version: 66.10
glider: 118
mission: 6
dive: 7
start: 1 31 112 4 25 53
data:
$ID,118
$MISSION,6
$DIVE,7
$N_DIVES,8
$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,-51412.898
$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,21
$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
$GPS1,310112,041540,4806.021,-12221.995,98,1.3,108,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.4
$GPS2,310112,042453,4806.155,-12222.101,10,1.3,20,18.3
$SPEED_LIMITS,0.064,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,-0.149
$KALMAN_X,-167.6,-45.6,-20.8,-267.4,-45.6
$KALMAN_Y,718.4,204.6,114.0,-1179.1,195.8
$MHEAD_RNG_PITCHd_Wd,135.9,313,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.75,-146.6,0.0,0.0,0,77,0.00,0.00,-59.83,0.000,2,0.000,0.000,173,2497,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.75,-146.6,3.3,-6.8,10,136,7.05,1.90,-42.47,0.000,4,0.231,0.088,1888,1443,3895,0,0,0,0,0,0,25.87,26.11,26.34
$GC,343,-0.75,-146.6,26.2,-9.2,60,350,0.00,1.88,0.00,0.000,6,0.000,0.077,1888,2501,3896,0,0,0,0,0,0,28.83,26.26,28.83
$GC,412,-0.75,-146.6,33.4,-10.2,73,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2501,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,481,-0.75,-146.6,40.6,-10.8,86,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2501,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-0.75,-146.6,54.1,-9.9,111,615,0.00,1.85,0.00,0.000,4,0.000,0.076,1888,3569,3896,0,0,0,0,0,0,28.83,26.36,28.83
$GC,627,-0.75,-146.6,56.1,-10.5,114,634,0.00,1.77,0.00,0.000,6,0.000,0.045,1888,2488,3896,0,0,0,0,0,0,28.83,26.40,28.83
$GC,756,-0.75,-146.6,68.9,-9.9,139,762,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2488,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-0.75,-146.6,81.4,-9.2,164,892,0.00,1.80,0.00,0.000,4,0.000,0.070,1888,1445,3896,0,0,0,0,0,0,28.83,26.41,28.83
$GC,909,-0.75,-146.6,84.0,-10.3,168,915,0.00,1.88,0.00,0.000,6,0.000,0.078,1888,2507,3896,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1038,-0.75,-146.6,96.3,-9.7,193,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2507,3896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1164,-0.17,0.0,108.0,-9.5,217,1224,0.62,0.00,53.55,1.007,6,0.132,0.000,2079,2508,3355,0,0,0,0,0,0,26.37,28.83,24.54
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,0.75,146.6,109.0,0.0,227,1298,0.90,0.00,62.97,0.973,6,0.079,0.000,2378,2508,2755,0,0,0,0,0,0,25.46,28.83,23.83
$GC,1419,0.75,146.6,79.5,18.7,263,1425,0.00,1.85,0.00,0.000,4,0.000,0.070,2378,3568,2752,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1478,0.75,146.6,67.8,20.1,274,1484,0.00,1.80,0.00,0.000,6,0.000,0.048,2379,2501,2752,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1606,0.75,146.6,43.9,18.0,299,1612,0.00,1.88,0.00,0.000,4,0.000,0.072,2379,3570,2751,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1639,0.75,146.6,37.5,20.3,305,1647,0.00,1.83,0.00,0.000,6,0.000,0.050,2379,2492,2751,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1709,0.75,146.6,24.3,18.5,318,1716,0.00,1.88,0.00,0.000,4,0.000,0.071,2379,3567,2752,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1799,0.75,146.6,8.4,16.2,335,1806,0.00,1.80,0.00,0.000,6,0.000,0.049,2379,2491,2752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1869,1.03,367.8,4.7,-0.4,348,1930,0.25,0.00,57.85,0.149,2,0.063,0.000,2477,2491,2126,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,1931,end climb,SURFACE_DEPTH_REACHED
$STATE,1931,begin surface coast
$FINISH,3.8,1.016845
$STATE,2087,end surface coast,CONTROL_FINISHED_OK
$STATE,2087,begin surface
$SM_CCo,2101,140.60,0.153,0,0,649,663.54
$SM_CCo,2244,-0.15,0.000,0,0,651,663.54
$SM_CCo,2248,0.25,0.667,0,0,647,663.54
$SM_GC,1.21,6.80,0.00,0.25,0.071,0.000,0.667,176,2491,647,-6.09,-0.25,663.54,0,0,0,0,0,0,26.25,28.83,25.79
$IRIDIUM_FIX,4751.72,-12340.51,310112,040451
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.18
$INTERNAL_PRESSURE,8.86631
$TCM_TEMP,19.20
$24V_AH,23.8,0.979
$10V_AH,10.4,0.778
$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,15.625,22.100,174.375,140.850,0.000,55.266,70.523,271.492,0.000,0.000,20.949,903.183,435.352,432.591,976.631,74.213,33.219,776.755,0.000,570.082,0.000,0.000,0.000
$DEVICE_MAMPS,231.030,87.975,1006.740,667.080,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,270.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,13423,389
$CAP_FILE_SIZE,57609,0
$CFSIZE,-70844416,-76021760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,326.1,1
$GPS,310112,050441,4806.044,-12222.011,34,1.2,44,18.3