version: 66.10
glider: 106
mission: 15
dive: 2
start: 2 23 112 20 51 31
data:
$ID,106
$MISSION,15
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51152
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,6.7479e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,6
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28757.834
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,142
$PITCH_MAX,3894
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,255
$ROLL_MAX,3876
$ROLL_DEG,40
$C_ROLL_DIVE,2868
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,3393
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,98
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.5559502
$PRESSURE_SLOPE,0.0001162509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043533649
$SEABIRD_T_H,0.00064411096
$SEABIRD_T_I,2.4408262e-05
$SEABIRD_T_J,2.4167559e-06
$SEABIRD_C_G,-9.9531422
$SEABIRD_C_H,1.1184396
$SEABIRD_C_I,1.3326941e-05
$SEABIRD_C_J,0.00010342655
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,230212,204634,4743.169,-12223.857,9,3.8,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-74.2
$GPS2,230212,205030,4743.178,-12223.833,13,1.7,23,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,-0.220
$KALMAN_X,50.5,50.5,50.5,35.8,136.3
$KALMAN_Y,76.6,76.6,76.6,-110.9,207.0
$MHEAD_RNG_PITCHd_Wd,194.5,390,-17.4,-10.000
$D_GRID,163
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.76,-146.6,0.0,0.0,0,120,0.00,0.00,-105.75,0.000,2,0.000,0.000,138,2869,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.76,-146.6,3.4,-12.2,19,140,8.27,1.77,-2.42,0.000,4,0.249,0.081,2163,3883,3959,0,0,0,0,0,0,25.94,26.28,26.51
$GC,143,-0.76,-146.6,12.9,-35.9,23,151,0.00,1.75,0.00,0.000,6,0.000,0.052,2165,2873,3959,0,0,0,0,0,0,28.83,26.31,28.83
$GC,209,-0.76,-146.6,25.9,-16.5,36,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2873,3959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,269,-0.76,-146.6,35.9,-17.0,48,277,0.00,2.45,0.00,0.000,4,0.000,0.056,2165,1462,3960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,296,-0.76,-146.6,40.2,-16.9,53,303,0.00,2.53,0.00,0.000,6,0.000,0.071,2156,2865,3960,0,0,0,0,0,0,28.83,26.26,28.83
$GC,421,-0.76,-146.6,63.5,-19.1,78,429,0.00,1.80,0.00,0.000,4,0.000,0.072,2148,3885,3960,0,0,0,0,0,0,28.83,26.32,28.83
$GC,437,-0.76,-146.6,66.8,-20.0,81,445,0.00,1.77,0.00,0.000,6,0.000,0.054,2148,2864,3960,0,0,0,0,0,0,28.83,26.37,28.83
$GC,563,-0.76,-146.6,91.1,-19.1,106,570,0.00,2.42,0.00,0.000,4,0.000,0.055,2148,1460,3960,0,0,0,0,0,0,28.83,26.32,28.83
$GC,574,-0.76,-146.6,93.1,-19.1,108,582,0.10,2.50,0.00,0.000,6,0.168,0.070,2166,2863,3960,0,0,0,0,0,0,26.12,26.32,28.83
$GC,701,-0.76,-146.6,113.8,-17.1,133,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2863,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.76,-146.6,135.0,-17.0,158,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2863,3960,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,919,begin apogee
$GC,922,-0.17,0.0,150.4,-16.4,177,1038,0.62,0.00,109.72,1.297,6,0.147,0.000,2360,2742,3392,0,0,0,0,0,0,26.21,28.83,23.87
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1040,0.76,146.6,154.9,0.0,198,1168,0.85,2.55,119.30,1.258,4,0.065,0.057,2669,1347,2794,0,0,0,0,0,0,24.98,24.77,23.86
$GC,1392,0.76,146.6,131.7,12.2,266,1399,0.00,2.55,0.00,0.000,6,0.000,0.066,2669,2757,2790,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1518,0.76,146.6,115.2,12.9,291,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2757,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,0.76,146.6,98.3,13.5,315,1645,0.00,1.98,0.00,0.000,4,0.000,0.068,2669,3876,2790,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1684,0.76,146.6,91.5,14.8,324,1691,0.00,1.92,0.00,0.000,6,0.000,0.048,2678,2752,2790,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1810,0.76,146.6,75.5,12.1,349,1817,0.00,2.47,0.00,0.000,4,0.000,0.061,2680,1340,2789,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1916,0.76,146.6,63.3,11.6,370,1923,0.00,2.50,0.00,0.000,6,0.000,0.067,2680,2750,2788,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2042,0.76,146.6,48.4,10.3,395,2048,0.00,1.98,0.00,0.000,4,0.000,0.070,2680,3878,2788,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2117,0.76,146.6,38.1,14.4,410,2124,0.00,1.90,0.00,0.000,6,0.000,0.048,2689,2756,2788,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2183,0.76,146.6,29.6,13.0,423,2190,0.00,2.45,0.00,0.000,4,0.000,0.059,2700,1346,2788,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2359,0.76,146.6,4.0,11.4,458,2366,0.10,2.47,0.00,0.000,6,0.193,0.067,2672,2745,2787,0,0,0,0,0,0,26.20,26.41,28.83
$STATE,2374,end climb,SURFACE_DEPTH_REACHED
$STATE,2374,begin surface coast
$FINISH,1.2,1.021561
$STATE,2404,end surface coast,CONTROL_FINISHED_OK
$STATE,2404,begin surface
$SM_CCo,2416,164.93,0.148,0,0,943,600.00
$SM_GC,0.01,7.47,0.22,164.93,0.104,0.093,0.148,131,2873,943,-7.10,-0.68,600.00,0,0,0,0,0,0,26.44,26.41,25.89
$IRIDIUM_FIX,4751.72,-12340.51,230212,202030
$TT8_MAMPS,0.049434,0.049434
$HUMID,32.67
$INTERNAL_PRESSURE,8.98971
$TCM_TEMP,18.90
$24V_AH,23.9,2.636
$10V_AH,10.6,3.356
$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,17.425,40.200,229.025,164.925,0.000,0.000,0.000,0.000,0.000,0.000,23.895,0.000,1180.778,528.896,900.782,47.494,30.062,920.418,0.000,672.242,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,92.565,1296.675,147.645,0.000,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,316.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323476
$DATA_FILE_SIZE,13445,467
$CAP_FILE_SIZE,73033,0
$CFSIZE,260034560,250822656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230212,213512,4742.911,-12224.030,13,1.5,23,18.2