version: 66.10
glider: 118
mission: 6
dive: 20
start: 1 31 112 15 13 20
data:
$ID,118
$MISSION,6
$DIVE,20
$N_DIVES,25
$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,-51596.891
$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,23
$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
$GPS1,310112,150749,4808.202,-12223.881,13,2.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.3
$GPS2,310112,151222,4808.295,-12223.950,16,2.1,35,18.3
$SPEED_LIMITS,0.080,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.240
$KALMAN_X,-1401.5,-526.9,-86.2,1271.9,-88.1
$KALMAN_Y,2241.3,868.5,116.4,-2913.4,200.9
$MHEAD_RNG_PITCHd_Wd,152.4,549,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.75,-146.6,0.0,0.0,0,73,0.00,0.00,-55.62,0.000,2,0.000,0.000,171,2510,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.75,-146.6,3.8,-8.0,10,123,7.20,1.90,-34.00,0.000,4,0.242,0.090,1883,3571,3895,0,0,0,0,0,0,25.93,26.17,26.36
$GC,275,-0.75,-146.6,22.8,-10.0,48,281,0.00,1.77,0.00,0.000,6,0.000,0.044,1883,2490,3896,0,0,0,0,0,0,28.83,26.32,28.83
$GC,343,-0.75,-146.6,29.6,-10.3,61,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2490,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,411,-0.75,-146.6,37.0,-11.2,74,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2490,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,479,-0.75,-146.6,44.5,-10.5,87,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2490,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,606,-0.75,-146.6,58.7,-10.7,112,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2490,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,734,-0.75,-146.6,72.1,-10.1,137,740,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2490,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,862,-0.75,-146.6,85.0,-9.9,162,868,0.00,1.85,0.00,0.000,4,0.000,0.073,1884,3563,3896,0,0,0,0,0,0,28.83,26.48,28.83
$GC,874,-0.75,-146.6,86.4,-10.6,164,881,0.00,1.75,0.00,0.000,6,0.000,0.043,1884,2487,3896,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1004,-0.75,-146.6,98.8,-9.5,189,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2487,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1050,-0.17,0.0,103.2,-9.8,197,1106,0.62,0.00,52.67,0.981,6,0.128,0.000,2077,2487,3353,0,0,0,0,0,0,26.44,28.83,24.74
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1109,0.75,146.6,104.7,0.0,207,1176,0.90,0.00,60.53,0.951,6,0.073,0.000,2380,2487,2755,0,0,0,0,0,0,25.56,28.83,24.23
$GC,1298,0.75,146.6,75.5,19.0,243,1305,0.00,1.90,0.00,0.000,4,0.000,0.069,2380,3563,2753,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1362,0.75,146.6,62.3,21.5,255,1368,0.00,1.80,0.00,0.000,6,0.000,0.047,2383,2494,2753,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1491,0.75,146.6,37.3,19.1,280,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2494,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,0.75,146.6,25.2,17.0,293,1565,0.00,1.85,0.00,0.000,4,0.000,0.070,2383,3563,2753,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1622,0.75,146.6,13.4,19.4,305,1629,0.00,1.75,0.00,0.000,6,0.000,0.048,2383,2498,2753,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1692,1.03,370.3,7.0,-0.5,318,1782,0.22,0.00,86.28,0.611,6,0.063,0.000,2476,2498,1842,0,0,0,0,0,0,26.30,28.83,24.88
$GC,1844,1.26,557.0,4.4,1.2,346,1869,0.17,0.00,21.55,0.149,2,0.066,0.000,2551,2498,1610,0,0,0,0,0,0,25.77,28.83,28.83
$STATE,1870,end climb,SURFACE_DEPTH_REACHED
$STATE,1870,begin surface coast
$FINISH,2.1,1.015498
$STATE,2091,end surface coast,CONTROL_FINISHED_OK
$STATE,2091,begin surface
$SM_CCo,2106,86.47,0.147,0,0,702,650.04
$SM_GC,1.58,7.00,0.00,86.47,0.066,0.000,0.147,176,2498,702,-6.10,-0.06,650.04,0,0,0,0,0,0,26.11,28.83,25.85
$IRIDIUM_FIX,4751.72,-12340.51,310112,141457
$TT8_MAMPS,0.026964,0.026964
$HUMID,27.98
$INTERNAL_PRESSURE,8.87608
$TCM_TEMP,19.40
$24V_AH,24.2,1.880
$10V_AH,10.5,1.118
$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,16.125,14.575,221.025,86.475,0.000,24.843,40.663,103.546,0.000,0.000,37.271,841.765,416.016,389.126,776.871,61.345,33.225,743.563,0.000,577.485,0.000,0.000,0.000
$DEVICE_MAMPS,241.740,89.505,980.730,146.880,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,273.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13452,394
$CAP_FILE_SIZE,48391,0
$CFSIZE,-70844416,-78577664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,155058,4808.227,-12224.027,10,5.8,29,18.3