.000,19.543,0.000
$DEVICE_MAMPS,159.536,60.593,912.730,820.690,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,267.119,188.711,467.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19116,391
$CAP_FILE_SIZE,41729,0
$CFSIZE,260165632,218464256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,231338,4806.715,-12222.515,8,1.5,8,18.3