version: 66.02
glider: 103
mission: 6
dive: 6
start: 10 9 107 0 50 36
data:
$ID,103
$MISSION,6
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,660
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61270.965
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,3309
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-15.352555
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,004251,4806.989,-12222.761,13,1.5,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-52.0
$GPS2,004944,4806.910,-12222.745,10,1.5,15,18.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.251
$KALMAN_X,1124.8,261.8,66.7,-1097.2,423.2
$KALMAN_Y,-1264.5,-299.4,-105.9,170.5,-426.5
$MHEAD_RNG_PITCHd_Wd,145.1,1920,-18.2,-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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.70,-146.6,0.0,0.0,0,138,0.00,0.00,-118.55,0.000,6,0.000,0.000,51,2311,3907
$GC,140,-1.70,-146.6,2.7,-9.4,22,158,9.40,2.55,0.00,0.000,4,0.154,0.051,1725,904,3907
$GC,411,-1.70,-146.6,31.8,-9.9,60,415,0.00,2.45,0.00,0.000,6,0.000,0.041,1725,2297,3906
$GC,617,-1.70,-146.6,52.7,-10.3,78,621,0.00,2.50,0.00,0.000,4,0.000,0.051,1725,897,3907
$GC,665,-1.70,-146.6,57.9,-10.4,80,670,0.00,2.50,0.00,0.000,6,0.000,0.041,1725,2301,3907
$GC,986,-1.70,-146.6,90.5,-10.1,96,991,0.00,2.62,0.00,0.000,4,0.000,0.079,1725,3706,3907
$STATE,1186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1186,begin apogee
$GC,1192,-0.42,0.0,112.1,10.7,109,1311,1.35,0.00,114.88,0.827,6,0.087,0.000,2003,2294,3309
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1313,1.70,146.6,114.8,0.0,121,1440,2.08,2.60,114.07,0.801,4,0.048,0.053,2470,897,2711
$GC,1607,1.70,146.6,76.6,15.4,141,1612,0.00,2.47,0.00,0.000,6,0.000,0.035,2470,2300,2711
$GC,1933,1.70,146.6,27.7,14.0,164,1937,0.00,2.53,0.00,0.000,4,0.000,0.052,2470,898,2711
$STATE,2111,end climb,SURFACE_DEPTH_REACHED
$STATE,2111,begin surface coast
$FINISH,1.1,1.020057
$STATE,2146,end surface coast,CONTROL_FINISHED_OK
$STATE,2146,begin surface
$SM_CCo,2165,314.95,0.697,1,0,618,660.10
$SM_GC,-0.35,0.00,0.00,314.95,0.000,0.000,0.697,52,2308,618,-9.42,0.23,660.10
$IRIDIUM_FIX,4748.51,-12128.22,091007,040402
$TT8_MAMPS,0.029146
$HUMID,2037
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,80.0,42.0
$24V_AH,23.7,4.809
$10V_AH,10.2,1.922
$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
$DEVICE_SECS,23.825,25.175,228.950,314.950,0.000,78.782,76.311,131.302,3.750,0.000,0.000,15.375,337.905,1125.017,609.798,517.985,328.576,33.334,901.592,0.000,512.928,0.000,8.532
$DEVICE_MAMPS,154.167,79.001,826.826,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,129.175,143.770,335.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9685,196
$CFSIZE,260165632,258969600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091007,013303,4806.672,-12222.747,12,2.0,30,18.3