version: 66.13
glider: 40
mission: 6
dive: 2
start: 4 21 117 19 57 27
data:
$ID,40
$MISSION,6
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,130
$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,50
$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,300
$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,300
$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,40
$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,70
$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
$GPS1,210417,195308,4742.4502,-12224.8389,8,0.9,11,16.3,0.0,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.0
$GPS2,210417,195703,4742.4414,-12224.8682,11,0.9,15,16.3,0.0,0.0,9,9.6
$SPEED_LIMITS,0.476,0.476
$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,349.5,3840,-18.4,-17.333,-20.00,3271
$D_GRID,154
$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,-1.09,-293.3,204,1803,334,356,0.0,0.0,0,191,0.00,0.00,-182.25,0.156,16386,0.000,0.000,204,1804,2394,2350,2438,0,0,0,0,0,0,26.66,28.83,26.67,8.61,13.93
$GC,194,-1.09,-293.3,204,1803,2351,2437,3.4,-2.2,29,254,12.65,2.53,-38.65,0.164,19204,0.291,0.092,3189,3421,3149,3132,3167,0,0,0,0,0,0,25.53,25.79,25.69,8.79,13.18
$GC,424,-1.09,-293.3,3188,3421,3131,3168,32.8,-14.1,63,432,0.00,2.42,0.00,0.000,1030,0.000,0.074,3189,1781,3150,3132,3168,0,0,0,0,0,0,26.28,26.21,26.29,8.86,12.98
$GC,552,-1.09,-293.3,3188,1781,3132,3167,50.6,-13.4,76,554,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1781,3150,3133,3168,0,0,0,0,0,0,26.62,26.63,26.63,8.86,13.33
$GC,672,-1.09,-293.3,3189,1781,3132,3168,67.0,-13.9,88,677,0.00,2.53,0.00,0.000,260,0.000,0.094,3177,3421,3150,3132,3168,0,0,0,0,0,0,26.70,26.32,26.70,8.86,13.96
$GC,828,-1.09,-293.3,3177,3421,3132,3167,89.0,-13.2,103,838,0.10,2.35,0.00,0.000,3078,0.214,0.074,3205,1790,3149,3132,3167,0,0,0,0,0,0,26.22,26.46,26.38,8.86,13.33
$GC,958,-1.09,-293.3,3204,1792,3132,3167,104.5,-12.3,116,963,0.00,2.50,0.00,0.000,260,0.000,0.094,3195,3418,3149,3132,3167,0,0,0,0,0,0,26.81,26.41,26.82,8.85,14.00
$GC,1163,-1.09,-293.3,3195,3418,3132,3168,128.4,-11.0,136,1171,0.00,2.35,0.00,0.000,1030,0.000,0.072,3195,1793,3149,3132,3167,0,0,0,0,0,0,26.63,26.55,26.65,8.85,13.89
$STATE,1179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1179,begin apogee
$GC,1182,-0.20,0.0,3195,1792,3132,3168,130.8,-12.6,138,1411,0.93,0.00,219.12,0.732,10246,0.174,0.000,3493,1792,2137,2137,2137,0,0,0,0,0,0,26.25,24.69,24.31,8.85,12.98
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1414,1.09,293.3,3493,1792,2138,2137,136.8,0.0,161,1643,1.00,2.72,220.10,0.703,11012,0.134,0.097,3831,3402,1127,1129,1125,0,0,0,0,0,0,25.07,24.79,24.27,8.76,12.86
$GC,1678,1.23,405.2,3830,3409,1130,1125,116.1,13.8,187,1777,0.00,2.45,86.80,0.683,11270,0.000,0.074,3834,1793,741,743,739,0,0,0,0,0,0,25.47,25.39,24.29,8.67,12.39
$GC,1896,1.59,692.0,3834,1793,743,735,94.0,8.4,209,1998,0.00,2.70,95.03,0.670,10500,0.000,0.097,3834,3405,348,341,356,0,0,0,0,0,0,26.04,24.89,24.37,8.63,13.30
$GC,2243,1.93,970.8,3833,3404,341,354,62.0,8.6,243,2252,0.00,2.35,0.00,0.000,3078,0.000,0.074,3835,1798,347,341,353,0,0,0,0,0,0,26.10,26.06,26.12,8.59,13.06
$GC,2372,2.26,1243.8,3833,1798,340,352,50.6,8.8,256,2382,0.00,2.53,0.00,0.000,2308,0.000,0.097,3834,3404,346,341,352,0,0,0,0,0,0,26.48,26.14,26.49,8.59,13.14
$GC,2539,2.52,1450.6,3834,3405,341,352,36.2,10.9,272,2547,0.00,2.35,0.00,0.000,3078,0.000,0.072,3834,1801,346,341,352,0,0,0,0,0,0,26.41,26.32,26.43,8.59,12.98
$GC,2667,2.90,1757.6,3834,1800,340,351,24.9,7.7,285,2676,0.00,2.50,0.00,0.000,2308,0.000,0.097,3834,3405,346,341,351,0,0,0,0,0,0,26.69,26.33,26.70,8.59,13.18
$GC,2796,3.24,2040.3,3834,3404,341,351,14.3,8.5,304,2803,0.00,2.35,0.00,0.000,3078,0.000,0.072,3834,1797,346,341,351,0,0,0,0,0,0,26.53,26.44,26.55,8.59,13.26
$GC,2867,3.67,2387.9,3834,1796,341,350,9.3,6.5,317,2874,0.00,2.50,0.00,0.000,2308,0.000,0.094,3834,3405,345,341,350,0,0,0,0,0,0,26.77,26.40,26.77,8.58,13.14
$GC,2942,4.07,2713.4,3834,3405,341,351,3.6,7.2,331,2949,0.00,2.35,0.00,0.000,3078,0.000,0.072,3834,1793,346,341,351,0,0,0,0,0,0,26.58,26.49,26.60,8.58,13.14
$STATE,2960,end climb,SURFACE_DEPTH_REACHED
$STATE,2960,begin surface coast
$FINISH,-0.3,1.020495
$STATE,3001,end surface coast,CONTROL_FINISHED_OK
$STATE,3001,begin surface
$SM_CCo,3078,0.00,0.000,0,0,344,521.14
$SM_GC,1.55,9.52,0.00,0.00,0.089,0.000,0.000,194,1793,344,-10.43,-0.31,521.14,0,0,0,0,0,0,26.50,26.82,26.55
$IRIDIUM_FIX,4742.17,-12225.08,210417,194852
$TT8_MAMPS,0.021721,0.247919
$HUMID,13.69
$INTERNAL_PRESSURE,8.52959
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.4
$ALTIM_BOTTOM_PING,70.2,73.2
$24V_AH,24.27,3.525
$10V_AH,10.36,3.084
$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,24.200,39.475,621.050,0.000,220.900,0.000,0.000,0.000,0.750,0.000,15.745,793.308,856.298,761.516,707.459,30.940,0.000,1218.488,0.000,686.093,0.000,7.276,0.000
$DEVICE_MAMPS,290.511,96.837,732.485,0.000,163.878,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.180,448.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312724
$DATA_FILE_SIZE,24497,342
$CAP_FILE_SIZE,59733,0
$CFSIZE,2047311872,2043019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115,158.92,1
$GPS,210417,204934,4742.743,-12224.801,9,0.8,17,16.3,0.0,350.0,10,9.7