version: 66.04
glider: 175
mission: 1
dive: 6
start: 9 18 109 0 32 11
data:
$ID,175
$MISSION,1
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,67
$T_MISSION,78
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51338
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2559.6726
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3935
$C_PITCH,2785
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3233
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.394344
$PRESSURE_SLOPE,0.0001165895
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.40000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$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,0.0043275012
$SEABIRD_T_H,0.0006214368
$SEABIRD_T_I,2.2085376e-05
$SEABIRD_T_J,2.2233748e-06
$SEABIRD_C_G,-10.084761
$SEABIRD_C_H,1.1595923
$SEABIRD_C_I,-0.0010180317
$SEABIRD_C_J,0.00017345669
$GPS1,002437,4805.855,-12222.015,30,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.0
$GPS2,003132,4805.875,-12222.016,11,1.4,11,18.3
$SPEED_LIMITS,0.129,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,0.125
$KALMAN_X,-171.4,-51.8,-12.1,415.7,-49.6
$KALMAN_Y,-195.8,-162.4,-48.2,-174.7,-35.2
$MHEAD_RNG_PITCHd_Wd,356.3,232,-26.8,-7.463
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.94,-40.8,0.0,0.0,0,83,0.00,0.00,-69.38,0.000,2,0.000,0.000,139,2119,3208
$GC,84,-0.94,-40.8,8.3,-9.3,13,107,9.75,2.22,-5.12,0.000,4,0.252,0.058,2474,684,3402
$GC,136,-0.94,-40.8,16.2,-11.1,24,142,0.00,2.20,0.00,0.000,6,0.000,0.040,2467,2108,3403
$GC,206,-0.99,-78.3,16.6,-2.9,40,213,0.00,2.20,-3.50,0.000,4,0.000,0.064,2466,3505,3554
$GC,408,-1.07,-144.3,18.2,0.6,86,420,0.00,2.10,-5.53,0.000,6,0.000,0.028,2466,2076,3822
$GC,484,-1.07,-144.3,23.0,-9.0,103,490,0.00,2.08,0.00,0.000,4,0.000,0.042,2465,709,3823
$GC,736,-1.07,-144.3,55.0,-13.0,161,743,0.00,2.12,0.00,0.000,6,0.000,0.041,2466,2097,3825
$GC,872,-1.07,-144.3,73.9,-14.2,192,878,0.00,2.10,0.00,0.000,4,0.000,0.042,2466,713,3826
$GC,1042,-1.07,-144.3,98.5,-14.2,231,1048,0.00,2.12,0.00,0.000,6,0.000,0.041,2466,2104,3826
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1114,-0.27,0.0,108.5,14.4,247,1222,0.77,0.00,103.47,0.599,6,0.178,0.000,2690,2104,3232
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1223,1.07,144.3,109.4,0.0,267,1335,1.40,0.00,105.38,0.561,6,0.132,0.000,3121,2105,2643
$GC,1464,1.07,144.3,53.2,28.4,318,1470,0.00,2.30,0.00,0.000,4,0.000,0.052,3130,668,2640
$GC,1508,1.07,144.3,41.3,25.8,328,1514,0.00,2.15,0.00,0.000,6,0.000,0.040,3130,2050,2639
$GC,1644,1.07,144.3,6.9,18.5,359,1649,0.00,2.15,0.00,0.000,4,0.000,0.048,3130,3457,2639
$STATE,1652,end climb,SURFACE_DEPTH_REACHED
$STATE,1652,begin surface coast
$FINISH,1.0,1.017763
$STATE,1669,end surface coast,CONTROL_FINISHED_OK
$STATE,1669,begin surface
$SM_CCo,1684,152.25,0.502,4,0,1398,450.13
$SM_GC,1.63,0.00,0.00,152.25,0.000,0.000,0.502,144,2121,1398,-8.26,0.62,450.13
$IRIDIUM_FIX,4748.51,-12224.57,121298,232346
$TT8_MAMPS,0.050622
$HUMID,2163
$INTERNAL_PRESSURE,9.12185
$TCM_TEMP,19.90
$XPDR_PINGS,67
$ALTIM_BOTTOM_PING,80.2,6.7
$24V_AH,24.8,0.860
$10V_AH,10.7,0.368
$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,Compass2
$DEVICE_SECS,21.025,25.800,208.850,152.250,0.000,24.588,29.932,291.804,17.250,0.000,0.000,14.048,0.000,754.823,450.509,671.958,395.361,33.294,761.576,0.000,537.115,0.000,5.733,0.000
$DEVICE_MAMPS,251.576,64.428,599.027,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.505,195.819,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12717,365
$CAP_FILE_SIZE,41481,0
$CFSIZE,260165632,257556480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,180909,010332,4805.993,-12222.039,6,2.0,6,18.3