version: 66.04
glider: 5
mission: 6
dive: 11
start: 7 30 109 3 40 59
data:
$ID,5
$MISSION,6
$DIVE,11
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,122
$TGT_DEFAULT_LON,48
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-98771.508
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.153585
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,033638,4806.712,-12222.889,12,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-68.9
$GPS2,034044,4806.706,-12222.897,13,1.7,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$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,121.4,1714,-14.8,-8.000
$D_GRID,150
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,128,0.00,0.00,-109.47,0.000,2,0.000,0.000,426,2254,3594
$GC,132,-1.22,-146.6,3.1,-6.0,19,157,11.48,2.62,-5.70,0.000,4,0.160,0.071,2524,823,3839
$GC,377,-1.11,-146.6,38.5,-11.0,48,384,0.12,2.53,0.00,0.000,6,0.100,0.056,2550,2224,3840
$GC,584,-1.04,-146.6,59.0,-9.7,64,588,0.00,2.58,0.00,0.000,4,0.000,0.069,2550,3637,3840
$GC,662,-0.96,-146.6,67.1,-10.4,67,669,0.17,2.47,0.00,0.000,6,0.089,0.050,2585,2247,3840
$GC,981,-1.03,-146.6,91.0,-7.3,83,986,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,814,3840
$GC,1027,-1.17,-146.6,94.8,-7.5,85,1032,0.20,2.58,0.00,0.000,6,0.045,0.054,2530,2242,3840
$STATE,1215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1215,begin apogee
$GC,1223,-0.33,0.0,113.1,9.6,100,1342,0.88,0.00,115.32,0.791,6,0.074,0.000,2719,2084,3239
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1343,begin climb
$GC,1346,1.22,146.6,115.9,0.0,112,1468,1.52,2.53,113.82,0.776,4,0.052,0.057,3060,741,2641
$GC,1519,0.90,146.6,98.5,14.4,127,1526,0.35,2.50,0.00,0.000,6,0.090,0.051,2993,2122,2641
$GC,1835,0.90,146.6,70.1,8.6,143,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2123,2640
$GC,2146,0.91,151.8,44.3,7.8,161,2158,0.00,2.58,5.62,0.600,4,0.000,0.064,2993,3534,2619
$GC,2171,0.91,151.8,42.2,8.2,163,2175,0.00,2.47,0.00,0.000,6,0.000,0.048,2993,2153,2620
$GC,2369,0.94,171.8,27.3,7.3,181,2393,0.00,2.60,16.85,0.723,4,0.000,0.057,2993,712,2538
$GC,2417,0.94,171.8,23.7,8.3,185,2421,0.00,2.55,0.00,0.000,6,0.000,0.054,2992,2122,2538
$GC,2626,1.01,190.0,7.4,7.3,217,2652,0.10,2.65,14.98,0.706,4,0.054,0.064,3024,3528,2464
$GC,2659,1.04,206.4,4.6,7.4,222,2673,0.00,2.53,9.23,0.648,2,0.000,0.049,3023,2123,2405
$STATE,2674,end climb,SURFACE_DEPTH_REACHED
$STATE,2674,begin surface coast
$FINISH,2.0,1.020988
$STATE,2696,end surface coast,CONTROL_FINISHED_OK
$STATE,2696,begin surface
$SM_CCo,2720,152.38,0.701,0,0,1199,500.17
$SM_GC,0.09,0.00,0.00,152.38,0.000,0.000,0.701,424,2252,1199,-10.91,0.62,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1816
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,41.8
$24V_AH,24.0,1.460
$10V_AH,10.1,0.946
$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,26.375,36.200,275.825,152.375,0.000,37.759,27.015,87.666,1.000,0.000,0.000,13.203,383.916,1450.773,489.036,541.434,264.456,0.000,806.703,0.000,535.207,0.000,9.874,0.000
$DEVICE_MAMPS,160.303,71.331,790.777,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,151.114,168.672,393.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9728,228
$CAP_FILE_SIZE,37693,0
$CFSIZE,254472192,252354560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,300709,043007,4806.460,-12222.659,37,1.0,37,18.3