version: 66.10
glider: 117
mission: 31
dive: 5
start: 1 30 112 22 30 28
data:
$ID,117
$MISSION,31
$DIVE,5
$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,-117986.57
$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
$GPS1,300112,222304,4805.911,-12221.485,62,2.9,81,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.2
$GPS2,300112,222946,4805.863,-12221.405,17,2.9,36,18.3
$SPEED_LIMITS,0.049,0.152
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.109
$KALMAN_X,639.2,444.3,243.7,-969.9,198.9
$KALMAN_Y,-711.6,-405.3,-156.8,-505.0,-270.2
$MHEAD_RNG_PITCHd_Wd,270.7,778,-14.4,-7.692
$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,-0.66,-146.6,0.0,0.0,0,90,0.00,0.00,-75.32,0.000,2,0.000,0.000,147,2839,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.66,-146.6,3.3,-7.1,13,122,8.85,1.58,-14.82,0.000,4,0.281,0.093,2087,3739,3851,0,0,0,0,0,0,25.65,25.93,26.16
$GC,236,-0.66,-146.6,17.9,-11.3,41,243,0.00,1.55,0.00,0.000,6,0.000,0.058,2087,2850,3851,0,0,0,0,0,0,28.83,26.07,28.83
$GC,302,-0.66,-146.6,25.2,-10.8,54,309,0.00,1.52,0.00,0.000,4,0.000,0.060,2087,1959,3851,0,0,0,0,0,0,28.83,26.08,28.83
$GC,333,-0.66,-146.6,28.7,-11.2,60,339,0.00,1.60,0.00,0.000,6,0.000,0.071,2080,2848,3852,0,0,0,0,0,0,28.83,26.07,28.83
$GC,399,-0.66,-146.6,36.3,-12.2,73,406,0.00,1.52,0.00,0.000,4,0.000,0.060,2080,1970,3852,0,0,0,0,0,0,28.83,26.11,28.83
$GC,530,-0.66,-146.6,51.5,-11.8,99,537,0.00,1.58,0.00,0.000,6,0.000,0.070,2073,2853,3851,0,0,0,0,0,0,28.83,26.15,28.83
$GC,656,-0.66,-146.6,66.5,-11.7,124,663,0.12,1.52,0.00,0.000,4,0.195,0.060,2105,1969,3852,0,0,0,0,0,0,26.03,26.21,28.83
$GC,692,-0.66,-146.6,70.1,-9.0,131,700,0.00,1.58,0.00,0.000,6,0.000,0.071,2099,2848,3851,0,0,0,0,0,0,28.83,26.20,28.83
$GC,819,-0.66,-146.6,82.2,-8.9,156,826,0.00,1.52,0.00,0.000,4,0.000,0.060,2099,1966,3851,0,0,0,0,0,0,28.83,26.25,28.83
$GC,865,-0.66,-146.6,86.5,-9.1,165,872,0.00,1.58,0.00,0.000,6,0.000,0.071,2093,2850,3852,0,0,0,0,0,0,28.83,26.24,28.83
$GC,991,-0.66,-146.6,98.3,-9.5,190,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2851,3852,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1085,begin apogee
$GC,1088,-0.17,0.0,107.5,-10.0,209,1153,0.52,0.00,60.95,1.164,6,0.151,0.000,2251,2850,3252,0,0,0,0,0,0,26.17,28.83,23.97
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1155,0.66,146.6,109.1,0.0,220,1225,0.85,0.00,66.35,1.132,6,0.099,0.000,2522,2850,2653,0,0,0,0,0,0,25.00,28.83,23.67
$GC,1344,0.66,146.6,85.4,15.3,256,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2850,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,0.66,146.6,66.2,15.1,281,1475,0.00,1.58,0.00,0.000,4,0.000,0.063,2529,1966,2646,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1545,0.66,146.6,55.4,13.9,296,1551,0.00,1.60,0.00,0.000,6,0.000,0.070,2529,2847,2645,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1670,0.66,146.6,37.1,14.3,321,1677,0.00,1.55,0.00,0.000,4,0.000,0.061,2536,1968,2644,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1741,0.66,146.6,27.1,13.4,335,1749,0.00,1.58,0.00,0.000,6,0.000,0.070,2536,2845,2644,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1808,0.66,146.6,17.8,13.3,348,1815,0.00,1.55,0.00,0.000,4,0.000,0.063,2543,1965,2644,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1884,0.66,146.6,8.7,10.6,363,1892,0.00,1.58,0.00,0.000,6,0.000,0.071,2543,2845,2644,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1951,0.96,391.0,5.6,-0.9,376,2053,0.25,1.67,96.32,0.667,4,0.067,0.080,2641,3731,1653,0,0,0,0,0,0,26.20,25.10,24.50
$STATE,2056,end climb,SURFACE_DEPTH_REACHED
$STATE,2056,begin surface coast
$FINISH,1.6,1.013488
$STATE,2156,end surface coast,CONTROL_FINISHED_OK
$STATE,2156,begin surface
$SM_CCo,2170,41.42,0.146,0,0,1213,500.17
$SM_GC,1.46,7.03,1.60,41.42,0.056,0.059,0.146,150,2842,1213,-6.72,0.45,500.17,0,0,0,0,0,0,25.63,25.63,25.47
$IRIDIUM_FIX,4751.72,-12056.72,300112,212141
$TT8_MAMPS,0.049434,0.049434
$HUMID,32.67
$INTERNAL_PRESSURE,8.97018
$TCM_TEMP,19.70
$24V_AH,23.7,0.587
$10V_AH,10.5,0.883
$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,17.625,28.250,223.625,41.425,0.000,23.965,43.425,233.199,0.000,0.000,38.592,0.000,1035.908,385.779,1121.924,63.500,33.192,737.548,0.000,598.645,0.000,0.000,0.000
$DEVICE_MAMPS,280.755,93.330,1164.330,146.115,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,292.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323308
$DATA_FILE_SIZE,13460,414
$CAP_FILE_SIZE,50836,0
$CFSIZE,260034560,245751808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,169.6,1
$GPS,310112,033411,4804.476,-12221.353,15990,3.6,16000,18.3