version: 66.06
glider: 140
mission: 6
dive: 1
start: 6 15 109 16 59 31
data:
$ID,140
$MISSION,6
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,900
$D_NO_BLEED,350
$D_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,30
$T_MISSION,45
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51662
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,180
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,737.86237
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,2
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41997.785
$T_RSLEEP,6
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2114
$C_ROLL_CLIMB,2114
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,450
$VBD_MAX,4038
$C_VBD,3458
$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,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.5342517
$PRESSURE_SLOPE,9.0994887e-05
$AD7714Ch0Gain,64
$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,11
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,64
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,3
$SMARTDEVICE1,53
$SMARTDEVICE2,35
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$CT_RECORDABOVE,1000.0
$CT_PROFILE,3.0
$CT_XMITABOVE,1000.0
$CT_XMITPROFILE,3.0
$AD_RECORDABOVE,1000.0
$AD_PROFILE,3.0
$AD_OFFLOAD,1.0
$AD_MAXUPLOADSIZE,100000.0
$AD_UPLOADALLCONFIG,0.0
$AD_ERRORS,0.0
$GPS1,165425,4743.401,-12224.097,11,1.7,16,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-67.3
$GPS2,165914,4743.397,-12224.125,15,1.7,15,18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,4732.598,-12224.125
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$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,161.8,20000,-14.9,-10.000
$D_GRID,90
$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
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.29,-194.7,0.0,0.0,0,166,0.00,0.00,-142.62,0.000,6,0.000,0.000,206,2130,4039,0,0,0,0,0,0
$GC,169,-1.29,-194.7,3.1,-6.9,23,185,10.05,2.22,0.00,0.000,4,0.269,0.041,2686,676,4041,0,0,0,0,0,0
$GC,297,-2.74,-194.7,11.2,-3.9,45,305,0.95,2.08,0.00,0.000,6,0.119,0.035,2364,2094,4042,0,0,0,0,0,0
$GC,631,-2.74,-194.7,23.3,-4.2,106,638,0.00,2.10,0.00,0.000,4,0.000,0.044,2364,3530,4044,0,0,0,0,0,0
$GC,657,-2.74,-194.7,24.3,-4.0,110,665,0.00,2.10,0.00,0.000,6,0.000,0.031,2366,2076,4043,0,0,0,0,0,0
$GC,991,-3.59,-194.7,37.8,-4.0,171,999,0.55,2.15,0.00,0.000,4,0.132,0.042,2179,3528,4042,0,0,0,0,0,0
$GC,1061,-3.00,-194.7,41.7,-7.3,183,1069,0.43,2.08,0.00,0.000,6,0.186,0.031,2303,2084,4043,0,0,0,0,0,0
$STATE,1355,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1355,begin apogee
$GC,1360,-0.35,0.0,54.7,4.2,237,1470,1.73,0.00,103.28,0.937,6,0.145,0.000,2885,2081,3459,0,0,0,0,0,0
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,1.29,194.7,60.6,0.0,254,1631,1.08,2.20,142.70,0.937,4,0.114,0.043,3251,714,2664,0,0,0,0,0,0
$GC,1748,-0.59,491.7,70.9,-0.3,297,1770,1.67,2.10,14.50,0.864,2,0.258,0.035,2834,2128,2590,0,0,0,0,0,0
$FREEZE,71.04,0.000,0.000,0,1,0
$STATE,1772,end climb,NO_VERTICAL_VELOCITY
$STATE,1773,begin surface
$SM_CCo,1780,401.95,0.879,0,0,450,737.86
$SM_GC,0.54,7.75,0.00,0.00,0.121,0.000,0.000,208,2127,445,-12.58,0.40,739.33
$IRIDIUM_FIX,4722.92,-12223.37,090998,161622
$TT8_MAMPS,0.03068
$HUMID,3224990649
$INTERNAL_PRESSURE,0.09766
$TCM_TEMP,20.50
$XPDR_PINGS,7
$AD_FAT00,a0001,0x00007000,0x0000a900,0x00003900
$AD_FAT01,b0001,0x0000ac00,0x0000b700,0x00000b00
$24V_AH,24.5,0.383
$10V_AH,9.9,0.315
$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,24.200,17.025,260.475,401.950,0.000,0.000,0.000,0.000,1.750,0.000,15.391,689.899,650.138,739.877,473.518,175.584,0.000,1057.397,0.000,516.887,0.000,0.540,0.000
$DEVICE_MAMPS,269.217,43.719,937.274,878.982,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SailCT,nil,nil,nil,nil,nil,SailCT,AQUADOPP
$SENSOR_SECS,378.016,0.000,0.000,0.000,0.000,0.000,0.000,4894.751
$SENSOR_MAMPS,0.500,0.000,0.000,0.000,0.000,0.000,0.000,85.400
$MEM,298148
$DATA_FILE_SIZE,9600,300
$CAP_FILE_SIZE,321182,0
$CFSIZE,260165632,253562880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150609,174458,4743.099,-12224.122,10,3.7,29,18.2