version: 66.10
glider: 117
mission: 34
dive: 1
start: 6 12 112 16 54 49
data:
$ID,117
$MISSION,34
$DIVE,1
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.80000001
$RHO,1.023
$MASS,51563
$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,345
$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,-120316.61
$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,2262
$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,2030
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,2236
$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,-7.0084891
$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
$GPS1,120612,164904,4742.750,-12224.919,11,3.1,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.8
$GPS2,120612,165412,4742.751,-12224.976,16,1.1,26,18.2
$SPEED_LIMITS,0.139,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.004,0.261
$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,340.8,1758,-18.2,-10.000
$D_GRID,186
$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,-0.69,-146.6,0.0,0.0,0,88,0.00,0.00,-68.80,0.000,6,0.000,0.000,148,2037,2835,0,0,0,0,0,0,28.83,28.83,26.70
$GC,90,-0.69,-146.6,3.9,-9.0,11,103,7.90,1.45,0.00,0.000,4,0.258,0.044,2036,1141,2837,0,0,0,0,0,0,26.11,26.46,28.83
$GC,113,-0.69,-146.6,14.2,-37.4,15,120,0.00,1.50,0.00,0.000,6,0.000,0.047,2031,2031,2836,0,0,0,0,0,0,28.83,26.46,28.83
$GC,180,-0.69,-146.6,28.6,-20.6,28,187,0.00,1.48,0.00,0.000,4,0.000,0.047,2031,1147,2837,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,255,begin apogee
$GC,260,-0.17,0.0,45.5,-22.3,43,383,0.60,0.00,118.70,0.513,6,0.172,0.000,2197,2042,2233,0,0,0,0,0,0,26.24,28.83,24.03
$STATE,384,end apogee,CONTROL_FINISHED_OK
$STATE,384,begin climb
$GC,386,0.69,146.6,58.3,0.0,62,508,0.93,1.55,114.40,0.490,4,0.148,0.057,2470,2908,1631,0,0,0,0,0,0,25.43,25.51,25.00
$GC,734,0.72,226.2,41.4,6.4,126,799,0.00,1.50,61.47,0.489,6,0.000,0.043,2470,2023,1312,0,0,0,0,0,0,28.83,26.25,25.25
$GC,860,0.73,242.3,30.3,9.3,148,873,0.00,1.52,10.60,0.489,4,0.000,0.054,2470,2911,1243,0,0,0,0,0,0,28.83,25.90,25.36
$GC,878,0.73,263.5,28.5,9.0,151,899,0.00,1.50,15.20,0.482,6,0.000,0.044,2470,2040,1156,0,0,0,0,0,0,28.83,25.96,25.32
$GC,958,0.74,291.7,21.4,8.7,166,985,0.00,1.50,20.73,0.482,4,0.000,0.050,2470,1141,1040,0,0,0,0,0,0,28.83,25.89,25.38
$STATE,1203,end climb,SURFACE_DEPTH_REACHED
$STATE,1203,begin surface coast
$FINISH,2.3,1.020290
$STATE,1208,end surface coast,CONTROL_FINISHED_OK
$STATE,1208,begin surface
$SM_CCo,1225,19.67,0.150,0,0,827,345.14
$SM_GC,1.03,6.45,1.52,19.67,0.068,0.047,0.150,154,2026,827,-6.54,-0.88,345.14,0,0,0,0,0,0,26.24,26.30,26.06
$IRIDIUM_FIX,4751.72,-12340.51,120612,161625
$TT8_MAMPS,0.093625,0.093625
$HUMID,45.31
$INTERNAL_PRESSURE,8.85299
$TCM_TEMP,20.80
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,31
$MI_LOG,3.4/516052/498449
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.5/436550/425764
$24V_AH,24.0,0.180
$10V_AH,10.5,0.170
$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,15.875,15.050,341.100,19.675,0.000,0.000,0.000,0.000,0.000,1351.400,27.414,0.000,397.519,367.758,510.754,27.102,29.116,604.609,0.000,315.861,0.000,0.000,0.000
$DEVICE_MAMPS,257.805,56.610,512.550,149.940,0.000,0.000,0.000,0.000,0.000,8.622,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,147.550,0.000,0.000,0.000,0.000,0.000,1351.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.750,0.000,0.000,0.000
$MEM,323700
$DATA_FILE_SIZE,6790,215
$CAP_FILE_SIZE,76758,1
$CFSIZE,260034560,245317632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,171612,4742.589,-12225.094,9,1.3,19,18.2