version: 66.10
glider: 117
mission: 31
dive: 13
start: 1 31 112 9 21 28
data:
$ID,117
$MISSION,31
$DIVE,13
$N_DIVES,0
$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,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,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,620
$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,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118023.78
$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,16
$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
$GPS1,310112,091534,4806.520,-12222.652,9,2.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.8
$GPS2,310112,092046,4806.622,-12222.723,15,2.1,34,18.3
$SPEED_LIMITS,0.062,0.159
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.036,0.196
$KALMAN_X,419.6,-443.1,-147.7,-1099.3,-210.3
$KALMAN_Y,-3155.4,162.2,249.4,2364.7,164.0
$MHEAD_RNG_PITCHd_Wd,331.2,780,-18.0,-7.692
$D_GRID,105
$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,-97.7,0.0,0.0,0,86,0.00,0.00,-71.93,0.000,2,0.000,0.000,146,2751,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.74,-97.7,3.1,-6.3,13,128,8.68,1.48,-25.23,0.000,4,0.270,0.076,2082,1863,3652,0,0,0,0,0,0,25.47,25.89,26.17
$GC,352,-0.74,-97.7,24.0,-7.8,65,359,0.00,1.58,0.00,0.000,6,0.000,0.067,2076,2746,3652,0,0,0,0,0,0,28.83,26.06,28.83
$GC,418,-0.74,-97.7,29.7,-9.0,78,425,0.00,1.52,0.00,0.000,4,0.000,0.059,2076,1863,3652,0,0,0,0,0,0,28.83,26.12,28.83
$GC,649,-0.74,-97.7,51.6,-9.6,124,656,0.00,1.58,0.00,0.000,6,0.000,0.068,2070,2750,3652,0,0,0,0,0,0,28.83,26.17,28.83
$GC,775,-0.74,-97.7,64.4,-10.5,149,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2750,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,900,-0.74,-97.7,77.0,-10.1,174,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2750,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1020,-0.74,-97.7,88.1,-8.9,198,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2750,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1145,-0.74,-97.7,99.6,-9.1,223,1151,0.00,1.50,0.00,0.000,4,0.000,0.058,2070,1869,3652,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1209,-0.17,0.0,105.1,-9.5,235,1254,0.70,0.00,39.42,0.418,6,0.167,0.000,2266,2654,3253,0,0,0,0,0,0,26.05,28.83,24.65
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1256,0.74,97.7,106.4,0.0,243,1300,0.88,0.00,40.22,0.418,6,0.091,0.000,2562,2654,2853,0,0,0,0,0,0,25.93,28.83,25.24
$GC,1419,0.74,97.7,83.4,16.9,275,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2654,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,0.74,97.7,63.4,16.4,299,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2654,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,0.74,97.7,44.2,16.5,323,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2654,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1784,0.74,97.7,25.4,14.5,348,1791,0.00,1.55,0.00,0.000,4,0.000,0.075,2562,3531,2846,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1795,0.74,97.7,23.7,15.5,350,1802,0.00,1.55,0.00,0.000,6,0.000,0.060,2569,2649,2847,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1861,0.74,97.7,13.9,14.4,363,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2649,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1926,0.74,97.7,6.3,12.4,376,1933,0.00,1.58,0.00,0.000,4,0.000,0.076,2569,3527,2846,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1967,0.97,287.7,4.9,-2.3,384,2046,0.15,1.52,71.47,0.146,6,0.059,0.060,2647,2649,2075,0,0,0,0,0,0,26.26,26.24,25.87
$STATE,2064,end climb,SURFACE_DEPTH_REACHED
$STATE,2064,begin surface coast
$FINISH,2.0,1.016970
$STATE,2314,end surface coast,CONTROL_FINISHED_OK
$STATE,2314,begin surface
$SM_CCo,2327,123.57,0.142,0,0,744,614.97
$SM_CCo,2452,-0.32,0.000,0,0,747,614.97
$SM_CCo,2454,0.25,0.481,0,0,744,614.97
$SM_GC,1.03,7.03,0.22,0.25,0.070,0.091,0.481,155,2761,744,-6.75,-0.37,614.97,0,0,0,0,0,0,26.16,26.17,25.67
$IRIDIUM_FIX,4751.72,-12340.51,310112,080820
$TT8_MAMPS,0.049434,0.049434
$HUMID,32.71
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.90
$24V_AH,24.6,0.901
$10V_AH,10.5,1.475
$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,17.425,15.475,151.125,123.825,0.000,28.634,37.307,148.546,0.000,0.000,36.286,0.000,1216.187,387.340,1093.159,71.321,33.212,746.643,0.000,652.246,0.000,0.000,0.000
$DEVICE_MAMPS,270.045,91.035,418.455,481.185,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,317.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,13446,452
$CAP_FILE_SIZE,47856,0
$CFSIZE,260034560,245526528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,100300,4806.909,-12222.921,9,1.3,19,18.3