version: 66.04
glider: 5
mission: 6
dive: 12
start: 7 30 109 4 34 47
data:
$ID,5
$MISSION,6
$DIVE,12
$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,-98787.484
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,043007,4806.460,-12222.659,37,1.0,37,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-71.8
$GPS2,043432,4806.448,-12222.646,15,1.2,15,18.3
$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,117.8,1152,-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,-109.45,0.000,2,0.000,0.000,424,2253,3642
$GC,132,-1.22,-146.6,3.5,-6.6,19,157,11.57,2.65,-4.50,0.000,4,0.164,0.071,2524,826,3838
$GC,411,-1.11,-146.6,41.3,-11.7,51,418,0.12,2.53,0.00,0.000,6,0.099,0.055,2550,2220,3839
$GC,607,-1.04,-146.6,60.9,-9.9,65,611,0.00,2.55,0.00,0.000,4,0.000,0.059,2550,816,3839
$GC,657,-1.04,-146.6,66.0,-9.6,67,661,0.00,2.60,0.00,0.000,6,0.000,0.055,2550,2253,3839
$GC,973,-1.04,-146.6,95.0,-8.9,82,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2253,3840
$STATE,1181,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1181,begin apogee
$GC,1188,-0.33,0.0,113.2,8.5,99,1308,0.77,0.00,115.70,0.800,6,0.073,0.000,2719,2086,3239
$STATE,1309,end apogee,CONTROL_FINISHED_OK
$STATE,1309,begin climb
$GC,1312,1.22,146.6,115.7,0.0,111,1434,1.52,2.53,113.65,0.769,4,0.052,0.056,3060,741,2641
$GC,1474,0.90,146.6,99.6,13.9,125,1481,0.35,2.50,0.00,0.000,6,0.090,0.051,2993,2122,2641
$GC,1792,0.86,146.6,71.5,8.3,141,1796,0.00,2.53,0.00,0.000,4,0.000,0.058,2993,729,2640
$GC,1825,0.78,146.6,68.2,9.0,142,1832,0.15,2.50,0.00,0.000,6,0.100,0.053,2965,2117,2640
$GC,2143,0.92,194.6,46.6,6.3,160,2189,0.15,2.60,37.97,0.751,4,0.048,0.063,3007,3528,2444
$GC,2224,0.92,194.6,39.3,9.9,167,2229,0.00,2.47,0.00,0.000,6,0.000,0.048,3007,2148,2444
$GC,2422,0.92,194.6,20.9,9.1,185,2427,0.00,2.58,0.00,0.000,4,0.000,0.058,3007,704,2443
$GC,2457,0.92,194.6,17.5,9.9,189,2464,0.00,2.55,0.00,0.000,6,0.000,0.054,3007,2122,2444
$GC,2533,0.92,194.6,10.8,8.8,202,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2122,2443
$GC,2607,0.92,197.0,4.5,7.9,215,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2122,2444
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2618,begin surface coast
$FINISH,1.5,1.019030
$STATE,2680,end surface coast,CONTROL_FINISHED_OK
$STATE,2680,begin surface
$SM_CCo,2704,156.25,0.716,0,0,1200,500.17
$SM_GC,0.24,0.00,0.00,156.25,0.000,0.000,0.716,426,2240,1200,-10.90,0.28,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1813
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.4,31.0
$24V_AH,24.0,1.559
$10V_AH,10.1,0.980
$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,26.050,31.000,267.325,156.250,0.000,37.758,28.575,105.176,1.250,0.000,0.000,15.351,383.988,1448.129,486.941,540.732,277.179,0.000,802.149,0.000,532.129,0.000,11.367,0.000
$DEVICE_MAMPS,164.138,72.098,799.981,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,151.263,169.745,393.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9683,228
$CAP_FILE_SIZE,36806,0
$CFSIZE,254472192,252329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,300709,052314,4806.253,-12222.377,8,1.9,8,18.3