version: 66.06
glider: 5
mission: 8
dive: 14
start: 3 3 110 6 52 24
data:
$ID,5
$MISSION,8
$DIVE,14
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110584.01
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2794
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,3900
$C_ROLL_CLIMB,3900
$HEAD_ERRBAND,181
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.24641
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,064537,4806.857,-12222.786,26,1.9,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-69.8
$GPS2,065132,4806.908,-12222.847,14,1.5,14,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,-0.121
$KALMAN_X,-3538.6,3.3,-54.4,4026.2,-830.9
$KALMAN_Y,3886.5,-12.1,-334.1,-5146.7,568.7
$MHEAD_RNG_PITCHd_Wd,99.0,1981,-18.1,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.44,-146.6,0.0,0.0,0,94,0.00,0.00,-75.22,0.000,2,0.000,0.000,426,3889,2417,0,0,0,0,0,0
$GC,97,-1.44,-146.6,2.1,-5.2,14,169,11.10,0.00,-55.72,0.000,6,0.159,0.000,2473,3888,3836,0,0,0,0,0,0
$GC,237,-1.44,-146.6,15.8,-16.6,39,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,3888,3836,0,0,0,0,0,0
$GC,307,-1.44,-146.6,28.4,-18.1,48,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,3888,3836,0,0,0,0,0,0
$GC,508,-1.44,-146.6,61.7,-16.3,64,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,3888,3836,0,0,0,0,0,0
$GC,820,-1.44,-146.6,110.4,-13.8,82,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,3888,3837,0,0,0,0,0,0
$STATE,828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,828,begin apogee
$GC,833,-0.33,0.0,111.9,13.9,83,960,1.17,0.00,118.05,0.842,6,0.102,0.000,2718,3888,3239,0,0,0,0,0,0
$STATE,961,end apogee,CONTROL_FINISHED_OK
$STATE,961,begin climb
$GC,963,1.44,146.6,116.8,0.0,96,1090,1.77,0.00,117.25,0.811,6,0.062,0.000,3109,3887,2641,0,0,0,0,0,0
$GC,1400,1.44,146.6,54.5,15.5,125,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,3887,2641,0,0,0,0,0,0
$GC,1720,1.44,146.6,8.0,13.1,161,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,3887,2640,0,0,0,0,0,0
$STATE,1748,end climb,SURFACE_DEPTH_REACHED
$STATE,1748,begin surface coast
$FINISH,0.5,1.018407
$STATE,1781,end surface coast,CONTROL_FINISHED_OK
$STATE,1782,begin surface
$SM_CCo,1802,244.27,0.739,0,0,792,600.00
$SM_GC,0.57,0.00,0.00,244.27,0.000,0.000,0.739,426,3888,792,-10.89,-0.34,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,47.71
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.4
$ALTIM_BOTTOM_PING,101.4,19.8
$24V_AH,23.9,75.904
$10V_AH,9.9,33.802
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,25.950,0.000,235.300,244.275,0.000,78.486,51.094,83.205,2.250,0.000,14.169,262.628,859.164,516.389,491.308,280.245,33.322,774.496,0.000,487.068,0.000,18.875,0.000
$DEVICE_MAMPS,158.769,0.000,842.166,738.621,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,113.023,128.846,438.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324184
$DATA_FILE_SIZE,9719,172
$CAP_FILE_SIZE,27429,0
$CFSIZE,254472192,252268544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030310,072728,4806.966,-12222.894,10,2.3,29,18.3