version: 66.10
glider: 117
mission: 31
dive: 16
start: 1 31 112 11 38 18
data:
$ID,117
$MISSION,31
$DIVE,16
$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,-118027.57
$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,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,17
$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
$GPS1,310112,113242,4807.361,-12223.445,11,1.3,21,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.4
$GPS2,310112,113736,4807.393,-12223.469,13,1.3,23,18.3
$SPEED_LIMITS,0.062,0.159
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,0.193
$KALMAN_X,119.5,-786.4,27.6,-1553.6,-83.4
$KALMAN_Y,-3362.5,564.2,274.7,3574.2,-86.0
$MHEAD_RNG_PITCHd_Wd,327.1,1303,-18.0,-7.692
$D_GRID,103
$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,-72.22,0.000,2,0.000,0.000,147,2763,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.74,-97.7,3.6,-8.9,13,117,8.77,1.60,-17.15,0.000,4,0.272,0.078,2085,1858,3653,0,0,0,0,0,0,25.39,25.89,26.15
$GC,341,-0.74,-97.7,28.0,-8.6,63,348,0.00,1.58,0.00,0.000,6,0.000,0.067,2079,2744,3654,0,0,0,0,0,0,28.83,26.01,28.83
$GC,407,-0.74,-97.7,34.0,-8.9,76,414,0.00,1.52,0.00,0.000,4,0.000,0.057,2079,1863,3654,0,0,0,0,0,0,28.83,26.00,28.83
$GC,468,-0.74,-97.7,39.8,-8.9,88,475,0.00,1.58,0.00,0.000,6,0.000,0.067,2072,2749,3654,0,0,0,0,0,0,28.83,26.06,28.83
$GC,534,-0.74,-97.7,46.3,-9.9,101,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2749,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,654,-0.74,-97.7,58.1,-10.9,125,661,0.00,1.52,0.00,0.000,4,0.000,0.057,2072,1864,3654,0,0,0,0,0,0,28.83,26.19,28.83
$GC,720,-0.74,-97.7,64.4,-9.7,138,727,0.00,1.58,0.00,0.000,6,0.000,0.068,2066,2750,3654,0,0,0,0,0,0,28.83,26.18,28.83
$GC,846,-0.74,-97.7,77.5,-10.0,163,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2750,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,971,-0.74,-97.7,89.7,-9.8,188,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2750,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.74,-97.7,100.9,-9.4,212,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2750,3654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1115,begin apogee
$GC,1118,-0.17,0.0,103.1,-9.2,217,1163,0.70,0.00,38.03,0.414,6,0.167,0.000,2268,2647,3253,0,0,0,0,0,0,26.04,28.83,25.51
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1165,0.74,97.7,104.2,0.0,225,1209,0.85,0.00,40.55,0.409,6,0.090,0.000,2559,2647,2852,0,0,0,0,0,0,25.98,28.83,25.03
$GC,1328,0.74,97.7,80.8,16.5,257,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2647,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,0.74,97.7,60.9,15.7,281,1455,0.00,1.60,0.00,0.000,4,0.000,0.075,2559,3531,2846,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1484,0.74,97.7,54.7,18.0,288,1491,0.00,1.55,0.00,0.000,6,0.000,0.060,2566,2651,2846,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1610,0.74,97.7,34.4,15.0,313,1617,0.00,1.60,0.00,0.000,4,0.000,0.075,2566,3534,2846,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1656,0.74,97.7,26.9,16.6,322,1663,0.00,1.55,0.00,0.000,6,0.000,0.060,2572,2651,2846,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1722,0.74,97.7,16.9,13.8,335,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2651,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1787,0.74,97.7,9.6,7.8,348,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2651,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1847,0.91,239.8,7.2,0.2,360,1905,0.15,1.62,53.67,0.153,4,0.086,0.076,2633,3539,2270,0,0,0,0,0,0,26.23,26.02,25.89
$GC,1909,1.08,378.4,6.7,0.4,371,1966,0.08,1.55,52.15,0.148,6,0.067,0.060,2680,2656,1705,0,0,0,0,0,0,26.10,26.07,25.56
$STATE,2004,end climb,SURFACE_DEPTH_REACHED
$STATE,2004,begin surface coast
$FINISH,2.9,1.016041
$STATE,2118,end surface coast,CONTROL_FINISHED_OK
$STATE,2119,begin surface
$SM_CCo,2132,89.97,0.142,0,0,744,614.97
$SM_CCo,2224,-0.32,0.000,0,0,747,614.97
$SM_CCo,2226,0.05,1.821,0,0,744,614.97
$SM_GC,1.21,7.12,0.20,0.05,0.066,0.093,1.821,152,2753,744,-6.76,-0.54,614.97,0,0,0,0,0,0,26.02,26.04,25.08
$IRIDIUM_FIX,4751.72,-12056.72,310112,101032
$TT8_MAMPS,0.049434,0.049434
$HUMID,32.83
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.80
$24V_AH,25.0,0.991
$10V_AH,10.6,1.544
$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,17.675,19.250,184.400,90.025,0.000,30.419,35.479,141.926,0.000,0.000,24.411,0.000,1064.102,377.103,1009.194,70.320,33.228,719.797,0.000,595.719,0.000,0.000,0.000
$DEVICE_MAMPS,272.340,92.565,413.865,1821.465,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,289.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323244
$DATA_FILE_SIZE,13449,412
$CAP_FILE_SIZE,48557,0
$CFSIZE,260034560,245440512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,121606,4807.625,-12223.661,13,2.0,23,18.3