version: 66.10
glider: 117
mission: 31
dive: 4
start: 1 30 112 21 46 29
data:
$ID,117
$MISSION,31
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,65
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51272
$NAV_MODE,2
$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,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-117985.21
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3916
$C_PITCH,2316
$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,235
$ROLL_MAX,3826
$ROLL_DEG,25
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3253
$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,-6.2228532
$PRESSURE_SLOPE,0.0001158926
$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,4
$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,0.0043948698
$SEABIRD_T_H,0.00065035583
$SEABIRD_T_I,2.6514934e-05
$SEABIRD_T_J,2.8649386e-06
$SEABIRD_C_G,-9.9217796
$SEABIRD_C_H,1.113543
$SEABIRD_C_I,-0.0018813133
$SEABIRD_C_J,0.00019560773
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,300112,213300,4806.132,-12221.435,10,1.4,20,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.8
$GPS2,300112,214548,4806.063,-12221.269,15,1.5,25,18.3
$SPEED_LIMITS,0.049,0.152
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.038
$KALMAN_X,462.1,379.2,270.2,-588.9,169.2
$KALMAN_Y,-356.7,-294.8,-193.6,-562.1,-130.1
$MHEAD_RNG_PITCHd_Wd,244.3,912,-14.4,-7.692
$D_GRID,101
$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,-0.66,-146.6,0.0,0.0,0,102,0.00,0.00,-87.72,0.000,2,0.000,0.000,153,2858,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.66,-146.6,3.8,-7.8,15,129,8.75,1.60,-12.02,0.000,4,0.275,0.099,2091,3733,3852,0,0,0,0,0,0,25.60,25.88,26.13
$GC,353,-0.66,-146.6,29.8,-12.2,64,361,0.00,1.55,0.00,0.000,6,0.000,0.059,2091,2848,3853,0,0,0,0,0,0,28.83,26.08,28.83
$GC,420,-0.66,-146.6,37.5,-11.2,77,427,0.00,1.52,0.00,0.000,4,0.000,0.061,2091,1964,3853,0,0,0,0,0,0,28.83,26.10,28.83
$GC,446,-0.66,-146.6,40.1,-10.6,82,453,0.00,1.60,0.00,0.000,6,0.000,0.072,2084,2852,3853,0,0,0,0,0,0,28.83,26.08,28.83
$GC,572,-0.66,-146.6,54.8,-12.3,107,578,0.00,1.55,0.00,0.000,4,0.000,0.061,2084,1965,3853,0,0,0,0,0,0,28.83,26.15,28.83
$GC,628,-0.66,-146.6,61.1,-11.0,118,634,0.00,1.60,0.00,0.000,6,0.000,0.073,2077,2855,3853,0,0,0,0,0,0,28.83,26.15,28.83
$GC,753,-0.66,-146.6,75.8,-11.1,143,760,0.00,1.52,0.00,0.000,4,0.000,0.060,2077,1969,3853,0,0,0,0,0,0,28.83,26.20,28.83
$GC,794,-0.66,-146.6,80.5,-11.5,151,801,0.08,1.58,0.00,0.000,6,0.164,0.072,2093,2849,3853,0,0,0,0,0,0,26.05,26.19,28.83
$GC,921,-0.66,-146.6,93.4,-9.8,176,928,0.00,1.52,0.00,0.000,4,0.000,0.062,2094,1968,3853,0,0,0,0,0,0,28.83,26.23,28.83
$GC,957,-0.66,-146.6,97.1,-9.8,183,964,0.00,1.58,0.00,0.000,6,0.000,0.072,2088,2848,3853,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,997,begin apogee
$GC,1000,-0.17,0.0,101.2,-10.2,191,1064,0.55,0.00,60.55,1.137,6,0.152,0.000,2253,2848,3252,0,0,0,0,0,0,26.10,28.83,23.95
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1066,0.66,146.6,102.8,0.0,202,1136,0.85,0.00,66.10,1.099,6,0.100,0.000,2524,2848,2653,0,0,0,0,0,0,25.00,28.83,23.66
$GC,1255,0.66,146.6,78.3,15.6,238,1262,0.00,1.60,0.00,0.000,4,0.000,0.063,2532,1965,2647,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1312,0.66,146.6,70.2,14.4,249,1318,0.00,1.62,0.00,0.000,6,0.000,0.072,2531,2851,2646,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1438,0.66,146.6,51.0,15.6,274,1444,0.00,1.58,0.00,0.000,4,0.000,0.063,2538,1958,2645,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1473,0.66,146.6,45.6,15.0,281,1480,0.00,1.62,0.00,0.000,6,0.000,0.072,2538,2850,2645,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1599,0.66,146.6,26.9,12.4,306,1606,0.00,1.58,0.00,0.000,4,0.000,0.064,2545,1963,2644,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1760,0.66,146.6,6.4,9.5,338,1767,0.00,1.60,0.00,0.000,6,0.000,0.075,2545,2846,2644,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1826,0.92,360.9,4.4,0.1,351,1916,0.20,1.60,81.97,0.150,4,0.075,0.080,2623,3729,1775,0,0,0,0,0,0,26.17,25.88,25.77
$STATE,1918,end climb,SURFACE_DEPTH_REACHED
$STATE,1919,begin surface coast
$FINISH,1.3,1.014879
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2042,52.28,0.147,0,0,1212,500.17
$SM_GC,1.62,6.85,1.58,52.28,0.055,0.060,0.147,147,2839,1212,-6.73,0.42,500.17,0,0,0,0,0,0,26.04,26.05,25.75
$IRIDIUM_FIX,4751.72,-12340.51,300112,212143
$TT8_MAMPS,0.050183,0.050183
$HUMID,33.38
$INTERNAL_PRESSURE,8.96041
$TCM_TEMP,19.70
$24V_AH,23.7,0.508
$10V_AH,10.4,0.858
$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,17.275,28.400,208.625,52.275,0.000,84.638,130.964,323.581,0.000,0.000,25.806,0.000,1089.028,381.978,1317.218,72.853,32.200,713.804,0.000,563.292,0.000,0.000,0.000
$DEVICE_MAMPS,275.400,98.685,1136.790,146.880,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,275.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,13455,389
$CAP_FILE_SIZE,52594,0
$CFSIZE,260034560,245780480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,151.7,1
$GPS,300112,222304,4805.911,-12221.485,62,2.9,81,18.3