version: 66.10
glider: 117
mission: 31
dive: 20
start: 1 31 112 14 53 31
data:
$ID,117
$MISSION,31
$DIVE,20
$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,-118033.55
$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,14
$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
$GPS1,310112,144742,4808.042,-12223.749,93,1.9,103,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.7
$GPS2,310112,145249,4808.140,-12223.853,16,1.8,33,18.3
$SPEED_LIMITS,0.062,0.159
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.184,-0.076
$KALMAN_X,-1174.1,-699.0,225.1,-1017.4,-230.2
$KALMAN_Y,-2105.4,618.2,-190.8,4108.2,123.1
$MHEAD_RNG_PITCHd_Wd,94.2,1086,-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,-97.7,0.0,0.0,0,64,0.00,0.00,-50.10,0.000,2,0.000,0.000,148,2742,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.74,-97.7,3.7,-10.0,9,112,9.00,1.55,-31.55,0.000,4,0.286,0.080,2088,1858,3653,0,0,0,0,0,0,25.62,25.98,26.17
$GC,336,-0.74,-97.7,23.1,-7.4,62,343,0.00,1.60,0.00,0.000,6,0.000,0.067,2082,2754,3654,0,0,0,0,0,0,28.83,26.11,28.83
$GC,402,-0.74,-97.7,28.5,-8.2,75,408,0.00,1.52,0.00,0.000,4,0.000,0.058,2082,1868,3653,0,0,0,0,0,0,28.83,26.17,28.83
$GC,632,-0.74,-97.7,49.6,-9.7,121,639,0.00,1.55,0.00,0.000,6,0.000,0.068,2075,2744,3653,0,0,0,0,0,0,28.83,26.23,28.83
$GC,758,-0.74,-97.7,61.9,-9.9,146,765,0.00,1.50,0.00,0.000,4,0.000,0.058,2075,1867,3653,0,0,0,0,0,0,28.83,26.28,28.83
$GC,910,-0.74,-97.7,76.5,-9.7,176,916,0.00,1.55,0.00,0.000,6,0.000,0.068,2069,2747,3653,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1035,-0.74,-97.7,88.7,-9.5,201,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2747,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1160,-0.74,-97.7,100.8,-9.4,226,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2747,3653,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1188,-0.17,0.0,103.2,-9.8,231,1232,0.68,0.00,37.83,0.409,6,0.164,0.000,2266,2645,3253,0,0,0,0,0,0,26.19,28.83,25.58
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1234,0.74,97.7,104.3,0.0,239,1278,0.88,0.00,39.90,0.409,6,0.089,0.000,2566,2645,2852,0,0,0,0,0,0,26.01,28.83,25.29
$GC,1397,0.74,97.7,81.6,16.5,271,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2645,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,0.74,97.7,61.8,16.7,295,1524,0.00,1.60,0.00,0.000,4,0.000,0.075,2566,3531,2846,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1568,0.74,97.7,52.6,18.7,305,1575,0.00,1.55,0.00,0.000,6,0.000,0.060,2573,2646,2846,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1694,0.74,97.7,31.5,15.8,330,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2646,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,0.74,97.7,21.7,15.7,343,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2646,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,0.74,97.7,12.4,15.7,355,1826,0.00,1.58,0.00,0.000,4,0.000,0.076,2572,3526,2846,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1935,0.89,222.6,7.9,1.1,378,1987,0.08,1.52,47.17,0.156,6,0.076,0.060,2619,2647,2340,0,0,0,0,0,0,26.25,26.25,25.94
$GC,2047,1.06,356.3,7.0,0.6,399,2103,0.12,1.58,50.03,0.155,4,0.093,0.073,2677,3538,1792,0,0,0,0,0,0,26.16,25.96,25.84
$STATE,2186,end climb,SURFACE_DEPTH_REACHED
$STATE,2186,begin surface coast
$FINISH,2.5,1.016045
$STATE,2342,end surface coast,CONTROL_FINISHED_OK
$STATE,2342,begin surface
$SM_CCo,2356,97.72,0.147,0,0,744,614.97
$SM_CCo,2456,-0.35,0.000,0,0,747,614.97
$SM_CCo,2458,0.25,0.490,0,0,743,614.97
$SM_GC,1.09,7.12,1.40,0.25,0.069,0.060,0.490,155,2743,743,-6.75,0.45,614.97,0,0,0,0,0,0,26.15,26.17,25.77
$IRIDIUM_FIX,4751.72,-12340.51,310112,141432
$TT8_MAMPS,0.049434,0.049434
$HUMID,33.57
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.70
$24V_AH,25.3,1.121
$10V_AH,10.5,1.648
$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,17.875,18.700,174.925,97.975,0.000,29.914,35.788,143.937,0.000,0.000,34.296,0.000,1229.544,365.331,1093.601,76.756,33.197,728.898,0.000,659.234,0.000,0.000,0.000
$DEVICE_MAMPS,286.110,80.325,409.275,490.365,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,321.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,13441,457
$CAP_FILE_SIZE,48466,0
$CFSIZE,260034560,245321728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,153522,4808.229,-12223.793,14,3.4,33,18.3