version: 66.04
glider: 5
mission: 6
dive: 13
start: 7 30 109 5 27 35
data:
$ID,5
$MISSION,6
$DIVE,13
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$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,2
$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,122
$TGT_DEFAULT_LON,48
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-98803.328
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2795
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.153585
$PRESSURE_SLOPE,0.000115925
$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,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,0
$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
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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
$GPS1,052314,4806.253,-12222.377,8,1.9,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-73.5
$GPS2,052720,4806.240,-12222.353,15,1.7,15,18.3
$SPEED_LIMITS,0.139,0.245
$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,117.3,623,-23.1,-8.000
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.64,-63.3,0.0,0.0,0,116,0.00,0.00,-98.18,0.000,2,0.000,0.000,426,2240,3450
$GC,120,-1.65,-70.5,3.5,-7.4,17,140,11.18,2.53,-2.10,0.000,4,0.170,0.078,2429,3628,3526
$GC,395,-1.33,-70.5,39.0,-12.8,52,400,0.38,2.50,0.00,0.000,6,0.120,0.050,2501,2228,3526
$GC,591,-1.33,-70.5,57.0,-8.4,66,595,0.00,2.60,0.00,0.000,4,0.000,0.067,2502,3638,3526
$GC,851,-1.25,-70.5,80.5,-9.0,77,858,0.00,2.47,0.00,0.000,6,0.000,0.051,2502,2251,3526
$GC,1170,-1.27,-80.0,105.3,-7.2,96,1174,0.00,2.55,0.00,0.000,4,0.000,0.067,2502,3637,3527
$STATE,1275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1275,begin apogee
$GC,1284,-0.33,0.0,113.4,7.8,105,1344,1.02,0.00,56.38,0.809,6,0.089,0.000,2719,2103,3239
$STATE,1345,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1348,1.67,80.0,115.0,0.0,111,1421,1.98,2.55,63.05,0.786,4,0.055,0.053,3158,701,2911
$GC,1445,1.30,80.0,105.2,14.6,120,1451,0.40,2.55,0.00,0.000,6,0.107,0.050,3082,2116,2911
$GC,1773,1.25,80.0,68.7,10.5,137,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2116,2911
$GC,2085,1.25,80.0,37.6,9.8,157,2089,0.00,2.55,0.00,0.000,4,0.000,0.062,3081,3528,2911
$GC,2107,1.21,80.0,35.3,10.0,158,2114,0.12,2.50,0.00,0.000,6,0.109,0.046,3058,2118,2910
$GC,2306,1.25,80.0,18.3,8.6,178,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2116,2910
$GC,2382,1.30,81.7,12.4,7.9,191,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2115,2910
$GC,2457,1.40,99.5,7.0,6.5,204,2482,0.17,2.55,15.70,0.722,4,0.049,0.055,3108,717,2832
$STATE,2498,end climb,SURFACE_DEPTH_REACHED
$STATE,2498,begin surface coast
$FINISH,2.6,1.020879
$STATE,2527,end surface coast,CONTROL_FINISHED_OK
$STATE,2527,begin surface
$SM_CCo,2553,213.35,0.739,0,0,1200,500.17
$SM_GC,0.11,0.00,0.00,213.35,0.000,0.000,0.739,424,2240,1200,-10.91,0.28,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1807
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,42.5
$24V_AH,24.0,1.641
$10V_AH,10.1,1.012
$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,27.275,30.850,135.125,213.350,0.000,37.757,26.016,85.802,1.000,0.000,0.000,15.221,391.555,1405.048,438.534,537.544,252.178,0.000,724.403,0.000,532.152,0.000,9.874,0.000
$DEVICE_MAMPS,169.507,78.234,809.185,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,144.465,162.908,372.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9639,216
$CAP_FILE_SIZE,35408,0
$CFSIZE,254472192,252301312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,300709,061432,4806.075,-12222.312,11,1.1,11,18.3