version: 66.10
glider: 117
mission: 31
dive: 9
start: 1 31 112 6 15 30
data:
$ID,117
$MISSION,31
$DIVE,9
$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,-118017.81
$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,20
$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
$GPS1,310112,060836,4805.129,-12221.713,12,1.8,22,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.8
$GPS2,310112,061448,4805.203,-12221.766,14,1.8,24,18.3
$SPEED_LIMITS,0.049,0.127
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,0.126
$KALMAN_X,1055.1,221.2,-205.2,-1155.9,-167.5
$KALMAN_Y,-3170.6,-464.7,-171.3,798.2,189.2
$MHEAD_RNG_PITCHd_Wd,330.6,1504,-18.0,-7.692
$D_GRID,108
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.74,-97.7,0.0,0.0,0,77,0.00,0.00,-63.10,0.000,2,0.000,0.000,151,2742,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.74,-97.7,3.5,-8.6,11,120,9.05,1.55,-27.85,0.000,4,0.287,0.082,2086,1863,3653,0,0,0,0,0,0,25.56,25.90,26.11
$GC,344,-0.74,-97.7,22.7,-8.0,63,351,0.00,1.58,0.00,0.000,6,0.000,0.068,2080,2746,3654,0,0,0,0,0,0,28.83,26.06,28.83
$GC,410,-0.74,-97.7,28.3,-9.1,76,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,470,-0.74,-97.7,34.1,-9.3,88,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,535,-0.74,-97.7,40.4,-9.8,101,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,655,-0.74,-97.7,52.6,-10.1,125,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-0.74,-97.7,64.1,-8.5,149,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,900,-0.74,-97.7,75.7,-9.1,174,908,0.00,1.55,0.00,0.000,4,0.000,0.075,2074,3633,3654,0,0,0,0,0,0,28.83,26.24,28.83
$GC,992,-0.74,-97.7,84.9,-10.1,192,999,0.00,1.52,0.00,0.000,6,0.000,0.058,2074,2750,3654,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1118,-0.74,-97.7,96.7,-8.9,217,1125,0.00,1.50,0.00,0.000,4,0.000,0.060,2074,1866,3654,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1164,-0.74,-97.7,100.8,-8.7,226,1172,0.00,1.55,0.00,0.000,6,0.000,0.068,2067,2744,3654,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1239,begin apogee
$GC,1243,-0.17,0.0,108.1,-8.6,241,1284,0.68,0.00,38.70,0.433,6,0.164,0.000,2264,2642,3251,0,0,0,0,0,0,26.15,28.83,25.45
$STATE,1285,end apogee,CONTROL_FINISHED_OK
$STATE,1285,begin climb
$GC,1286,0.74,97.7,109.3,0.0,248,1334,0.88,1.65,40.95,0.431,4,0.093,0.076,2562,3533,2853,0,0,0,0,0,0,25.92,25.61,25.15
$GC,1343,0.74,97.7,103.7,13.3,258,1351,0.00,1.58,0.00,0.000,6,0.000,0.060,2568,2652,2853,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1471,0.74,97.7,81.6,17.5,283,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2651,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1595,0.74,97.7,60.3,16.4,308,1602,0.00,1.60,0.00,0.000,4,0.000,0.075,2568,3538,2847,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1676,0.74,97.7,45.4,18.5,324,1683,0.00,1.58,0.00,0.000,6,0.000,0.059,2576,2643,2847,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1802,0.74,97.7,25.2,15.1,349,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2643,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,0.74,97.7,15.2,15.0,362,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2643,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,0.74,97.7,7.4,12.0,374,1935,0.00,1.58,0.00,0.000,4,0.000,0.076,2576,3529,2846,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,1963,end climb,SURFACE_DEPTH_REACHED
$STATE,1963,begin surface coast
$FINISH,5.2,1.020183
$STATE,2019,end surface coast,CONTROL_FINISHED_OK
$STATE,2019,begin surface
$SM_CCo,2020,197.30,0.142,0,0,744,614.97
$SM_GC,1.31,6.65,1.40,0.00,0.047,0.059,0.000,149,2745,737,-6.75,0.57,617.17,0,0,0,0,0,0,25.86,25.83,28.83
$IRIDIUM_FIX,4751.72,-12056.72,310112,050552
$TT8_MAMPS,0.050183,0.050183
$HUMID,33.06
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.90
$24V_AH,25.1,0.779
$10V_AH,10.6,1.376
$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,17.250,18.825,79.650,197.300,0.000,26.241,36.211,221.024,0.000,0.000,25.338,0.000,1153.051,411.688,1063.415,64.922,33.194,723.620,0.000,567.324,0.000,0.000,0.000
$DEVICE_MAMPS,286.875,81.855,432.990,142.290,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,275.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,13428,392
$CAP_FILE_SIZE,48844,0
$CFSIZE,260034560,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,307.2,1
$GPS,310112,065517,4805.444,-12221.918,38,1.6,48,18.3