version: 66.10
glider: 118
mission: 6
dive: 16
start: 1 31 112 12 19 35
data:
$ID,118
$MISSION,6
$DIVE,16
$N_DIVES,0
$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,1
$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,650
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-51591.859
$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
$GPS1,310112,121400,4808.119,-12223.594,10,2.0,20,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.0
$GPS2,310112,121837,4808.178,-12223.678,16,1.7,26,18.3
$SPEED_LIMITS,0.080,0.195
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.196
$KALMAN_X,-647.5,-364.6,-161.8,768.3,-156.0
$KALMAN_Y,850.8,565.0,310.6,-1626.6,160.2
$MHEAD_RNG_PITCHd_Wd,125.1,4537,-17.2,-10.000
$D_GRID,103
$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,-146.6,0.0,0.0,0,73,0.00,0.00,-55.75,0.000,2,0.000,0.000,172,2497,2213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.75,-146.6,3.3,-6.1,10,128,7.18,1.85,-37.00,0.000,4,0.240,0.087,1887,3570,3895,0,0,0,0,0,0,25.89,26.15,26.34
$GC,326,-0.75,-146.6,27.2,-11.2,58,333,0.00,1.77,0.00,0.000,6,0.000,0.044,1887,2497,3895,0,0,0,0,0,0,28.83,26.32,28.83
$GC,396,-0.75,-146.6,35.1,-11.1,71,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2497,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,464,-0.75,-146.6,42.6,-11.4,84,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2497,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,592,-0.75,-146.6,56.1,-11.0,109,597,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2496,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,719,-0.75,-146.6,68.8,-10.1,134,726,0.00,1.80,0.00,0.000,4,0.000,0.068,1887,1446,3895,0,0,0,0,0,0,28.83,26.42,28.83
$GC,737,-0.75,-146.6,70.7,-10.1,137,744,0.00,1.85,0.00,0.000,6,0.000,0.075,1887,2501,3895,0,0,0,0,0,0,28.83,26.44,28.83
$GC,866,-0.75,-146.6,83.0,-9.5,162,872,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2502,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,996,-0.75,-146.6,94.8,-9.4,187,1002,0.00,1.83,0.00,0.000,4,0.000,0.073,1887,3565,3895,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1014,-0.75,-146.6,96.7,-9.0,190,1021,0.00,1.73,0.00,0.000,6,0.000,0.043,1887,2499,3895,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,1081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1082,begin apogee
$GC,1086,-0.17,0.0,103.2,-9.9,203,1142,0.62,0.00,52.67,0.981,6,0.127,0.000,2080,2496,3353,0,0,0,0,0,0,26.42,28.83,24.69
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1144,begin climb
$GC,1145,0.75,146.6,104.2,0.0,213,1212,0.90,0.00,60.65,0.946,6,0.071,0.000,2383,2497,2755,0,0,0,0,0,0,25.54,28.83,24.22
$GC,1335,0.75,146.6,74.5,20.0,249,1341,0.00,1.88,0.00,0.000,4,0.000,0.069,2383,3565,2753,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1418,0.75,146.6,56.9,21.0,265,1425,0.00,1.80,0.00,0.000,6,0.000,0.047,2389,2493,2753,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1547,0.75,146.6,32.3,18.3,290,1554,0.00,1.88,0.00,0.000,4,0.000,0.070,2389,3570,2752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1576,0.75,146.6,26.9,18.7,295,1583,0.00,1.80,0.00,0.000,6,0.000,0.047,2391,2482,2752,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1644,0.75,146.6,15.0,17.4,308,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2482,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,0.86,232.9,7.4,5.9,321,1753,0.00,1.92,32.42,0.614,4,0.000,0.071,2391,3564,2400,0,0,0,0,0,0,28.83,25.82,25.27
$STATE,1888,end climb,NO_VERTICAL_VELOCITY
$STATE,1888,begin surface
$SM_CCo,1891,173.73,0.594,0,0,648,663.54
$SM_GC,1.48,6.45,1.88,0.00,0.041,0.045,0.000,165,2500,643,-6.11,0.76,665.25,0,0,0,0,0,0,25.47,25.41,28.83
$IRIDIUM_FIX,4751.72,-12340.51,310112,111157
$TT8_MAMPS,0.026215,0.026215
$HUMID,28.06
$INTERNAL_PRESSURE,8.87608
$TCM_TEMP,19.50
$24V_AH,24.2,1.626
$10V_AH,10.4,1.022
$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,15.150,21.975,145.750,173.725,0.000,28.346,44.905,100.454,0.000,0.000,27.782,782.571,472.023,427.873,725.275,59.432,33.222,747.881,0.000,521.990,0.000,0.000,0.000
$DEVICE_MAMPS,240.210,87.210,980.730,594.405,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,246.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,10157,355
$CAP_FILE_SIZE,46803,0
$CFSIZE,-70844416,-77791232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,125642,4808.128,-12223.596,12,1.7,22,18.3