version: 66.10
glider: 118
mission: 6
dive: 2
start: 1 30 112 23 2 9
data:
$ID,118
$MISSION,6
$DIVE,2
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$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,101
$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,51539
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0023278999
$HD_B,0.010866
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,675
$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,-51106.59
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,176
$PITCH_MAX,3933
$C_PITCH,2140
$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,240
$ROLL_MAX,3836
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,3355
$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,-3.9689138
$PRESSURE_SLOPE,0.0001161622
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043071429
$SEABIRD_T_H,0.00063708809
$SEABIRD_T_I,2.3396524e-05
$SEABIRD_T_J,2.3594623e-06
$SEABIRD_C_G,-9.9806595
$SEABIRD_C_H,1.1263306
$SEABIRD_C_I,-0.0021160755
$SEABIRD_C_J,0.0002166138
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,300112,225728,4806.596,-12221.663,11,4.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.5
$GPS2,300112,230130,4806.576,-12221.646,33,1.4,43,18.3
$SPEED_LIMITS,0.064,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,-0.119
$KALMAN_X,24.9,24.9,24.9,-21.6,63.9
$KALMAN_Y,-38.8,-38.8,-38.8,-207.9,-99.7
$MHEAD_RNG_PITCHd_Wd,205.3,1154,-17.2,-10.000
$D_GRID,99
$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,-0.75,-146.6,0.0,0.0,0,109,0.00,0.00,-94.72,0.000,2,0.000,0.000,172,2494,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.75,-146.6,3.4,-3.6,16,136,7.22,1.95,-13.90,0.000,4,0.238,0.095,1886,3564,3895,0,0,0,0,0,0,25.75,26.06,26.32
$GC,360,-0.75,-146.6,27.1,-12.9,65,367,0.00,1.77,0.00,0.000,6,0.000,0.047,1886,2506,3897,0,0,0,0,0,0,28.83,26.25,28.83
$GC,427,-0.75,-146.6,34.7,-11.4,78,433,0.00,1.88,0.00,0.000,4,0.000,0.077,1886,3556,3897,0,0,0,0,0,0,28.83,26.22,28.83
$GC,457,-0.75,-146.6,38.2,-10.7,84,464,0.00,1.77,0.00,0.000,6,0.000,0.046,1886,2500,3897,0,0,0,0,0,0,28.83,26.28,28.83
$GC,523,-0.75,-146.6,45.3,-10.9,97,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2500,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,649,-0.75,-146.6,59.0,-11.0,122,656,0.00,1.85,0.00,0.000,4,0.000,0.072,1886,1446,3897,0,0,0,0,0,0,28.83,26.25,28.83
$GC,685,-0.75,-146.6,62.9,-11.2,129,693,0.00,1.90,0.00,0.000,6,0.000,0.080,1886,2496,3897,0,0,0,0,0,0,28.83,26.27,28.83
$GC,812,-0.75,-146.6,75.9,-10.0,154,817,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2496,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,937,-0.75,-146.6,89.0,-10.6,179,937,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2496,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1035,begin apogee
$GC,1039,-0.17,0.0,99.2,-10.5,199,1097,0.65,0.00,54.28,0.996,6,0.138,0.000,2078,2496,3354,0,0,0,0,0,0,26.10,28.83,24.32
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1099,0.75,146.6,100.4,0.0,209,1170,0.93,1.95,63.30,0.963,4,0.086,0.071,2381,1449,2754,0,0,0,0,0,0,25.35,24.87,23.85
$GC,1184,0.75,146.6,91.6,15.2,224,1191,0.00,1.98,0.00,0.000,6,0.000,0.076,2381,2494,2753,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1310,0.75,146.6,68.4,19.1,249,1316,0.00,1.90,0.00,0.000,4,0.000,0.072,2381,3557,2751,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1400,0.75,146.6,50.1,19.6,267,1407,0.00,1.80,0.00,0.000,6,0.000,0.049,2387,2506,2750,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1527,0.75,146.6,26.6,17.1,292,1533,0.00,1.88,0.00,0.000,4,0.000,0.073,2389,1440,2750,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1622,0.75,146.6,11.9,13.1,311,1629,0.00,1.90,0.00,0.000,6,0.000,0.076,2389,2494,2750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1688,0.80,184.6,5.0,8.2,324,1709,0.00,1.92,14.18,0.615,4,0.000,0.073,2389,3564,2597,0,0,0,0,0,0,28.83,25.96,25.27
$STATE,1856,end climb,NO_VERTICAL_VELOCITY
$STATE,1856,begin surface
$SM_CCo,1858,192.23,0.148,0,0,647,663.54
$SM_CCo,2094,-0.25,0.000,0,0,651,663.54
$SM_CCo,2097,0.25,0.665,0,0,647,663.54
$SM_CCo,2099,-0.15,0.000,0,0,651,663.54
$SM_GC,1.52,6.45,1.85,-0.15,0.053,0.047,0.000,170,2492,651,-6.11,0.54,663.54,0,0,0,0,0,0,25.88,25.89,26.08
$IRIDIUM_FIX,4751.72,-12340.51,300112,222236
$TT8_MAMPS,0.051681,0.051681
$HUMID,27.83
$INTERNAL_PRESSURE,8.84678
$TCM_TEMP,19.30
$24V_AH,23.9,0.520
$10V_AH,10.3,0.609
$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,15.250,26.300,131.750,192.475,0.000,0.000,0.000,0.000,0.000,0.000,44.195,0.000,951.707,461.404,728.093,34.038,30.055,757.550,0.000,516.757,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,94.860,996.030,664.785,0.000,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,248.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,10136,357
$CAP_FILE_SIZE,57143,0
$CFSIZE,-70844416,-74907648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,168.6,1
$GPS,300112,233859,4806.396,-12221.812,72,99.0,91,18.3
$RESTART_TIME,Tue Jan 31 00:20:53 2012