version: 66.10
glider: 118
mission: 6
dive: 3
start: 1 31 112 0 51 23
data:
$ID,118
$MISSION,6
$DIVE,3
$N_DIVES,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$T_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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51539
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0023278999
$HD_B,0.010866
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,675
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-51324.691
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,176
$PITCH_MAX,3933
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3836
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,3355
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,98
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-3.9689138
$PRESSURE_SLOPE,0.0001161622
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043071429
$SEABIRD_T_H,0.00063708809
$SEABIRD_T_I,2.3396524e-05
$SEABIRD_T_J,2.3594623e-06
$SEABIRD_C_G,-9.9806595
$SEABIRD_C_H,1.1263306
$SEABIRD_C_I,-0.0021160755
$SEABIRD_C_J,0.0002166138
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,310112,004604,4806.225,-12221.694,13,99.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-78.0
$GPS2,310112,005024,4806.230,-12221.693,26,2.6,45,18.3
$SPEED_LIMITS,0.080,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,-0.146
$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,203.4,570,-17.2,-10.000
$D_GRID,108
$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,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.75,-146.6,0.0,0.0,0,81,0.00,0.00,-64.45,0.000,2,0.000,0.000,172,2493,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.75,-146.6,3.1,-2.3,11,139,7.28,1.90,-39.22,0.000,4,0.245,0.095,1891,1445,3895,0,0,0,0,0,0,25.86,26.17,26.46
$GC,146,-0.75,-146.6,8.0,-15.2,21,152,0.00,1.88,0.00,0.000,6,0.000,0.080,1891,2504,3896,0,0,0,0,0,0,28.83,26.19,28.83
$GC,214,-0.75,-146.6,13.4,-6.5,34,222,0.00,1.88,0.00,0.000,4,0.000,0.080,1891,3570,3896,0,0,0,0,0,0,28.83,26.22,28.83
$GC,448,-0.75,-146.6,37.4,-11.0,80,455,0.00,1.77,0.00,0.000,6,0.000,0.050,1891,2499,3896,0,0,0,0,0,0,28.83,26.34,28.83
$GC,517,-0.75,-146.6,44.9,-9.8,93,523,0.00,1.88,0.00,0.000,4,0.000,0.080,1891,3566,3896,0,0,0,0,0,0,28.83,26.30,28.83
$GC,530,-0.75,-146.6,46.2,-10.6,95,537,0.00,1.77,0.00,0.000,6,0.000,0.048,1891,2494,3896,0,0,0,0,0,0,28.83,26.36,28.83
$GC,658,-0.75,-146.6,59.7,-10.4,120,664,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2494,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,786,-0.75,-146.6,72.5,-9.7,145,792,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2494,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,915,-0.75,-146.6,84.8,-9.4,170,921,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2494,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1044,-0.75,-146.6,97.1,-9.8,195,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2494,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1164,-0.17,0.0,108.3,-9.6,218,1224,0.62,0.00,54.42,1.027,6,0.132,0.000,2081,2494,3354,0,0,0,0,0,0,26.28,28.83,24.39
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,0.75,146.6,109.5,0.0,228,1298,0.90,2.00,62.88,0.994,4,0.080,0.073,2378,3570,2755,0,0,0,0,0,0,25.39,24.89,23.97
$GC,1325,0.75,146.6,97.8,18.1,245,1332,0.00,1.88,0.00,0.000,6,0.000,0.052,2379,2499,2754,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1456,0.75,146.6,73.6,18.8,270,1463,0.00,1.90,0.00,0.000,4,0.000,0.074,2379,3565,2751,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1526,0.75,146.6,59.1,20.6,283,1532,0.00,1.83,0.00,0.000,6,0.000,0.052,2379,2493,2751,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1654,0.75,146.6,35.4,17.7,308,1660,0.00,1.85,0.00,0.000,4,0.000,0.073,2379,1441,2751,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1733,0.75,146.6,22.7,16.3,323,1739,0.00,1.90,0.00,0.000,6,0.000,0.076,2379,2510,2750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1801,0.75,146.6,11.9,14.7,336,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2510,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1869,0.91,273.0,7.0,4.0,349,1924,0.12,1.92,49.72,0.634,4,0.086,0.073,2434,3564,2236,0,0,0,0,0,0,26.27,25.58,24.96
$GC,2148,1.16,477.3,4.1,0.4,402,2175,0.22,1.80,20.75,0.156,2,0.068,0.049,2517,2492,2017,0,0,0,0,0,0,26.10,26.08,28.83
$STATE,2176,end climb,SURFACE_DEPTH_REACHED
$STATE,2176,begin surface coast
$FINISH,2.8,1.016397
$STATE,2327,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2342,132.07,0.148,0,0,648,663.54
$SM_CCo,2476,-0.17,0.000,0,0,651,663.54
$SM_CCo,2480,0.12,1.180,0,0,647,663.54
$SM_GC,1.66,7.00,0.00,0.12,0.075,0.000,1.180,173,2492,647,-6.10,-0.23,663.54,0,0,0,0,0,0,26.16,28.83,25.74
$IRIDIUM_FIX,4751.72,-12056.72,310112,000019
$TT8_MAMPS,0.026964,0.026964
$HUMID,27.94
$INTERNAL_PRESSURE,8.86631
$TCM_TEMP,19.10
$24V_AH,24.0,0.646
$10V_AH,10.4,0.661
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,16.150,26.150,187.775,132.200,0.000,0.000,0.000,0.000,0.000,0.000,47.292,1007.075,422.578,439.186,676.701,46.193,29.123,813.358,0.000,635.119,0.000,0.000,0.000
$DEVICE_MAMPS,244.800,94.860,1026.630,1180.395,0.000,0.000,0.000,0.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,304.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,13436,436
$CAP_FILE_SIZE,72643,0
$CFSIZE,-70844416,-75235328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,161.7,1
$GPS,310112,013422,4806.062,-12221.876,44,3.0,63,18.3