version: 66.14
glider: 37
mission: 21
dive: 33
start: 7 6 118 8 49 51
data:
$ID,37
$MISSION,21
$DIVE,33
$N_DIVES,0
$STOP_T,7121821
$D_SURF,5
$D_FLARE,3
$D_TGT,210
$D_ABORT,6000
$D_NO_BLEED,50
$D_BOOST,0
$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,70
$T_MISSION,85
$T_ABORT,250
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,79151.398
$MASS_COMP,8995.7998
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2630
$TGT_DEFAULT_LON,-7630
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,136
$PITCH_MAX,3906
$C_PITCH,2611
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,19.60647
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,2736
$C_ROLL_CLIMB,2898
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,1981
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00026999999
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,3
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.438587
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,3000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043927636
$SEABIRD_T_H,0.00063406175
$SEABIRD_T_I,2.520242e-05
$SEABIRD_T_J,3.0515216e-06
$SEABIRD_C_G,-10.05458
$SEABIRD_C_H,1.1421854
$SEABIRD_C_I,-0.0012484327
$SEABIRD_C_J,0.00018427697
$SEABIRD_C_Z,2969.6799
$GPS1,060718,083634,2631.5703,-7343.4209,28,0.8,30,-10.2,0.0,300.6,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-64.3
$GPS2,060718,084913,2631.6785,-7343.5322,10,0.9,16,-10.2,0.0,313.3,9,4.2
$SPEED_LIMITS,0.173,0.230
$TGT_NAME,RM7515W
$TGT_LATLONG,2630.000,-7515.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,284.1,151632,-20.9,-10.000,-23.51,2227
$D_GRID,210
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,72,-1.11,-146.0,128,2735,859,1038,0.9,-0.1,6,181,0.00,0.00,-100.38,0.107,16390,0.000,0.000,129,2736,2485,2412,2558,0,0,0,0,0,0,26.62,26.32,26.21,8.31,20.15
$GC,183,-1.11,-146.0,129,2736,2413,2557,4.8,-8.1,17,198,8.85,2.38,0.00,0.000,2564,0.293,0.070,2256,1142,2485,2414,2557,0,0,0,0,0,0,25.89,26.27,26.18,8.47,20.11
$GC,748,-1.05,-146.0,2256,1142,2415,2557,73.6,-8.1,72,756,0.00,2.33,0.00,0.000,1030,0.000,0.062,2248,2718,2486,2416,2557,0,0,0,0,0,0,26.66,26.53,26.69,8.47,19.24
$GC,1058,-0.99,-146.0,2248,2718,2415,2558,97.3,-7.6,103,1067,0.12,2.28,0.00,0.000,2564,0.243,0.065,2284,1146,2486,2415,2558,0,0,0,0,0,0,26.44,26.65,26.55,8.46,19.04
$GC,1514,-0.99,-146.0,2283,1147,2416,2558,128.9,-8.0,147,1523,0.00,2.33,0.00,0.000,1030,0.000,0.065,2276,2738,2487,2416,2558,0,0,0,0,0,0,26.75,26.70,26.79,8.45,19.56
$GC,1824,-0.99,-146.0,2275,2739,2416,2558,152.0,-8.2,177,1828,0.00,1.75,0.00,0.000,260,0.000,0.074,2266,3945,2487,2416,2558,0,0,0,0,0,0,27.10,26.82,27.11,8.43,20.07
$GC,1914,-0.99,-146.0,2265,3945,2416,2559,158.8,-8.4,181,1918,0.00,1.73,0.00,0.000,1030,0.000,0.052,2266,2721,2487,2416,2559,0,0,0,0,0,0,26.94,26.88,26.94,8.43,19.91
$GC,2226,-0.99,-146.0,2265,2721,2416,2559,186.4,-8.0,197,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2721,2487,2416,2559,0,0,0,0,0,0,27.13,27.15,27.15,8.41,20.82
$STATE,2505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2505,begin apogee
$GC,2510,-0.26,0.0,2265,2913,2415,2559,210.3,-8.2,211,2617,0.80,0.00,101.75,0.772,10246,0.179,0.000,2525,2913,1981,1915,2047,0,0,0,0,0,0,26.63,25.64,25.12,8.39,21.29
$STATE,2618,end apogee,CONTROL_FINISHED_OK
$STATE,2618,begin climb
$GC,2619,1.11,146.0,2524,2913,1916,2046,211.7,0.0,216,2729,1.17,1.62,102.00,0.755,10500,0.119,0.074,2953,3947,1477,1394,1561,0,0,0,0,0,0,25.70,25.45,24.96,8.35,21.84
$GC,2796,1.00,146.0,2953,3947,1394,1561,188.9,17.1,225,2800,0.00,1.55,0.00,0.000,1030,0.000,0.052,2961,2861,1477,1394,1561,0,0,0,0,0,0,26.07,26.06,26.08,8.30,20.70
$GC,3105,0.91,146.0,2960,2859,1394,1561,140.5,14.6,243,3107,0.20,0.00,0.00,0.000,4102,0.226,0.000,2907,2860,1477,1394,1561,0,0,0,0,0,0,26.22,26.48,26.42,8.30,21.72
$GC,3406,0.91,146.0,2906,2859,1394,1561,102.1,13.0,273,3411,0.00,2.22,0.00,0.000,516,0.000,0.067,2916,1327,1477,1393,1561,0,0,0,0,0,0,26.90,26.65,26.91,8.30,22.31
$GC,3553,0.91,146.0,2916,1327,1394,1560,84.8,11.4,287,3560,0.00,2.33,0.00,0.000,1030,0.000,0.065,2916,2928,1477,1394,1561,0,0,0,0,0,0,26.74,26.66,26.76,8.30,23.10
$GC,3860,0.91,146.0,2916,2929,1394,1561,51.3,9.4,318,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2929,1477,1394,1561,0,0,0,0,0,0,27.03,27.04,27.04,8.32,23.93
$GC,4162,0.94,244.3,2916,2929,1393,1561,29.8,5.5,348,4235,0.00,2.38,66.82,0.638,8708,0.000,0.070,2927,1333,1139,1046,1232,0,0,0,0,0,0,27.08,26.01,25.51,8.35,23.77
$GC,4357,1.00,244.3,2927,1333,1046,1231,12.2,10.0,367,4365,0.00,2.30,0.00,0.000,1030,0.000,0.062,2927,2904,1138,1045,1231,0,0,0,0,0,0,26.43,26.35,26.45,8.34,24.08
$STATE,4434,end climb,SURFACE_DEPTH_REACHED
$STATE,4434,begin surface coast
$FINISH,-0.1,1.023285
$STATE,4476,end surface coast,CONTROL_FINISHED_OK
$STATE,4476,begin surface
$SM_CCo,4492,38.92,0.598,0,0,947,300.08
$SM_GC,0.22,7.20,0.17,38.92,0.087,0.082,0.598,131,2738,947,-7.67,2.66,300.08,0,0,0,0,0,0,26.45,26.58,25.56
$IRIDIUM_FIX,2630.52,-7353.35,050718,061704
$TT8_MAMPS,0.021721,0.185752
$HUMID,23.49
$INTERNAL_PRESSURE,8.30965
$TCM_TEMP,26.40
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.6,9.0
$24V_AH,24.96,17.544
$10V_AH,10.66,15.919
$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,18.350,25.650,270.575,38.925,100.375,24.888,22.316,519.935,11.750,0.000,17.885,1134.153,2077.556,382.167,1496.552,141.408,0.000,846.867,0.000,937.902,0.000,2.617,0.000
$DEVICE_MAMPS,292.994,81.939,772.213,598.403,106.769,14.900,160.000,223.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.019,583.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311776
$DATA_FILE_SIZE,24445,379
$CAP_FILE_SIZE,141053,0
$CFSIZE,2047311872,2035613696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.226,323.69,1
$GPS,060718,100622,2632.083,-7344.291,3,0.8,19,-10.2,0.3,357.7,10,4.6