version: 66.02
glider: 103
mission: 6
dive: 9
start: 10 9 107 3 10 1
data:
$ID,103
$MISSION,6
$DIVE,9
$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,-61321.301
$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,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$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
$GPS1,030541,4806.096,-12222.312,13,2.2,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-61.1
$GPS2,030909,4806.065,-12222.267,14,2.0,14,18.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,-0.103
$KALMAN_X,476.1,372.3,28.3,77.5,-283.2
$KALMAN_Y,-884.7,-383.7,-10.3,-1785.6,187.5
$MHEAD_RNG_PITCHd_Wd,98.6,351,-21.2,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.90,-108.8,0.0,0.0,0,133,0.00,0.00,-111.60,0.000,6,0.000,0.000,50,2401,3753
$GC,135,-1.94,-146.6,2.2,-7.0,21,154,9.12,2.55,-3.75,0.000,4,0.155,0.063,1673,990,3908
$GC,407,-1.94,-146.6,34.9,-12.8,58,411,0.00,2.50,0.00,0.000,6,0.000,0.045,1673,2395,3908
$GC,601,-1.94,-146.6,58.5,-12.0,73,606,0.00,2.50,0.00,0.000,4,0.000,0.051,1673,997,3908
$GC,650,-1.94,-146.6,64.8,-12.0,75,655,0.00,2.53,0.00,0.000,6,0.000,0.044,1673,2399,3908
$GC,972,-1.94,-146.6,103.5,-11.5,92,976,0.00,2.62,0.00,0.000,4,0.000,0.084,1673,3780,3908
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1038,begin apogee
$GC,1043,-0.42,0.0,111.9,12.9,97,1163,1.62,0.00,115.32,0.800,6,0.090,0.000,2003,2200,3308
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1165,1.94,146.6,115.2,0.0,109,1293,2.35,2.62,113.88,0.778,4,0.046,0.054,2528,796,2711
$GC,1544,1.94,146.6,53.5,18.9,133,1549,0.00,2.47,0.00,0.000,6,0.000,0.035,2528,2202,2711
$STATE,1836,end climb,SURFACE_DEPTH_REACHED
$STATE,1836,begin surface coast
$FINISH,1.3,1.020733
$STATE,1865,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1883,324.73,0.688,1,0,618,660.10
$SM_GC,-0.31,0.00,0.00,324.73,0.000,0.000,0.688,51,2400,618,-9.43,0.00,660.10
$IRIDIUM_FIX,4748.51,-12226.29,091007,060630
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,81.4,40.2
$24V_AH,23.7,5.174
$10V_AH,10.2,2.013
$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,24.475,20.925,229.200,324.725,0.000,37.958,37.852,70.791,3.500,0.000,0.000,14.359,300.046,888.582,612.389,460.506,179.614,33.345,882.861,0.000,457.180,0.000,8.527
$DEVICE_MAMPS,154.934,83.603,799.981,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,112.833,123.628,294.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6524,172
$CFSIZE,260165632,258916352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091007,034759,4805.847,-12221.935,14,2.9,33,18.3