version: 66.10
glider: 117
mission: 31
dive: 21
start: 1 31 112 15 41 25
data:
$ID,117
$MISSION,31
$DIVE,21
$N_DIVES,25
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,20
$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,-118034.82
$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,19
$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,1
$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
$GPS1,310112,153522,4808.229,-12223.793,14,3.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.6
$GPS2,310112,154042,4808.335,-12223.840,13,1.9,23,18.3
$SPEED_LIMITS,0.080,0.173
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.168,-0.135
$KALMAN_X,-1615.6,-599.9,187.2,-621.2,-101.5
$KALMAN_Y,-1349.8,509.7,-311.7,3939.7,86.0
$MHEAD_RNG_PITCHd_Wd,110.6,1210,-22.4,-10.000
$D_GRID,101
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.89,-97.7,0.0,0.0,0,81,0.00,0.00,-62.03,0.000,2,0.000,0.000,154,2743,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.89,-97.7,3.0,-3.8,6,127,8.60,1.55,-24.02,0.000,4,0.280,0.091,2028,3634,3653,0,0,0,0,0,0,25.65,25.96,26.18
$GC,419,-0.89,-97.7,34.9,-12.2,55,430,0.00,1.52,0.00,0.000,6,0.000,0.058,2029,2737,3653,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,509,begin apogee
$GC,512,-0.17,0.0,45.5,-11.4,68,556,0.85,0.00,35.42,0.256,6,0.187,0.000,2264,2650,3251,0,0,0,0,0,0,25.98,28.83,25.72
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,560,0.89,97.7,47.4,0.0,72,604,1.02,1.60,37.15,0.251,4,0.098,0.073,2607,3533,2851,0,0,0,0,0,0,25.96,25.82,25.59
$GC,897,1.07,240.7,7.5,0.2,121,964,0.17,1.52,54.35,0.159,6,0.080,0.060,2681,2642,2264,0,0,0,0,0,0,26.15,26.12,25.79
$STATE,970,end climb,NO_VERTICAL_VELOCITY
$STATE,970,begin surface
$SM_CCo,975,143.68,0.151,0,0,742,614.97
$SM_CCo,1163,-0.43,0.000,0,0,748,614.97
$SM_CCo,1165,0.30,0.429,0,0,744,614.97
$SM_CCo,1167,-0.20,0.000,0,0,748,614.72
$SM_GC,2.32,7.05,0.22,-0.20,0.054,0.087,0.000,155,2754,748,-6.75,-0.62,614.72,0,0,0,0,0,0,25.76,25.76,25.96
$IRIDIUM_FIX,4751.72,-12340.51,310112,141456
$TT8_MAMPS,0.093625,0.093625
$HUMID,32.75
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,19.50
$MI_MIVER,0.2
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,5
$MI_LOG,3.3/516052/498843
$MI_ROOT,70.6/190403/56032
$MI_HOME,4.5/436550/416885
$24V_AH,25.6,1.164
$10V_AH,10.4,1.723
$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,17.700,6.575,126.925,143.975,0.000,24.603,36.951,151.181,0.000,1023.220,24.392,0.000,30.023,274.378,1112.678,71.641,33.207,507.982,0.000,193.913,0.000,0.000,0.000
$DEVICE_MAMPS,279.990,91.035,255.510,429.165,0.000,103.000,160.000,223.000,0.000,58.602,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,92.083,0.000,0.000,0.000,0.000,0.000,1023.310,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,195.719,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,3526,128
$CAP_FILE_SIZE,57145,0
$CFSIZE,260034560,245297152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,160148,4808.443,-12223.823,27,1.2,37,18.3