version: 66.13
glider: 40
mission: 6
dive: 3
start: 4 21 117 21 4 24
data:
$ID,40
$MISSION,6
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,15
$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,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,2
$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,49
$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
$GPS1,210417,205943,4742.7173,-12224.8262,6,1.0,18,16.3,0.0,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.9
$GPS2,210417,210401,4742.7070,-12224.8320,7,0.8,25,16.3,0.0,0.0,10,9.8
$SPEED_LIMITS,0.549,0.549
$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,345.2,3346,-18.5,-20.000,-20.00,3511
$D_GRID,182
$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,-1.10,-293.3,192,1791,332,355,0.0,0.0,0,182,0.00,0.00,-172.98,0.156,16386,0.000,0.000,192,1792,2287,2242,2332,0,0,0,0,0,0,26.61,28.83,26.63,8.59,13.49
$GC,185,-1.10,-293.3,192,1791,2242,2332,3.1,-1.9,27,251,12.75,2.50,-46.88,0.161,18948,0.293,0.089,3194,242,3149,3133,3166,0,0,0,0,0,0,25.52,25.79,25.66,8.76,13.26
$GC,284,-1.10,-293.3,3193,243,3133,3166,14.4,-13.1,43,291,0.00,2.42,0.00,0.000,1030,0.000,0.072,3185,1847,3150,3134,3166,0,0,0,0,0,0,26.03,25.96,26.05,8.85,12.78
$GC,359,-1.10,-293.3,3184,1848,3134,3166,24.2,-12.7,54,368,0.00,2.38,0.00,0.000,260,0.000,0.089,3173,3382,3150,3134,3166,0,0,0,0,0,0,26.37,26.03,26.39,8.85,13.69
$GC,522,-1.10,-293.3,3172,3383,3134,3168,47.5,-12.9,70,532,0.10,2.28,0.00,0.000,3078,0.196,0.072,3202,1787,3150,3133,3167,0,0,0,0,0,0,26.02,26.27,26.12,8.84,13.14
$GC,652,-1.10,-293.3,3201,1786,3133,3167,63.5,-12.6,83,662,0.00,2.42,0.00,0.000,260,0.000,0.089,3192,3374,3150,3133,3167,0,0,0,0,0,0,26.64,26.28,26.65,8.85,12.86
$GC,798,-1.10,-293.3,3192,3374,3134,3167,82.5,-13.0,97,808,0.00,2.25,0.00,0.000,1030,0.000,0.072,3192,1811,3150,3133,3167,0,0,0,0,0,0,26.49,26.43,26.51,8.84,13.14
$STATE,856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,856,begin apogee
$GC,860,-0.20,0.0,3192,1811,3133,3167,90.7,-13.2,103,1090,0.93,0.00,220.27,0.710,10246,0.174,0.000,3489,1810,2136,2135,2137,0,0,0,0,0,0,26.17,24.66,24.30,8.85,13.18
$STATE,1091,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1093,1.10,293.3,3489,1810,2136,2137,101.4,0.0,126,1322,1.00,2.58,219.88,0.685,11012,0.139,0.097,3824,3373,1126,1129,1124,0,0,0,0,0,0,25.02,24.75,24.23,8.75,12.98
$GC,1400,1.58,684.2,3823,3373,1129,1124,82.3,8.6,157,1591,0.00,2.35,180.62,0.663,11270,0.000,0.072,3829,1810,348,341,355,0,0,0,0,0,0,25.65,25.58,24.25,8.66,13.22
$GC,1710,2.08,1091.6,3828,1809,341,352,56.1,8.1,188,1714,0.00,2.50,0.00,0.000,2308,0.000,0.097,3829,3369,346,341,352,0,0,0,0,0,0,25.96,25.65,25.96,8.59,12.70
$GC,1812,1.82,880.3,3828,3369,341,352,47.3,9.5,198,1817,0.00,2.35,0.00,0.000,3078,0.000,0.074,3829,1796,346,341,352,0,0,0,0,0,0,26.01,25.94,26.03,8.58,13.22
$GC,1944,2.34,1300.2,3828,1796,341,350,36.9,7.8,211,1953,0.00,2.50,0.00,0.000,2308,0.000,0.094,3829,3381,345,341,350,0,0,0,0,0,0,26.39,26.06,26.40,8.58,13.02
$GC,2246,2.96,1806.3,3828,3381,341,350,14.2,5.3,250,2254,0.00,2.30,0.00,0.000,3078,0.000,0.072,3829,1797,345,341,350,0,0,0,0,0,0,26.43,26.34,26.45,8.58,13.26
$GC,2315,3.54,2280.6,3828,1797,341,350,8.9,6.2,263,2322,0.00,2.45,0.00,0.000,2308,0.000,0.097,3829,3372,345,341,350,0,0,0,0,0,0,26.67,26.32,26.67,8.58,13.14
$STATE,2399,end climb,SURFACE_DEPTH_REACHED
$STATE,2399,begin surface coast
$FINISH,2.5,1.020701
$STATE,2415,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2495,0.00,0.000,0,0,344,521.14
$SM_GC,1.64,9.68,2.35,0.00,0.094,0.070,0.000,207,1821,344,-10.44,1.47,521.14,0,0,0,0,0,0,26.34,26.43,26.42
$IRIDIUM_FIX,4742.17,-12225.08,210417,205614
$TT8_MAMPS,0.02247,0.189497
$HUMID,13.93
$INTERNAL_PRESSURE,8.52959
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.9
$ALTIM_BOTTOM_PING,70.5,73.8
$24V_AH,24.23,3.679
$10V_AH,10.46,3.118
$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,24.450,33.625,620.775,0.000,219.850,0.000,0.000,0.000,0.750,0.000,26.611,615.246,598.015,732.159,605.198,25.817,0.000,1143.655,0.000,575.238,0.000,7.276,0.000
$DEVICE_MAMPS,292.994,96.837,710.138,0.000,161.395,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,182.101,368.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312748
$DATA_FILE_SIZE,17582,282
$CAP_FILE_SIZE,52727,1
$CFSIZE,2047311872,2042920960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,139.13,1
$GPS,210417,214704,4742.935,-12224.823,7,0.8,32,16.3,0.0,214.8,10,9.5