version: 66.10
glider: 116
mission: 33
dive: 3
start: 6 12 112 18 23 26
data:
$ID,116
$MISSION,33
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$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,40
$T_MISSION,45
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,35
$SPEED_FACTOR,0.80000001
$RHO,1.023
$MASS,51412
$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,24.3333
$TGT_DEFAULT_LON,-82.333298
$TGT_AUTO_DEFAULT,0
$SM_CC,383
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$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,-76105.891
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,133
$PITCH_MAX,3926
$C_PITCH,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,275
$ROLL_MAX,3832
$ROLL_DEG,30
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3960
$C_VBD,2310
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-22.355999
$PRESSURE_SLOPE,0.0001145545
$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,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.85
$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,0.0043750796
$SEABIRD_T_H,0.00063934911
$SEABIRD_T_I,2.7085041e-05
$SEABIRD_T_J,3.1576283e-06
$SEABIRD_C_G,-9.8751535
$SEABIRD_C_H,1.1253172
$SEABIRD_C_I,-0.0019110913
$SEABIRD_C_J,0.00023224781
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,120612,181830,4742.459,-12225.188,10,1.2,20,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.7
$GPS2,120612,182247,4742.445,-12225.184,12,1.3,22,18.2
$SPEED_LIMITS,0.143,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.060,0.273
$KALMAN_X,-94.4,-73.9,-69.4,-9.3,-101.8
$KALMAN_Y,-357.4,-315.8,-305.9,397.2,-390.0
$MHEAD_RNG_PITCHd_Wd,354.2,2335,-21.9,-12.500
$D_GRID,178
$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,-0.74,-146.6,0.0,0.0,0,76,0.00,0.00,-58.33,0.000,2,0.000,0.000,135,2407,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.74,-146.6,3.1,-6.1,9,105,9.38,1.85,-8.90,0.000,4,0.249,0.073,2279,1339,2909,0,0,0,0,0,0,25.88,26.14,26.32
$GC,269,-0.74,-146.6,33.0,-13.3,46,277,0.00,1.85,0.00,0.000,6,0.000,0.064,2273,2391,2909,0,0,0,0,0,0,28.83,26.24,28.83
$GC,336,-0.74,-146.6,41.9,-13.3,59,343,0.00,1.90,0.00,0.000,4,0.000,0.079,2267,3460,2909,0,0,0,0,0,0,28.83,26.26,28.83
$GC,438,-0.74,-146.6,56.2,-15.2,79,445,0.00,1.83,0.00,0.000,6,0.000,0.053,2267,2376,2909,0,0,0,0,0,0,28.83,26.36,28.83
$GC,565,-0.74,-146.6,75.2,-14.5,104,572,0.00,1.92,0.00,0.000,4,0.000,0.078,2259,3460,2909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,657,-0.74,-146.6,89.0,-15.5,122,664,0.00,1.80,0.00,0.000,6,0.000,0.054,2259,2400,2909,0,0,0,0,0,0,28.83,26.43,28.83
$GC,785,-0.74,-146.6,107.1,-12.4,147,791,0.00,1.88,0.00,0.000,4,0.000,0.079,2251,3467,2909,0,0,0,0,0,0,28.83,26.37,28.83
$GC,876,-0.74,-146.6,120.2,-14.3,165,883,0.08,1.83,0.00,0.000,6,0.160,0.053,2281,2393,2909,0,0,0,0,0,0,26.28,26.46,28.83
$GC,1004,-0.74,-146.6,136.0,-12.1,190,1011,0.00,1.88,0.00,0.000,4,0.000,0.080,2274,3462,2909,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1119,-0.16,0.0,150.6,-13.3,212,1254,0.65,0.00,120.00,1.109,6,0.138,0.000,2469,2602,2313,0,0,0,0,1,0,26.25,28.83,24.14
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1257,0.74,146.6,155.8,0.0,233,1392,0.90,1.92,118.65,1.079,4,0.083,0.058,2767,1544,1714,0,0,0,0,1,0,25.10,24.90,24.10
$GC,1443,0.75,161.9,145.7,11.6,264,1464,0.00,1.92,16.60,0.625,6,0.000,0.069,2768,2593,1647,0,0,0,0,0,0,28.83,25.48,24.96
$GC,1584,0.75,170.1,128.5,12.0,291,1592,0.00,1.92,3.15,0.689,4,0.000,0.080,2768,3663,1617,0,0,0,0,0,0,28.83,25.80,25.27
$GC,1651,0.75,170.1,119.4,13.8,304,1659,0.00,1.88,0.00,0.000,6,0.000,0.057,2777,2593,1617,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1779,0.75,171.7,103.2,12.4,329,1786,0.00,1.92,0.00,0.000,4,0.000,0.081,2777,3666,1617,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1826,0.75,171.7,96.4,14.6,338,1833,0.00,1.85,0.00,0.000,6,0.000,0.056,2785,2597,1618,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1953,0.75,179.8,80.3,12.0,363,1966,0.00,0.00,8.60,0.639,6,0.000,0.000,2785,2596,1572,0,0,0,0,0,0,28.83,28.83,25.65
$GC,2087,0.76,195.0,63.3,11.6,389,2101,0.00,1.90,10.62,0.617,4,0.000,0.080,2785,3660,1510,0,0,0,0,0,0,28.83,26.06,25.62
$GC,2116,0.76,195.0,59.4,12.8,394,2123,0.00,1.83,0.00,0.000,6,0.000,0.056,2793,2603,1507,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2243,0.76,195.0,41.6,13.3,419,2250,0.00,1.92,0.00,0.000,4,0.000,0.083,2793,3659,1506,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2254,0.76,195.0,40.0,14.4,421,2262,0.10,1.83,0.00,0.000,6,0.174,0.056,2774,2601,1507,0,0,0,0,0,0,26.10,26.25,28.83
$GC,2383,0.77,228.6,25.0,10.6,446,2415,0.00,1.92,25.98,0.567,4,0.000,0.080,2774,3667,1371,0,0,0,0,0,0,28.83,25.94,25.55
$GC,2430,0.78,241.4,19.4,11.8,454,2444,0.00,1.88,8.12,0.539,6,0.000,0.057,2781,2595,1320,0,0,0,0,0,0,28.83,26.03,25.48
$GC,2504,0.78,252.4,10.8,11.9,468,2512,0.00,1.92,3.70,0.490,4,0.000,0.081,2781,3661,1280,0,0,0,0,0,0,28.83,25.97,25.48
$GC,2567,0.80,282.4,3.6,10.8,480,2587,0.00,1.85,11.60,0.148,6,0.000,0.057,2789,2600,1153,0,0,0,0,0,0,28.83,26.10,25.96
$STATE,2589,end climb,SURFACE_DEPTH_REACHED
$STATE,2589,begin surface coast
$FINISH,1.7,1.018242
$STATE,2645,end surface coast,CONTROL_FINISHED_OK
$STATE,2646,begin surface
$SM_CCo,2664,34.78,0.146,0,0,766,377.76
$SM_CCo,2701,-0.17,0.000,0,0,772,377.76
$SM_CCo,2703,0.30,0.428,0,0,766,377.76
$SM_GC,2.55,7.70,0.35,0.30,0.063,0.067,0.428,135,2400,766,-7.43,0.79,377.76,0,0,0,0,0,0,26.12,26.15,25.95
$IRIDIUM_FIX,4751.72,-12340.51,120612,181822
$TT8_MAMPS,0.093625,0.093625
$HUMID,49.37
$INTERNAL_PRESSURE,8.96096
$TCM_TEMP,19.50
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,4
$MI_LOG,3.3/516052/498834
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.6/436550/425294
$24V_AH,24.1,0.394
$10V_AH,10.3,0.331
$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,18.800,45.025,327.025,35.075,0.000,0.000,0.000,0.000,0.000,2740.800,22.711,0.000,1126.429,457.671,1111.276,62.036,31.286,897.266,0.000,711.815,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,82.620,1109.250,427.635,0.000,0.000,0.000,0.000,0.000,10.362,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,330.534,0.000,0.000,0.000,0.000,0.000,2740.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.476,0.000,0.000,0.000
$MEM,323756
$DATA_FILE_SIZE,16777,495
$CAP_FILE_SIZE,73873,0
$CFSIZE,260034560,257671168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120612,190952,4742.683,-12225.184,43,2.2,62,18.2