version: 66.10
glider: 117
mission: 32
dive: 2
start: 4 3 112 19 29 27
data:
$ID,117
$MISSION,32
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,35
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118481.1
$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,12
$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
$GPS1,030412,192400,4742.762,-12223.918,14,1.8,24,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-63.3
$GPS2,030412,192849,4742.747,-12223.923,16,2.0,33,18.2
$SPEED_LIMITS,0.096,0.221
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,0.276
$KALMAN_X,-12.0,-12.0,-12.0,-183.0,-26.3
$KALMAN_Y,-98.4,-98.4,-98.4,-21.3,-216.2
$MHEAD_RNG_PITCHd_Wd,342.1,479,-21.2,-12.000
$D_GRID,153
$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,-0.91,-146.6,0.0,0.0,0,145,0.00,0.00,-124.75,0.000,6,0.000,0.000,144,2857,3852,0,0,0,0,0,0,28.83,28.83,26.51
$GC,147,-0.91,-146.6,2.5,-4.3,20,161,8.30,1.55,0.00,0.000,4,0.270,0.056,1995,1955,3853,0,0,0,0,0,0,25.75,26.22,28.83
$GC,385,-0.91,-146.6,49.7,-17.1,67,393,0.00,1.60,0.00,0.000,6,0.000,0.069,1989,2851,3854,0,0,0,0,0,0,28.83,26.22,28.83
$GC,512,-0.91,-146.6,71.5,-18.0,92,519,0.00,1.52,0.00,0.000,4,0.000,0.057,1989,1959,3854,0,0,0,0,0,0,28.83,26.30,28.83
$GC,579,-0.91,-146.6,83.1,-17.0,105,586,0.00,1.58,0.00,0.000,6,0.000,0.070,1982,2852,3854,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,619,begin apogee
$GC,623,-0.17,0.0,90.3,-17.8,113,701,0.85,0.00,70.40,0.964,6,0.182,0.000,2220,2852,3251,0,0,0,0,1,0,26.04,28.83,23.42
$STATE,702,end apogee,CONTROL_FINISHED_OK
$STATE,702,begin climb
$GC,704,0.91,146.6,93.9,0.0,125,845,1.15,1.58,132.05,0.534,4,0.112,0.060,2584,1962,2645,0,0,0,0,0,0,25.10,25.10,23.88
$GC,880,0.91,146.6,68.7,19.3,154,887,0.00,1.62,0.00,0.000,6,0.000,0.071,2584,2842,2637,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1007,0.91,146.6,40.9,23.3,179,1014,0.00,1.58,0.00,0.000,4,0.000,0.063,2590,1961,2633,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1193,0.91,146.6,7.9,14.0,216,1201,0.00,1.60,0.00,0.000,6,0.000,0.071,2591,2849,2630,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,1229,end climb,SURFACE_DEPTH_REACHED
$STATE,1229,begin surface coast
$FINISH,0.8,1.021640
$STATE,1249,end surface coast,CONTROL_FINISHED_OK
$STATE,1249,begin surface
$SM_CCo,1264,93.47,0.148,0,0,1618,400.08
$SM_GC,0.96,6.65,0.00,93.47,0.047,0.000,0.148,145,2849,1618,-6.63,-0.03,400.08,0,0,0,0,0,0,26.15,28.83,25.34
$IRIDIUM_FIX,4751.72,-12056.72,030412,191945
$TT8_MAMPS,0.094374,0.094374
$HUMID,35.82
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,19.40
$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,3.4/516052/498763
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.2/436550/427101
$24V_AH,23.4,1.484
$10V_AH,10.4,1.982
$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,16.950,12.625,202.450,93.475,0.000,0.000,0.000,0.000,0.000,1399.700,34.415,0.000,460.012,391.578,546.006,25.407,30.059,625.245,0.000,332.888,0.000,0.000,0.000
$DEVICE_MAMPS,270.045,71.145,963.900,147.645,0.000,0.000,0.000,0.000,0.000,14.049,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,160.485,0.000,0.000,0.000,0.000,0.000,1399.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.300,0.000,0.000,0.000
$MEM,323352
$DATA_FILE_SIZE,6824,227
$CAP_FILE_SIZE,45484,0
$CFSIZE,260034560,245026816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030412,195242,4742.807,-12224.021,9,1.7,19,18.2