version: 66.10
glider: 117
mission: 32
dive: 1
start: 4 3 112 18 49 6
data:
$ID,117
$MISSION,32
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1050
$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,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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,600
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118431.6
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3916
$C_PITCH,2289
$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,2850
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,-6.3527689
$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_NOTIFYMOTORS,0.0
$GPS1,030412,184324,4742.952,-12223.750,10,1.7,20,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-64.5
$GPS2,030412,184806,4742.923,-12223.746,15,1.3,25,18.2
$SPEED_LIMITS,0.080,0.208
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.238,0.107
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,276.1,347,-18.2,-10.000
$D_GRID,155
$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,-0.81,-146.6,0.0,0.0,0,145,0.00,0.00,-125.70,0.000,6,0.000,0.000,144,2867,3851,0,0,0,0,0,0,28.83,28.83,26.50
$GC,147,-0.81,-146.6,2.2,-3.5,20,161,8.02,1.50,0.00,0.000,4,0.264,0.051,2025,1952,3853,0,0,0,0,0,0,25.89,26.29,28.83
$GC,355,-0.81,-146.6,40.3,-14.4,61,362,0.00,1.58,0.00,0.000,6,0.000,0.068,2020,2849,3854,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,385,begin apogee
$GC,389,-0.17,0.0,45.2,-16.0,67,517,0.73,0.00,119.55,0.535,6,0.174,0.000,2226,2849,3243,0,0,0,0,0,0,26.11,28.83,24.74
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,519,0.81,146.6,49.8,0.0,87,662,1.00,1.65,133.30,0.492,4,0.119,0.060,2546,1953,2644,0,0,0,0,0,0,25.37,25.22,24.39
$GC,686,0.81,146.6,30.5,15.2,114,694,0.00,1.65,0.00,0.000,6,0.000,0.070,2546,2844,2636,0,0,0,0,0,0,28.83,25.09,28.83
$GC,753,0.81,146.6,21.2,12.1,127,760,0.00,1.58,0.00,0.000,4,0.000,0.062,2553,1958,2633,0,0,0,0,0,0,28.83,25.75,28.83
$GC,845,0.81,146.6,8.0,13.0,145,852,0.00,1.65,0.00,0.000,6,0.000,0.069,2553,2850,2631,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,895,end climb,SURFACE_DEPTH_REACHED
$STATE,895,begin surface coast
$FINISH,0.1,1.002298
$STATE,925,end surface coast,CONTROL_FINISHED_OK
$STATE,925,begin surface
$SM_CCo,940,171.05,0.145,0,0,803,600.00
$SM_GC,0.80,6.55,0.00,171.05,0.048,0.000,0.145,145,2851,803,-6.63,0.03,600.00,0,0,0,0,0,0,26.01,28.83,25.46
$IRIDIUM_FIX,4751.72,-12340.51,030412,181804
$TT8_MAMPS,0.09737,0.09737
$HUMID,34.28
$INTERNAL_PRESSURE,8.99948
$TCM_TEMP,19.60
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,15
$MI_LOG,3.4/516052/498764
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.1/436550/427293
$24V_AH,24.4,1.405
$10V_AH,10.4,1.926
$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,16.300,9.600,252.850,171.050,0.000,0.000,0.000,0.000,0.000,1090.000,26.438,0.000,256.365,497.086,403.516,34.875,29.116,694.726,0.000,239.556,0.000,0.000,0.000
$DEVICE_MAMPS,263.925,69.615,535.500,144.585,0.000,0.000,0.000,0.000,0.000,12.287,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,113.554,0.000,0.000,0.000,0.000,0.000,1090.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.205,0.000,0.000,0.000
$MEM,323564
$DATA_FILE_SIZE,3519,161
$CAP_FILE_SIZE,68026,0
$CFSIZE,260034560,245043200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030412,190818,4742.812,-12223.898,12,1.2,22,18.2