version: 66.10
glider: 117
mission: 31
dive: 19
start: 1 31 112 14 6 18
data:
$ID,117
$MISSION,31
$DIVE,19
$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,-118032.29
$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,18
$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
$GPS1,310112,140016,4808.033,-12223.912,54,1.3,64,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.7
$GPS2,310112,140536,4808.070,-12223.919,15,1.6,25,18.3
$SPEED_LIMITS,0.062,0.159
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.188,-0.064
$KALMAN_X,-765.4,-775.7,216.2,-1422.6,-180.3
$KALMAN_Y,-2469.7,624.9,-100.8,4247.7,112.5
$MHEAD_RNG_PITCHd_Wd,90.6,1143,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.74,-97.7,0.0,0.0,0,71,0.00,0.00,-56.55,0.000,2,0.000,0.000,145,2757,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.74,-97.7,3.8,-9.7,10,118,8.77,1.55,-29.08,0.000,4,0.278,0.080,2086,1870,3654,0,0,0,0,0,0,25.66,26.00,26.19
$GC,322,-0.74,-97.7,19.9,-6.0,59,329,0.00,1.55,0.00,0.000,6,0.000,0.067,2080,2746,3654,0,0,0,0,0,0,28.83,26.11,28.83
$GC,388,-0.74,-97.7,25.1,-8.6,72,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2746,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,453,-0.74,-97.7,30.9,-8.6,85,460,0.00,1.50,0.00,0.000,4,0.000,0.057,2080,1869,3654,0,0,0,0,0,0,28.83,26.19,28.83
$GC,569,-0.74,-97.7,42.3,-9.7,108,575,0.00,1.55,0.00,0.000,6,0.000,0.068,2073,2744,3654,0,0,0,0,0,0,28.83,26.21,28.83
$GC,695,-0.74,-97.7,55.0,-10.5,133,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2744,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-0.74,-97.7,67.3,-9.5,158,826,0.00,1.55,0.00,0.000,4,0.000,0.075,2066,3635,3654,0,0,0,0,0,0,28.83,26.26,28.83
$GC,865,-0.74,-97.7,72.0,-10.7,167,872,0.00,1.52,0.00,0.000,6,0.000,0.059,2066,2752,3654,0,0,0,0,0,0,28.83,26.32,28.83
$GC,991,-0.74,-97.7,84.1,-9.8,192,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2752,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.74,-97.7,95.7,-8.7,217,1123,0.00,1.50,0.00,0.000,4,0.000,0.058,2066,1861,3654,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1167,-0.74,-97.7,100.3,-8.9,227,1174,0.08,1.55,0.00,0.000,6,0.177,0.068,2082,2744,3654,0,0,0,0,0,0,26.19,26.34,28.83
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1206,-0.17,0.0,103.2,-8.0,234,1250,0.62,0.00,37.80,0.402,6,0.160,0.000,2268,2642,3253,0,0,0,0,0,0,26.19,28.83,25.59
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1252,0.74,97.7,104.1,0.0,242,1296,0.85,0.00,39.80,0.400,6,0.088,0.000,2560,2642,2852,0,0,0,0,0,0,26.01,28.83,25.32
$GC,1415,0.74,97.7,81.0,16.7,274,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2642,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1536,0.74,97.7,61.7,16.2,298,1542,0.00,1.60,0.00,0.000,4,0.000,0.076,2560,3530,2846,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1586,0.74,97.7,52.7,18.2,308,1593,0.00,1.55,0.00,0.000,6,0.000,0.060,2567,2649,2846,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1712,0.74,97.7,31.7,16.0,333,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2649,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,0.74,97.7,21.8,15.2,346,1784,0.00,1.52,0.00,0.000,4,0.000,0.063,2574,1763,2845,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1813,0.74,97.7,16.4,15.0,353,1820,0.00,1.58,0.00,0.000,6,0.000,0.069,2574,2648,2845,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1879,0.74,97.7,7.8,9.9,366,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2648,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1944,0.96,273.9,8.3,-1.6,379,2018,0.17,1.58,66.25,0.152,4,0.083,0.077,2642,3531,2130,0,0,0,0,0,0,26.26,26.00,25.89
$STATE,2180,end climb,NO_VERTICAL_VELOCITY
$STATE,2180,begin surface
$SM_CCo,2182,130.07,0.150,0,0,741,614.97
$SM_CCo,2357,-0.50,0.000,0,0,748,614.72
$SM_CCo,2360,0.38,0.366,0,0,744,614.97
$SM_CCo,2362,-0.20,0.000,0,0,747,614.97
$SM_GC,1.19,6.88,1.40,-0.20,0.050,0.058,0.000,149,2743,747,-6.77,0.54,614.97,0,0,0,0,0,0,25.89,25.90,26.08
$IRIDIUM_FIX,4751.72,-12056.72,310112,131309
$TT8_MAMPS,0.050183,0.050183
$HUMID,33.54
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.90
$24V_AH,25.3,1.091
$10V_AH,10.6,1.622
$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,17.375,21.700,143.850,130.450,0.000,30.752,36.302,160.200,0.000,0.000,27.242,0.000,1146.387,403.830,1053.345,78.196,33.207,752.033,0.000,614.059,0.000,0.000,0.000
$DEVICE_MAMPS,277.695,79.560,402.390,365.670,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,299.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,13482,425
$CAP_FILE_SIZE,49417,0
$CFSIZE,260034560,245346304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,144742,4808.042,-12223.749,93,1.9,103,18.3