version: 66.10
glider: 117
mission: 31
dive: 18
start: 1 31 112 13 15 57
data:
$ID,117
$MISSION,31
$DIVE,18
$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,-118030.09
$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,21
$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
$GPS1,310112,130734,4807.983,-12224.005,124,5.2,143,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.3
$GPS2,310112,131516,4808.071,-12224.022,13,8.2,32,18.3
$SPEED_LIMITS,0.062,0.159
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.190,-0.061
$KALMAN_X,-417.0,-808.9,178.9,-1829.7,-147.2
$KALMAN_Y,-2639.5,576.1,-12.5,4378.1,103.8
$MHEAD_RNG_PITCHd_Wd,89.5,1271,-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,-97.7,0.0,0.0,0,59,0.00,0.00,-44.90,0.000,2,0.000,0.000,153,2757,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.74,-97.7,4.0,-10.4,8,111,8.98,1.52,-35.85,0.000,4,0.280,0.090,2079,3642,3653,0,0,0,0,0,0,25.35,25.90,26.17
$GC,151,-0.74,-97.7,10.2,-5.9,25,158,0.00,1.55,0.00,0.000,6,0.000,0.058,2079,2753,3653,0,0,0,0,0,0,28.83,25.99,28.83
$GC,217,-0.74,-97.7,14.5,-6.0,38,224,0.00,1.58,0.00,0.000,4,0.000,0.073,2072,3634,3653,0,0,0,0,0,0,28.83,25.98,28.83
$GC,448,-0.74,-97.7,34.0,-11.1,84,454,0.00,1.52,0.00,0.000,6,0.000,0.059,2073,2753,3653,0,0,0,0,0,0,28.83,26.16,28.83
$GC,514,-0.74,-97.7,40.7,-10.2,97,520,0.00,1.58,0.00,0.000,4,0.000,0.073,2066,3637,3653,0,0,0,0,0,0,28.83,26.13,28.83
$GC,655,-0.74,-97.7,56.1,-11.0,125,661,0.00,1.52,0.00,0.000,6,0.000,0.059,2066,2755,3653,0,0,0,0,0,0,28.83,26.23,28.83
$GC,780,-0.74,-97.7,69.2,-10.8,150,787,0.00,1.55,0.00,0.000,4,0.000,0.075,2059,3627,3652,0,0,0,0,0,0,28.83,26.21,28.83
$GC,846,-0.74,-97.7,76.5,-11.3,163,853,0.08,1.52,0.00,0.000,6,0.192,0.059,2081,2746,3653,0,0,0,0,0,0,25.99,26.27,28.83
$GC,974,-0.74,-97.7,88.3,-8.6,188,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2746,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.74,-97.7,99.5,-8.8,213,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2746,3652,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1140,-0.17,0.0,103.1,-9.9,221,1185,0.62,0.00,38.03,0.414,6,0.159,0.000,2265,2650,3253,0,0,0,0,0,0,26.10,28.83,25.41
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1187,0.74,97.7,104.2,0.0,229,1231,0.88,0.00,41.78,0.406,6,0.089,0.000,2563,2650,2852,0,0,0,0,0,0,25.96,28.83,24.32
$GC,1350,0.74,97.7,81.8,16.3,261,1357,0.00,1.60,0.00,0.000,4,0.000,0.074,2564,3537,2847,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1391,0.74,97.7,74.4,18.6,269,1398,0.00,1.58,0.00,0.000,6,0.000,0.060,2570,2644,2847,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1518,0.74,97.7,53.0,16.9,294,1524,0.00,1.60,0.00,0.000,4,0.000,0.076,2570,3528,2846,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1558,0.74,97.7,45.9,18.1,302,1565,0.00,1.52,0.00,0.000,6,0.000,0.060,2577,2654,2846,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1684,0.74,97.7,25.2,15.7,327,1691,0.00,1.52,0.00,0.000,4,0.000,0.062,2584,1767,2845,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1735,0.74,97.7,17.7,14.8,337,1742,0.00,1.58,0.00,0.000,6,0.000,0.069,2584,2648,2845,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1801,0.74,97.7,8.2,11.8,350,1808,0.00,1.58,0.00,0.000,4,0.000,0.076,2584,3534,2845,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1862,0.95,265.2,8.1,-1.2,362,1930,0.10,1.55,63.83,0.152,6,0.066,0.060,2639,2646,2169,0,0,0,0,0,0,26.22,26.21,25.68
$GC,1989,1.10,390.1,6.4,1.1,386,2040,0.12,1.65,46.60,0.149,4,0.091,0.076,2691,3541,1656,0,0,0,0,0,0,26.09,25.86,25.72
$GC,2265,1.29,547.4,4.4,-0.6,440,2306,0.10,1.55,37.20,0.148,2,0.052,0.060,2762,2657,1253,0,0,0,0,0,0,26.20,26.11,28.83
$STATE,2306,end climb,SURFACE_DEPTH_REACHED
$STATE,2306,begin surface coast
$FINISH,0.3,1.008327
$STATE,2509,end surface coast,CONTROL_FINISHED_OK
$STATE,2509,begin surface
$SM_CCo,2522,49.17,0.147,0,0,742,614.97
$SM_CCo,2573,-0.45,0.000,0,0,748,614.97
$SM_CCo,2576,0.28,0.459,0,0,745,614.97
$SM_GC,1.71,7.15,0.20,0.28,0.052,0.091,0.459,145,2755,745,-6.77,-0.51,614.97,0,0,0,0,0,0,26.17,26.15,25.83
$IRIDIUM_FIX,4751.72,-12340.51,310112,131351
$TT8_MAMPS,0.050183,0.050183
$HUMID,33.10
$INTERNAL_PRESSURE,8.91158
$TCM_TEMP,19.70
$24V_AH,24.3,1.061
$10V_AH,10.5,1.598
$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,18.025,28.450,227.425,49.450,0.000,54.540,91.165,152.427,0.000,0.000,33.827,0.000,1327.609,380.940,1246.044,81.153,33.201,779.702,0.000,703.158,0.000,0.000,0.000
$DEVICE_MAMPS,279.990,91.035,413.865,459.000,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,343.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,16755,488
$CAP_FILE_SIZE,54835,0
$CFSIZE,260034560,245366784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,140016,4808.033,-12223.912,54,1.3,64,18.3