version: 66.10
glider: 116
mission: 30
dive: 17
start: 1 31 112 14 6 53
data:
$ID,116
$MISSION,30
$DIVE,17
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,120
$T_BOOST,2
$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,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51034
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,610
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-73749.023
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,133
$PITCH_MAX,3926
$C_PITCH,2486
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,275
$ROLL_MAX,3832
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3960
$C_VBD,3262
$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,20
$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,-22.331141
$PRESSURE_SLOPE,0.0001145545
$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,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.7
$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,0.0043750796
$SEABIRD_T_H,0.00063934911
$SEABIRD_T_I,2.7085041e-05
$SEABIRD_T_J,3.1576283e-06
$SEABIRD_C_G,-9.8751535
$SEABIRD_C_H,1.1253172
$SEABIRD_C_I,-0.0019110913
$SEABIRD_C_J,0.00023224781
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,310112,140207,4807.542,-12223.238,50,1.7,60,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-79.7
$GPS2,310112,140612,4807.596,-12223.310,17,2.0,27,18.3
$SPEED_LIMITS,0.080,0.173
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.159
$KALMAN_X,-2072.6,-750.4,-34.8,981.0,-266.2
$KALMAN_Y,3375.2,1760.2,-158.0,-3694.4,304.7
$MHEAD_RNG_PITCHd_Wd,119.4,3371,-22.4,-10.000
$D_GRID,107
$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,13,-0.87,-97.7,0.0,0.0,0,65,0.00,0.00,-50.55,0.000,2,0.000,0.000,132,2778,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.87,-97.7,3.6,-9.1,9,118,9.43,1.95,-33.50,0.000,4,0.259,0.096,2189,3830,3664,0,0,0,0,0,0,25.50,25.79,26.06
$GC,343,-0.87,-97.7,32.1,-11.3,63,350,0.00,1.83,0.00,0.000,6,0.000,0.059,2196,2794,3665,0,0,0,0,0,0,28.83,26.02,28.83
$GC,409,-0.87,-97.7,39.8,-12.0,76,416,0.00,1.90,0.00,0.000,4,0.000,0.080,2189,3832,3665,0,0,0,0,0,0,28.83,25.96,28.83
$GC,570,-0.87,-97.7,63.7,-15.5,108,577,0.00,1.83,0.00,0.000,6,0.000,0.059,2196,2796,3665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,696,-0.87,-97.7,80.9,-13.7,133,703,0.00,1.88,0.00,0.000,4,0.000,0.081,2188,3827,3665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,722,-0.87,-97.7,84.6,-15.1,138,728,0.00,1.80,0.00,0.000,6,0.000,0.060,2195,2804,3665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,848,-0.87,-97.7,101.3,-13.6,163,854,0.00,1.85,0.00,0.000,4,0.000,0.079,2188,3826,3664,0,0,0,0,0,0,28.83,26.09,28.83
$GC,858,-0.87,-97.7,102.8,-13.6,165,865,0.00,1.80,0.00,0.000,6,0.000,0.059,2195,2797,3664,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,888,begin apogee
$GC,892,-0.17,0.0,107.1,-14.1,171,942,0.85,0.00,44.40,0.399,6,0.184,0.000,2422,2797,3261,0,0,0,0,0,0,25.93,28.83,25.34
$STATE,942,end apogee,CONTROL_FINISHED_OK
$STATE,942,begin climb
$GC,944,0.87,97.7,109.2,0.0,180,994,1.05,0.00,45.95,0.389,6,0.106,0.000,2757,2796,2860,0,0,0,0,0,0,25.75,28.83,25.07
$GC,1113,0.87,97.7,81.1,20.3,213,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2796,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1239,0.87,97.7,56.6,19.2,238,1245,0.00,1.92,0.00,0.000,4,0.000,0.082,2757,3831,2854,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1279,0.87,97.7,48.0,22.1,246,1286,0.00,1.88,0.00,0.000,6,0.000,0.061,2765,2781,2854,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1407,0.87,97.7,23.9,17.3,271,1412,0.00,1.83,0.00,0.000,4,0.000,0.064,2773,1721,2853,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1522,0.97,181.4,7.9,4.3,294,1561,0.00,1.90,33.25,0.148,6,0.000,0.074,2773,2775,2516,0,0,0,0,0,0,28.83,26.00,25.78
$GC,1621,1.16,333.3,7.8,-0.4,313,1689,0.25,1.98,62.55,0.145,4,0.064,0.083,2864,3833,1896,0,0,0,0,0,0,26.03,25.75,25.68
$STATE,1801,end climb,SURFACE_DEPTH_REACHED
$STATE,1801,begin surface coast
$FINISH,4.1,1.014866
$STATE,2036,end surface coast,CONTROL_FINISHED_OK
$STATE,2037,begin surface
$SM_CCo,2038,121.53,0.138,0,0,767,611.29
$SM_GC,0.90,7.72,1.88,0.00,0.045,0.060,0.000,133,2788,761,-7.31,0.37,613.50,0,0,0,0,0,0,25.83,25.83,28.83
$IRIDIUM_FIX,4751.72,-12340.51,310112,131322
$TT8_MAMPS,0.050183,0.050183
$HUMID,31.25
$INTERNAL_PRESSURE,8.78868
$TCM_TEMP,18.90
$24V_AH,25.1,1.122
$10V_AH,10.4,1.270
$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,19.300,26.200,186.150,121.525,0.000,30.433,40.905,83.790,0.000,0.000,27.962,0.000,1101.332,404.062,909.886,92.328,33.231,733.554,0.000,571.909,0.000,0.000,0.000
$DEVICE_MAMPS,259.335,95.625,398.565,137.700,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,264.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,13463,395
$CAP_FILE_SIZE,42379,0
$CFSIZE,260034560,240205824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,144518,4807.617,-12223.316,11,1.6,21,18.3