version: 66.10
glider: 117
mission: 31
dive: 8
start: 1 31 112 5 28 59
data:
$ID,117
$MISSION,31
$DIVE,8
$N_DIVES,10
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,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,100
$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,600
$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,-118016.55
$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,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,29
$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,2750
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,19
$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
$GPS1,310112,052146,4804.872,-12221.524,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.6
$GPS2,310112,052818,4804.938,-12221.568,14,1.5,24,18.3
$SPEED_LIMITS,0.049,0.127
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.018,0.126
$KALMAN_X,1113.9,340.7,-101.2,-1195.5,-153.9
$KALMAN_Y,-3146.3,-525.7,-266.1,438.1,27.4
$MHEAD_RNG_PITCHd_Wd,326.5,2038,-18.0,-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,-0.74,-97.7,0.0,0.0,0,61,0.00,0.00,-46.92,0.000,2,0.000,0.000,149,2767,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.74,-97.7,3.3,-8.0,8,112,8.88,1.58,-35.28,0.000,4,0.281,0.095,2076,3630,3654,0,0,0,0,0,0,25.56,25.87,26.10
$GC,336,-0.74,-97.7,24.7,-9.3,61,343,0.00,1.52,0.00,0.000,6,0.000,0.059,2076,2755,3655,0,0,0,0,0,0,28.83,26.09,28.83
$GC,402,-0.74,-97.7,31.0,-9.8,74,408,0.00,1.55,0.00,0.000,4,0.000,0.076,2070,3623,3654,0,0,0,0,0,0,28.83,26.08,28.83
$GC,493,-0.74,-97.7,40.7,-10.9,92,499,0.00,1.52,0.00,0.000,6,0.000,0.059,2069,2746,3654,0,0,0,0,0,0,28.83,26.15,28.83
$GC,618,-0.74,-97.7,54.3,-10.6,117,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-0.74,-97.7,66.5,-10.4,141,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.74,-97.7,79.1,-10.3,166,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-0.74,-97.7,91.3,-8.7,191,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1114,-0.74,-97.7,103.1,-9.4,216,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1157,begin apogee
$GC,1161,-0.17,0.0,107.2,-8.7,225,1203,0.68,0.00,38.60,0.434,6,0.164,0.000,2267,2649,3252,0,0,0,0,0,0,26.15,28.83,25.47
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1205,0.74,97.7,108.4,0.0,232,1251,0.88,0.00,40.97,0.431,6,0.092,0.000,2562,2649,2853,0,0,0,0,0,0,25.91,28.83,25.17
$GC,1370,0.74,97.7,84.9,16.8,264,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2649,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,0.74,97.7,64.1,16.7,289,1502,0.00,1.58,0.00,0.000,4,0.000,0.076,2563,3525,2847,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1581,0.74,97.7,48.4,18.0,306,1588,0.00,1.52,0.00,0.000,6,0.000,0.059,2569,2653,2847,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1708,0.74,97.7,28.6,14.3,331,1715,0.00,1.58,0.00,0.000,4,0.000,0.076,2569,3531,2846,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1719,0.74,97.7,26.7,15.4,333,1726,0.00,1.55,0.00,0.000,6,0.000,0.060,2576,2649,2846,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1785,0.74,97.7,17.0,14.6,346,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2649,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,0.74,97.7,8.3,12.0,359,1858,0.00,1.58,0.00,0.000,4,0.000,0.076,2576,3528,2846,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1861,0.74,97.7,6.9,11.2,361,1869,0.00,1.55,0.00,0.000,6,0.000,0.060,2582,2649,2846,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1928,0.96,278.7,4.9,-1.9,374,2001,0.17,1.25,69.07,0.146,3,0.087,0.077,2648,3335,2111,0,0,0,0,0,0,26.22,28.83,25.86
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,3.6,1.017533
$STATE,2200,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2200,begin surface
$SM_CCo,2213,122.85,0.143,0,0,806,600.00
$SM_GC,1.19,7.15,1.05,122.85,0.076,0.061,0.143,151,2743,806,-6.76,0.45,600.00,0,0,0,0,0,0,26.11,26.14,25.70
$IRIDIUM_FIX,4751.72,-12340.51,310112,040452
$TT8_MAMPS,0.049434,0.049434
$HUMID,32.79
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.90
$24V_AH,25.2,0.744
$10V_AH,10.6,1.353
$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,17.750,18.000,148.650,122.850,0.000,22.583,40.352,237.877,0.000,0.000,25.223,0.000,1131.518,388.940,1137.195,68.618,33.200,732.154,0.000,615.527,0.000,0.000,0.000
$DEVICE_MAMPS,280.755,94.860,433.755,143.055,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,300.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,13475,426
$CAP_FILE_SIZE,50759,0
$CFSIZE,260034560,245661696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,272.8,1
$GPS,310112,060836,4805.129,-12221.713,12,1.8,22,18.3