version: 66.14
glider: 37
mission: 21
dive: 6
start: 6 6 118 21 38 52
data:
$ID,37
$MISSION,21
$DIVE,6
$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,75
$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,0
$C_ROLL_DIVE,180
$C_ROLL_CLIMB,180
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,45
$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
$GPS1,060618,213420,2518.2942,-7755.8018,5,0.9,24,-7.6,0.0,136.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-44.6
$GPS2,060618,213828,2518.3057,-7755.8130,7,0.9,17,-7.6,0.0,70.5,9,4.9
$SPEED_LIMITS,0.173,0.173
$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,98.0,32101,-27.8,-10.000,-30.00,1257
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.44,-73.0,134,210,39,254,0.0,0.0,0,161,0.00,0.00,-151.38,0.104,16390,0.000,0.000,136,211,2326,2254,2399,0,0,0,0,0,0,27.21,26.83,26.72,8.45,23.73
$GC,164,-1.44,-73.0,135,211,2254,2400,1.9,-1.4,15,179,8.68,0.00,0.00,0.000,2054,0.305,0.000,2139,203,2327,2256,2398,0,0,0,0,0,0,26.41,26.75,26.68,8.68,22.47
$GC,480,-1.44,-73.0,2138,203,2256,2396,50.7,-17.1,47,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,203,2326,2256,2396,0,0,0,0,0,0,27.22,27.23,27.23,8.68,22.94
$GC,781,-1.44,-73.0,2138,203,2256,2395,91.3,-12.2,77,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,203,2325,2256,2395,0,0,0,0,0,0,27.28,27.29,27.29,8.67,23.26
$GC,1081,-1.44,-73.0,2138,203,2256,2395,113.5,-4.1,107,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,203,2325,2256,2394,0,0,0,0,0,0,27.31,27.32,27.32,8.66,23.69
$GC,1381,-1.44,-73.0,2138,203,2256,2394,126.3,-4.6,137,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,203,2325,2256,2394,0,0,0,0,0,0,27.32,27.34,27.34,8.65,23.42
$GC,1681,-1.44,-73.0,2138,203,2256,2393,141.3,-5.6,167,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,203,2324,2256,2393,0,0,0,0,0,0,27.33,27.34,27.34,8.64,24.01
$GC,1991,-1.44,-73.0,2138,203,2256,2392,161.7,-5.9,189,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,203,2324,2256,2392,0,0,0,0,0,0,27.33,27.35,27.34,8.63,24.01
$STATE,2268,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2269,begin apogee
$GC,2274,-0.26,0.0,2138,203,2256,2392,179.7,-5.6,203,2332,1.30,0.00,50.62,0.710,10246,0.223,0.000,2522,204,2073,2023,2124,0,0,0,0,0,0,26.71,26.34,25.82,8.61,24.83
$STATE,2333,end apogee,CONTROL_FINISHED_OK
$STATE,2333,begin climb
$GC,2335,1.44,73.0,2522,203,2024,2124,180.9,0.0,206,2391,1.50,0.00,51.45,0.705,10246,0.132,0.000,3062,203,1821,1768,1875,0,0,0,0,0,0,26.38,25.98,25.49,8.59,24.44
$GC,2690,1.44,73.0,3061,203,1768,1875,125.6,17.3,231,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,203,1822,1768,1876,0,0,0,0,0,0,27.05,27.07,27.07,8.56,24.20
$GC,2991,1.44,73.0,3061,203,1768,1874,85.3,8.9,261,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,203,1821,1768,1874,0,0,0,0,0,0,27.20,27.22,27.21,8.55,24.32
$GC,3291,1.45,113.2,3060,203,1768,1874,60.6,6.7,291,3321,0.00,0.00,27.85,0.618,8198,0.000,0.000,3060,203,1683,1628,1739,0,0,0,0,0,0,27.27,26.58,26.09,8.56,25.38
$GC,3620,1.45,113.2,3061,203,1628,1739,26.4,11.1,324,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,203,1682,1627,1738,0,0,0,0,0,0,27.18,27.20,27.20,8.56,24.71
$STATE,3809,end climb,SURFACE_DEPTH_REACHED
$STATE,3809,begin surface coast
$FINISH,0.4,1.023331
$STATE,3852,end surface coast,CONTROL_FINISHED_OK
$STATE,3852,begin surface
$SM_CCo,3867,315.00,0.581,0,0,180,550.19
$SM_GC,0.74,7.32,0.00,315.00,0.087,0.000,0.581,141,204,180,-7.65,0.65,550.19,0,0,0,0,0,0,26.92,27.27,25.44
$IRIDIUM_FIX,2518.23,-7725.17,060618,213039
$TT8_MAMPS,0.021721,0.201481
$HUMID,23.42
$INTERNAL_PRESSURE,8.40731
$TCM_TEMP,30.60
$XPDR_PINGS,128
$ALTIM_TOP_PING,19.5,18.9
$24V_AH,25.44,3.702
$10V_AH,10.73,6.630
$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,18.800,0.000,129.925,315.000,151.375,0.000,0.000,0.000,32.250,0.000,18.293,940.265,2142.591,595.391,530.279,43.077,0.000,868.631,0.000,520.564,0.000,2.657,0.000
$DEVICE_MAMPS,305.409,0.000,710.138,581.022,104.286,0.000,0.000,0.000,420.000,0.000,29.210,13.970,2.190,13.220,40.180,53.670,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.007,461.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311700
$DATA_FILE_SIZE,24488,347
$CAP_FILE_SIZE,68812,0
$CFSIZE,2047311872,2042920960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,278.16,1
$GPS,060618,224956,2518.295,-7756.027,9,2.1,49,-7.6,0.0,11.7,7,3.4