version: 66.10
glider: 117
mission: 34
dive: 4
start: 6 12 112 19 48 52
data:
$ID,117
$MISSION,34
$DIVE,4
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-120526.53
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3916
$C_PITCH,2410
$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,2425
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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
$GPS1,120612,194318,4742.177,-12225.504,11,1.9,21,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.9
$GPS2,120612,194812,4742.164,-12225.517,11,1.4,21,18.2
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,0.262
$KALMAN_X,-414.7,-251.8,-202.5,197.2,-129.1
$KALMAN_Y,-815.5,-567.6,-478.8,775.9,-245.2
$MHEAD_RNG_PITCHd_Wd,2.2,2917,-21.9,-12.500
$D_GRID,173
$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,-146.6,0.0,0.0,0,76,0.00,0.00,-57.95,0.000,2,0.000,0.000,154,2437,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.81,-146.6,3.0,-5.6,9,98,8.07,1.52,-6.22,0.000,4,0.248,0.084,2134,3307,2836,0,0,0,0,0,0,25.95,26.21,26.41
$GC,322,-0.81,-146.6,51.4,-18.6,57,330,0.00,1.50,0.00,0.000,6,0.000,0.042,2134,2411,2836,0,0,0,0,0,0,28.83,26.36,28.83
$GC,449,-0.81,-146.6,73.1,-17.8,82,456,0.00,1.52,0.00,0.000,4,0.000,0.062,2127,3291,2836,0,0,0,0,0,0,28.83,26.35,28.83
$GC,631,-0.81,-146.6,104.1,-18.9,118,638,0.00,1.45,0.00,0.000,6,0.000,0.043,2127,2423,2836,0,0,0,0,0,0,28.83,26.42,28.83
$GC,758,-0.81,-146.6,125.3,-16.3,143,765,0.00,1.52,0.00,0.000,4,0.000,0.062,2121,3303,2836,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,904,begin apogee
$GC,908,-0.17,0.0,150.3,-16.6,172,1056,0.75,0.00,134.38,1.182,6,0.150,0.000,2348,2696,2237,0,0,0,0,1,0,26.27,28.83,23.07
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1059,0.81,146.6,157.2,0.0,195,1201,0.98,1.52,127.40,1.160,4,0.094,0.048,2669,1818,1638,0,0,0,0,1,0,24.92,24.84,23.92
$GC,1266,0.81,146.6,138.3,14.8,230,1274,0.00,1.58,0.00,0.000,6,0.000,0.057,2669,2686,1637,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1394,0.81,146.6,119.6,14.8,255,1401,0.00,1.55,0.00,0.000,4,0.000,0.066,2669,3589,1636,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1440,0.81,146.6,112.7,14.7,264,1448,0.00,1.52,0.00,0.000,6,0.000,0.044,2676,2704,1635,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1567,0.81,146.6,96.3,13.3,289,1574,0.00,1.58,0.00,0.000,4,0.000,0.065,2676,3588,1635,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1624,0.81,146.6,87.0,16.5,300,1631,0.00,1.52,0.00,0.000,6,0.000,0.044,2682,2692,1634,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1751,0.81,146.6,68.1,13.5,325,1758,0.00,1.58,0.00,0.000,4,0.000,0.065,2682,3584,1634,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1762,0.81,146.6,66.7,12.9,327,1770,0.00,1.50,0.00,0.000,6,0.000,0.044,2689,2697,1634,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1890,0.82,160.1,49.9,11.7,352,1904,0.00,1.58,9.10,0.574,4,0.000,0.066,2689,3579,1580,0,0,0,0,0,0,28.83,26.16,25.67
$GC,1913,0.82,161.2,46.8,12.4,356,1921,0.00,1.50,0.00,0.000,6,0.000,0.044,2696,2697,1578,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2040,0.82,161.2,29.3,13.4,381,2047,0.00,1.45,0.00,0.000,4,0.000,0.049,2703,1828,1577,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2051,0.82,161.2,27.8,12.8,383,2059,0.08,1.55,0.00,0.000,6,0.175,0.058,2680,2707,1577,0,0,0,0,0,0,26.13,26.26,28.83
$GC,2119,0.82,161.2,19.3,12.5,396,2126,0.00,1.50,0.00,0.000,4,0.000,0.067,2679,3577,1577,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2180,0.82,161.2,11.3,13.0,408,2188,0.00,1.48,0.00,0.000,6,0.000,0.044,2685,2701,1576,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2247,0.85,238.3,4.7,8.1,421,2280,0.00,0.00,29.23,0.152,6,0.000,0.000,2685,2701,1260,0,0,0,0,0,0,28.83,28.83,26.10
$STATE,2283,end climb,SURFACE_DEPTH_REACHED
$STATE,2283,begin surface coast
$FINISH,1.2,1.017681
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2344,begin surface
$SM_CCo,2361,40.83,0.154,0,0,827,345.14
$SM_GC,2.04,7.07,0.47,40.83,0.068,0.051,0.154,154,2415,827,-7.00,0.79,345.14,0,0,0,0,0,0,26.26,26.31,26.03
$IRIDIUM_FIX,4751.72,-12340.51,120612,191952
$TT8_MAMPS,0.093625,0.093625
$HUMID,49.17
$INTERNAL_PRESSURE,8.78462
$TCM_TEMP,20.20
$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,3.4/516052/498445
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.7/436550/424789
$24V_AH,23.1,0.512
$10V_AH,10.4,0.405
$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,16.950,30.425,300.100,40.825,0.000,0.000,0.000,0.000,0.000,2490.200,22.458,0.000,996.127,426.477,988.657,43.804,32.209,820.006,0.000,632.609,0.000,0.000,0.000
$DEVICE_MAMPS,247.860,84.150,1181.925,153.765,0.000,0.000,0.000,0.000,0.000,15.234,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,303.970,0.000,0.000,0.000,0.000,0.000,2490.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.169,0.000,0.000,0.000
$MEM,323672
$DATA_FILE_SIZE,13477,439
$CAP_FILE_SIZE,64985,0
$CFSIZE,260034560,245215232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120612,203101,4742.370,-12225.318,98,1.3,108,18.2