version: 66.13
glider: 40
mission: 6
dive: 1
start: 4 21 117 19 5 18
data:
$ID,40
$MISSION,6
$DIVE,1
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,6020
$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,25
$T_MISSION,30
$T_ABORT,1440
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80370
$MASS_COMP,11448
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,8
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,205
$PITCH_MAX,3845
$C_PITCH,3560
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,1803
$C_ROLL_CLIMB,1803
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2138
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$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,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.211937
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,4
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,0
$GPS1,210417,190120,4742.4824,-12224.5430,8,0.9,9,16.3,0.0,0.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-59.8
$GPS2,210417,190447,4742.4722,-12224.5654,8,0.9,12,16.3,0.0,0.0,9,9.9
$SPEED_LIMITS,0.440,0.440
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$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,344.9,3756,-18.3,-16.000,-20.00,3144
$D_GRID,150
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.97,-195.5,195,1786,361,397,0.0,0.0,0,194,0.00,0.00,-184.90,0.156,16386,0.000,0.000,195,1787,2455,2414,2496,0,0,0,0,0,0,26.86,28.83,26.87,8.63,13.49
$GC,197,-0.97,-195.5,195,1787,2415,2496,3.0,-1.4,29,239,12.68,2.40,-21.35,0.174,18948,0.286,0.089,3238,260,2811,2794,2829,0,0,0,0,0,0,25.63,25.89,25.79,8.82,13.06
$GC,257,-0.97,-195.5,3238,261,2794,2829,8.1,-7.1,38,264,0.00,2.38,0.00,0.000,1030,0.000,0.074,3229,1855,2811,2794,2829,0,0,0,0,0,0,26.15,26.08,26.16,8.86,13.45
$GC,326,-0.97,-195.5,3228,1854,2794,2829,16.9,-13.5,51,333,0.00,2.40,0.00,0.000,260,0.000,0.094,3217,3419,2812,2795,2830,0,0,0,0,0,0,26.48,26.12,26.49,8.85,13.49
$GC,371,-0.97,-195.5,3217,3420,2794,2830,22.1,-11.8,57,381,0.10,2.35,0.00,0.000,3078,0.216,0.072,3244,1806,2812,2794,2830,0,0,0,0,0,0,25.98,26.25,26.15,8.85,13.02
$GC,501,-0.97,-195.5,3244,1806,2795,2830,34.4,-9.1,70,502,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1806,2812,2794,2830,0,0,0,0,0,0,26.65,26.67,26.67,8.85,13.10
$GC,621,-0.97,-195.5,3244,1806,2794,2830,45.7,-9.1,82,625,0.00,2.45,0.00,0.000,260,0.000,0.092,3234,3411,2811,2794,2829,0,0,0,0,0,0,26.74,26.34,26.74,8.84,13.18
$GC,903,-0.97,-195.5,3234,3410,2794,2830,74.0,-9.8,110,908,0.00,2.33,0.00,0.000,1030,0.000,0.074,3234,1791,2812,2794,2830,0,0,0,0,0,0,26.60,26.53,26.63,8.84,13.65
$STATE,913,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,913,begin apogee
$GC,916,-0.20,0.0,3234,1791,2794,2829,75.9,-11.0,111,1066,0.80,0.00,144.48,0.708,10246,0.171,0.000,3492,1790,2138,2127,2149,0,0,0,0,0,0,26.19,24.97,24.43,8.84,13.10
$STATE,1067,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1069,0.97,195.5,3492,1790,2127,2149,79.6,0.0,126,1227,1.00,2.67,145.48,0.678,11012,0.142,0.097,3829,3407,1464,1461,1467,0,0,0,0,0,0,25.12,24.93,24.39,8.78,13.61
$GC,1312,1.30,459.1,3828,3407,1462,1466,63.9,7.4,150,1520,0.00,2.40,200.02,0.658,11270,0.000,0.074,3830,1799,555,557,554,0,0,0,0,0,0,25.86,25.79,24.40,8.72,12.39
$GC,1639,1.59,702.1,3829,1799,558,549,37.1,8.1,183,1700,0.00,2.65,51.05,0.638,10500,0.000,0.097,3830,3409,349,343,356,0,0,0,0,0,0,26.11,25.14,24.61,8.63,12.70
$GC,1812,1.66,759.0,3829,3409,344,355,23.4,8.2,200,1817,0.00,2.42,0.00,0.000,3078,0.000,0.074,3830,1792,349,343,355,0,0,0,0,0,0,25.99,25.91,26.01,8.61,13.14
$GC,1941,1.99,1027.2,3829,1791,343,354,15.1,7.3,219,1949,0.00,2.55,0.00,0.000,2308,0.000,0.097,3830,3409,348,343,354,0,0,0,0,0,0,26.42,26.08,26.43,8.60,13.37
$STATE,2105,end climb,SURFACE_DEPTH_REACHED
$STATE,2106,begin surface coast
$FINISH,0.0,1.020247
$STATE,2147,end surface coast,CONTROL_FINISHED_OK
$STATE,2147,begin surface
$SM_CCo,2226,0.00,0.000,0,0,347,520.27
$SM_GC,1.61,9.52,2.42,0.00,0.084,0.072,0.000,204,1805,347,-10.44,1.33,520.27,0,0,0,0,0,0,26.29,26.34,26.36
$IRIDIUM_FIX,4742.17,-12225.08,210417,185513
$TT8_MAMPS,0.021721,0.248668
$HUMID,13.18
$INTERNAL_PRESSURE,8.55888
$TCM_TEMP,12.30
$XPDR_PINGS,11
$ALTIM_TOP_PING,20.0,20.5
$24V_AH,24.39,3.370
$10V_AH,10.33,3.047
$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,24.100,29.425,541.025,0.000,206.250,0.000,0.000,0.000,3.000,0.000,12.756,573.395,528.378,641.938,525.523,31.522,0.000,1009.619,0.000,513.971,0.000,2.648,0.000
$DEVICE_MAMPS,285.545,96.837,707.655,0.000,173.810,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.788,339.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312988
$DATA_FILE_SIZE,17546,259
$CAP_FILE_SIZE,59581,1
$CFSIZE,2047311872,2043117568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,183.38,1
$GPS,210417,194306,4742.476,-12224.766,8,0.9,10,16.3,0.0,0.0,9,9.7