version: 66.10
glider: 118
mission: 6
dive: 19
start: 1 31 112 14 30 40
data:
$ID,118
$MISSION,6
$DIVE,19
$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,1
$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,650
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51595.633
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,310112,142453,4808.179,-12223.633,13,1.6,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.0
$GPS2,310112,142943,4808.256,-12223.670,14,1.6,31,18.3
$SPEED_LIMITS,0.080,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.063,-0.235
$KALMAN_X,-1185.4,-500.2,-106.4,1393.8,-84.8
$KALMAN_Y,1828.9,822.9,147.3,-2558.8,171.5
$MHEAD_RNG_PITCHd_Wd,176.7,625,-17.2,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,69,0.00,0.00,-50.12,0.000,2,0.000,0.000,168,2496,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.75,-146.6,3.1,-5.1,9,123,7.05,0.00,-41.05,0.000,6,0.233,0.000,1885,2497,3896,0,0,0,0,0,0,25.97,28.83,26.41
$GC,185,-0.75,-146.6,14.2,-9.4,30,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2497,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,253,-0.75,-146.6,19.9,-7.9,43,260,0.00,1.83,0.00,0.000,4,0.000,0.067,1885,1438,3896,0,0,0,0,0,0,28.83,26.29,28.83
$GC,352,-0.75,-146.6,28.9,-10.4,62,358,0.00,1.88,0.00,0.000,6,0.000,0.075,1885,2505,3896,0,0,0,0,0,0,28.83,26.34,28.83
$GC,420,-0.75,-146.6,36.3,-11.7,75,427,0.00,1.83,0.00,0.000,4,0.000,0.067,1885,1436,3896,0,0,0,0,0,0,28.83,26.36,28.83
$GC,433,-0.75,-146.6,37.7,-11.7,77,440,0.00,1.88,0.00,0.000,6,0.000,0.076,1885,2503,3896,0,0,0,0,0,0,28.83,26.37,28.83
$GC,501,-0.75,-146.6,45.4,-11.5,90,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2503,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,629,-0.75,-146.6,59.0,-10.6,115,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2503,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,757,-0.75,-146.6,71.8,-9.4,140,763,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2503,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-0.75,-146.6,83.9,-9.4,165,892,0.00,1.83,0.00,0.000,4,0.000,0.073,1885,3568,3896,0,0,0,0,0,0,28.83,26.50,28.83
$GC,904,-0.75,-146.6,85.7,-9.4,168,911,0.00,1.73,0.00,0.000,6,0.000,0.041,1885,2489,3896,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1034,-0.75,-146.6,97.6,-9.1,193,1040,0.00,1.85,0.00,0.000,4,0.000,0.073,1885,3564,3896,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1067,-0.75,-146.6,100.8,-9.6,199,1074,0.00,1.70,0.00,0.000,6,0.000,0.042,1885,2499,3896,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1093,-0.17,0.0,103.1,-9.6,203,1155,0.62,0.00,53.60,0.978,6,0.125,0.000,2079,2498,3354,0,0,0,0,0,0,26.45,28.83,24.38
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1158,0.75,146.6,104.2,0.0,214,1225,0.88,0.00,61.70,0.945,6,0.071,0.000,2377,2497,2755,0,0,0,0,0,0,25.56,28.83,23.74
$GC,1347,0.75,146.6,74.8,18.8,250,1354,0.00,1.88,0.00,0.000,4,0.000,0.068,2378,3565,2754,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1436,0.75,146.6,56.5,21.3,267,1442,0.00,1.77,0.00,0.000,6,0.000,0.045,2384,2501,2754,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1567,0.75,146.6,32.1,18.0,292,1573,0.00,1.85,0.00,0.000,4,0.000,0.069,2383,3565,2753,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1620,0.75,146.6,21.7,19.2,302,1626,0.00,1.77,0.00,0.000,6,0.000,0.047,2383,2500,2754,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1688,0.75,146.6,10.1,15.4,315,1695,0.00,1.83,0.00,0.000,4,0.000,0.069,2383,1443,2754,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1742,1.02,366.3,7.3,-0.3,325,1837,0.25,1.85,85.00,0.614,6,0.059,0.070,2479,2509,1853,0,0,0,0,0,0,26.22,26.17,24.88
$GC,1900,1.27,563.3,6.1,0.7,354,1979,0.17,0.00,75.82,0.592,2,0.067,0.000,2553,2509,1087,0,0,0,0,0,0,25.78,28.83,28.83
$STATE,1980,end climb,SURFACE_DEPTH_REACHED
$STATE,1980,begin surface coast
$FINISH,1.3,1.012714
$STATE,2111,end surface coast,CONTROL_FINISHED_OK
$STATE,2111,begin surface
$SM_CCo,2125,37.85,0.149,0,0,703,650.04
$SM_GC,2.08,6.90,0.00,37.85,0.049,0.000,0.149,171,2509,703,-6.11,0.25,650.04,0,0,0,0,0,0,25.83,28.83,25.68
$IRIDIUM_FIX,4751.72,-12340.51,310112,131345
$TT8_MAMPS,0.027713,0.027713
$HUMID,28.30
$INTERNAL_PRESSURE,8.88584
$TCM_TEMP,19.40
$24V_AH,23.7,1.821
$10V_AH,10.4,1.094
$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,15.875,25.450,276.125,37.850,0.000,27.091,36.522,128.754,0.000,0.000,32.421,821.683,394.751,397.506,784.844,73.660,33.230,769.591,0.000,577.109,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,75.735,977.670,149.175,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,273.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,13465,394
$CAP_FILE_SIZE,52492,0
$CFSIZE,-70844416,-78381056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,150749,4808.202,-12223.881,13,2.0,30,18.3