version: 66.10
glider: 116
mission: 33
dive: 6
start: 6 12 112 21 31 45
data:
$ID,116
$MISSION,33
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,35
$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,400
$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,-76203.156
$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,2495
$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,2750
$C_ROLL_CLIMB,2725
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,9
$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
$GPS1,120612,212142,4743.402,-12225.074,31,1.9,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.7
$GPS2,120612,213104,4743.439,-12225.038,10,2.5,29,18.2
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,0.275
$KALMAN_X,-181.4,-132.6,-95.1,337.5,15.7
$KALMAN_Y,-148.3,-321.3,-334.4,2055.1,125.4
$MHEAD_RNG_PITCHd_Wd,347.0,486,-21.2,-12.000
$D_GRID,179
$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,-0.72,-146.6,0.0,0.0,0,70,0.00,0.00,-52.08,0.000,2,0.000,0.000,128,2592,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.72,-146.6,3.6,-6.8,8,99,9.50,1.58,-11.57,0.000,4,0.257,0.074,2259,1679,2910,0,0,0,0,0,0,25.79,26.05,26.20
$GC,324,-0.72,-146.6,44.6,-15.2,57,331,0.00,1.92,0.00,0.000,6,0.000,0.075,2253,2751,2910,0,0,0,0,0,0,28.83,26.15,28.83
$GC,450,-0.72,-146.6,65.3,-15.8,82,457,0.00,1.83,0.00,0.000,4,0.000,0.054,2252,1680,2910,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,615,begin apogee
$GC,621,-0.16,0.0,90.4,-13.6,115,756,0.68,0.00,127.05,0.569,6,0.152,0.000,2439,2733,2300,0,0,0,0,0,0,26.20,28.83,24.77
$STATE,757,end apogee,CONTROL_FINISHED_OK
$STATE,757,begin climb
$GC,759,0.72,146.6,96.0,0.0,136,894,0.90,1.90,125.32,0.532,4,0.102,0.056,2727,1658,1696,0,0,0,0,0,0,25.23,25.08,24.65
$GC,919,0.75,231.1,88.3,7.4,162,997,0.00,1.98,72.32,0.519,6,0.000,0.073,2727,2720,1360,0,0,0,0,0,0,28.83,25.29,24.70
$GC,1117,0.77,278.8,70.9,9.4,198,1163,0.00,1.98,40.88,0.522,4,0.000,0.083,2727,3783,1161,0,0,0,0,0,0,28.83,25.34,24.96
$GC,1173,0.78,300.6,65.0,10.8,207,1199,0.00,1.90,18.33,0.514,6,0.000,0.057,2734,2721,1071,0,0,0,0,0,0,28.83,25.48,24.93
$GC,1319,0.79,310.6,47.6,11.5,235,1327,0.00,1.77,1.90,0.181,4,0.000,0.054,2742,1669,1042,0,0,0,0,0,0,28.83,25.78,25.65
$GC,1347,0.79,327.2,44.5,11.1,240,1373,0.00,1.92,15.90,0.506,6,0.000,0.074,2742,2724,975,0,0,0,0,1,0,28.83,25.77,25.06
$GC,1493,0.81,365.2,28.9,9.9,268,1539,0.00,0.00,42.47,0.518,6,0.000,0.000,2742,2724,814,0,0,0,0,0,0,28.83,28.83,25.11
$GC,1599,0.82,402.0,18.2,10.0,287,1606,0.00,0.00,3.25,0.444,6,0.000,0.000,2741,2723,771,0,0,0,0,0,0,28.83,28.83,25.19
$GC,1666,0.84,444.7,11.6,9.7,300,1673,0.00,1.88,1.60,0.193,4,0.000,0.057,2748,1671,767,0,0,0,0,0,0,28.83,25.83,25.70
$GC,1678,0.86,489.5,10.5,9.5,302,1685,0.00,1.92,0.28,0.339,6,0.000,0.073,2748,2725,768,0,0,0,0,0,0,28.83,25.81,25.75
$GC,1745,0.87,531.8,3.9,9.7,315,1752,0.00,0.00,1.15,0.207,6,0.000,0.000,2748,2725,767,0,0,0,0,0,0,28.83,28.83,25.82
$STATE,1755,end climb,SURFACE_DEPTH_REACHED
$STATE,1755,begin surface coast
$FINISH,1.2,1.018627
$STATE,1785,end surface coast,CONTROL_FINISHED_OK
$STATE,1786,begin surface
$SM_CCo,1803,0.68,0.251,0,0,765,377.76
$SM_CCo,1806,-0.17,0.000,0,0,772,377.76
$SM_CCo,1808,0.30,0.420,0,0,767,377.76
$SM_GC,2.35,7.50,0.05,0.30,0.055,0.174,0.420,134,2748,767,-7.34,-0.54,377.76,0,0,0,0,0,0,25.98,25.91,25.88
$IRIDIUM_FIX,4751.72,-12340.51,120612,202030
$TT8_MAMPS,0.093625,0.093625
$HUMID,48.58
$INTERNAL_PRESSURE,8.9219
$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,3.3/516052/498830
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.8/436550/424270
$24V_AH,24.7,0.743
$10V_AH,10.1,0.552
$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,18.575,22.525,450.450,0.975,0.000,29.040,40.103,194.779,0.000,2469.500,31.288,0.000,622.829,458.655,1032.552,123.127,33.195,795.600,0.000,469.767,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,173.655,569.160,419.985,0.000,103.000,160.000,223.000,0.000,10.357,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,211.402,0.000,0.000,0.000,0.000,0.000,2469.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.492,0.000,0.000,0.000
$MEM,323712
$DATA_FILE_SIZE,10129,323
$CAP_FILE_SIZE,46805,0
$CFSIZE,260034560,257589248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120612,220324,4743.745,-12224.996,61,1.2,71,18.2