version: 66.14
glider: 37
mission: 21
dive: 3
start: 6 6 118 16 18 33
data:
$ID,37
$MISSION,21
$DIVE,3
$N_DIVES,0
$STOP_T,6081821
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$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,250
$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,550
$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,1
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,178
$ROLL_MAX,3923
$ROLL_DEG,45
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,140
$VBD_MAX,3900
$C_VBD,2074
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,060618,161253,2518.4556,-7754.8296,9,0.9,16,-7.6,0.0,200.2,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-37.0
$GPS2,060618,161755,2518.4480,-7754.8599,7,0.9,35,-7.6,0.0,255.7,10,4.4
$SPEED_LIMITS,0.173,0.289
$TGT_NAME,NEPC2
$TGT_LATLONG,2515.000,-7737.000
$TGT_RADIUS,5000.000
$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,83.9,30590,-16.1,-10.000,-19.09,3691
$D_GRID,180
$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,5,begin dive
$GC,7,-0.89,-243.3,126,3031,70,290,0.0,0.0,0,181,0.00,0.00,-171.30,0.104,16386,0.000,0.000,126,3031,2613,2544,2682,0,0,0,0,0,0,27.24,28.83,27.26,8.50,25.07
$GC,184,-0.89,-243.3,126,3031,2544,2682,3.4,-2.4,17,213,8.85,1.30,-11.60,0.119,18692,0.286,0.074,2314,3910,2914,2850,2978,0,0,0,0,0,0,26.44,26.79,26.72,8.73,23.69
$GC,579,-0.89,-243.3,2313,3910,2850,2977,62.4,-13.7,56,587,0.00,1.33,0.00,0.000,1030,0.000,0.060,2314,2986,2913,2850,2977,0,0,0,0,0,0,27.05,27.03,27.07,8.77,24.05
$GC,887,-0.89,-243.3,2313,2987,2850,2976,103.6,-12.6,87,896,0.00,2.30,0.00,0.000,516,0.000,0.074,2315,1395,2913,2850,2976,0,0,0,0,0,0,27.32,27.01,27.33,8.76,24.40
$GC,1069,-0.89,-243.3,2314,1394,2850,2974,125.6,-12.0,105,1078,0.00,2.33,0.00,0.000,1030,0.000,0.074,2303,2978,2912,2850,2975,0,0,0,0,0,0,27.08,26.97,27.10,8.75,24.79
$GC,1389,-0.89,-243.3,2303,2978,2850,2974,162.3,-11.4,132,1393,0.00,2.28,0.00,0.000,516,0.000,0.074,2303,1427,2912,2850,2974,0,0,0,0,0,0,27.34,27.03,27.35,8.73,25.23
$GC,1535,-0.89,-243.3,2302,1407,2850,2973,178.0,-11.0,139,1543,0.10,2.35,0.00,0.000,3078,0.226,0.074,2320,2998,2911,2850,2973,0,0,0,0,0,0,26.78,26.98,26.98,8.72,25.27
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1553,-0.26,0.0,2320,2998,2851,2973,180.0,-10.9,140,1722,0.60,0.00,166.40,0.710,10246,0.171,0.000,2523,2999,2074,2016,2133,0,0,0,0,0,0,26.81,25.91,25.41,8.72,25.31
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1725,0.89,243.3,2523,2999,2015,2132,184.0,0.0,148,1896,0.98,0.00,167.07,0.700,10502,0.127,0.000,2882,3000,1236,1152,1320,0,0,0,0,0,0,26.01,25.86,25.37,8.64,24.12
$GC,2190,0.89,243.3,2882,3000,1151,1319,125.8,13.2,180,2195,0.00,2.35,0.00,0.000,516,0.000,0.074,2893,1399,1235,1151,1319,0,0,0,0,0,0,27.08,26.80,27.09,8.54,24.40
$GC,2333,0.89,243.3,2892,1399,1151,1319,107.5,13.1,194,2338,0.00,2.38,0.00,0.000,1030,0.000,0.072,2894,3012,1235,1151,1319,0,0,0,0,0,0,26.94,26.85,26.96,8.53,24.44
$GC,2645,0.89,243.3,2892,3012,1151,1319,70.7,11.7,225,2650,0.00,2.35,0.00,0.000,516,0.000,0.072,2904,1412,1235,1151,1319,0,0,0,0,0,0,27.26,26.97,27.27,8.54,24.87
$GC,2771,0.89,243.3,2903,1413,1151,1319,57.5,10.9,237,2778,0.00,2.35,0.00,0.000,1030,0.000,0.070,2904,3015,1234,1151,1318,0,0,0,0,0,0,27.05,26.96,27.08,8.54,24.87
$GC,3077,0.89,243.3,2903,3016,1150,1319,23.3,10.1,268,3082,0.00,1.38,0.00,0.000,260,0.000,0.077,2904,3941,1234,1150,1319,0,0,0,0,0,0,27.32,27.02,27.33,8.54,25.42
$GC,3212,0.89,243.3,2903,3941,1150,1319,7.8,11.5,281,3215,0.00,1.38,0.00,0.000,1030,0.000,0.062,2911,2968,1234,1149,1319,0,0,0,0,0,0,27.10,27.08,27.12,8.55,25.58
$STATE,3241,end climb,SURFACE_DEPTH_REACHED
$STATE,3241,begin surface coast
$FINISH,0.2,1.023416
$STATE,3282,end surface coast,CONTROL_FINISHED_OK
$STATE,3283,begin surface
$SM_CCo,3298,228.07,0.579,0,0,179,550.19
$SM_GC,0.87,6.93,0.08,228.07,0.084,0.151,0.579,129,2999,179,-7.65,-0.85,550.19,0,0,0,0,0,0,27.01,27.11,25.54
$IRIDIUM_FIX,2517.89,-7754.65,060618,161335
$TT8_MAMPS,0.021721,0.185003
$HUMID,23.81
$INTERNAL_PRESSURE,8.42684
$TCM_TEMP,31.10
$XPDR_PINGS,86
$ALTIM_TOP_PING,19.9,19.0
$24V_AH,25.37,3.293
$10V_AH,10.73,6.514
$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,17.450,24.125,333.475,228.075,182.900,0.000,0.000,0.000,21.750,0.000,36.383,838.418,1362.225,732.813,658.945,43.140,0.000,1083.825,0.000,624.207,0.000,2.662,0.000
$DEVICE_MAMPS,285.545,151.463,710.138,578.539,119.184,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.188,385.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311716
$DATA_FILE_SIZE,17631,288
$CAP_FILE_SIZE,74271,0
$CFSIZE,2047311872,2043215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.118,263.61,1
$GPS,060618,171817,2518.542,-7754.685,9,0.8,17,-7.6,0.4,274.7,10,4.7