version: 66.10
glider: 117
mission: 34
dive: 6
start: 6 12 112 21 42 34
data:
$ID,117
$MISSION,34
$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,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,-120636.08
$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,33
$R_STBD_OVSHOOT,17
$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
$GPS1,120612,213436,4742.611,-12225.219,17,1.5,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.5
$GPS2,120612,214152,4742.674,-12225.182,11,2.4,30,18.2
$SPEED_LIMITS,0.166,0.221
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.008,0.276
$KALMAN_X,-339.4,-248.1,-174.0,503.8,58.5
$KALMAN_Y,-823.8,-612.0,-371.3,1660.9,73.2
$MHEAD_RNG_PITCHd_Wd,340.0,1913,-21.2,-12.000
$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,-0.79,-146.6,0.0,0.0,0,70,0.00,0.00,-52.75,0.000,2,0.000,0.000,143,2423,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.79,-146.6,3.3,-7.1,8,93,8.30,1.45,-7.97,0.000,4,0.252,0.071,2151,1544,2837,0,0,0,0,0,0,25.91,26.19,26.34
$GC,312,-0.79,-146.6,43.2,-14.0,55,319,0.00,1.55,0.00,0.000,6,0.000,0.057,2145,2429,2837,0,0,0,0,0,0,28.83,26.29,28.83
$GC,439,-0.79,-146.6,63.1,-15.6,80,446,0.00,1.50,0.00,0.000,4,0.000,0.064,2138,3306,2837,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,600,-0.17,0.0,90.5,-16.5,111,736,0.68,0.00,127.22,0.541,6,0.148,0.000,2344,2700,2228,0,0,0,0,0,0,26.25,28.83,24.22
$STATE,737,end apogee,CONTROL_FINISHED_OK
$STATE,737,begin climb
$GC,739,0.79,146.6,96.7,0.0,132,869,0.98,1.58,124.18,0.513,4,0.095,0.049,2665,1820,1632,0,0,0,0,0,0,25.04,25.20,24.72
$GC,948,0.79,146.6,73.4,14.3,168,956,0.00,1.58,0.00,0.000,6,0.000,0.058,2665,2694,1618,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1076,0.79,147.8,55.5,11.9,193,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2693,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,0.79,147.8,41.2,12.7,218,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2694,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,0.80,172.6,25.7,10.6,243,1354,0.00,0.00,21.52,0.503,6,0.000,0.000,2665,2693,1523,0,0,0,0,0,0,28.83,28.83,25.51
$GC,1414,0.81,189.5,16.4,11.1,259,1435,0.00,1.58,13.35,0.501,4,0.000,0.067,2665,3582,1454,0,0,0,0,0,0,28.83,25.92,25.46
$GC,1484,0.81,198.1,8.0,11.5,272,1492,0.00,1.50,2.00,0.178,6,0.000,0.044,2672,2701,1426,0,0,0,0,0,0,28.83,26.06,23.55
$STATE,1535,end climb,SURFACE_DEPTH_REACHED
$STATE,1535,begin surface coast
$FINISH,1.6,1.018941
$STATE,1566,end surface coast,CONTROL_FINISHED_OK
$STATE,1566,begin surface
$SM_CCo,1582,58.35,0.151,0,0,825,345.14
$SM_GC,0.94,7.07,0.47,58.35,0.065,0.052,0.151,149,2417,825,-7.01,0.85,345.14,0,0,0,0,0,0,26.09,26.13,25.74
$IRIDIUM_FIX,4751.72,-12340.51,120612,212121
$TT8_MAMPS,0.093625,0.093625
$HUMID,48.11
$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,3.4/516052/498443
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.8/436550/424309
$24V_AH,23.5,0.671
$10V_AH,10.5,0.533
$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,17.025,12.225,288.275,58.350,0.000,28.050,40.823,135.022,0.000,2171.500,32.302,0.000,623.941,375.752,902.203,75.574,33.194,655.025,0.000,420.265,0.000,0.000,0.000
$DEVICE_MAMPS,252.450,71.145,540.855,150.705,0.000,103.000,160.000,223.000,0.000,8.541,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,199.490,0.000,0.000,0.000,0.000,0.000,2171.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.163,0.000,0.000,0.000
$MEM,323656
$DATA_FILE_SIZE,6803,288
$CAP_FILE_SIZE,37188,0
$CFSIZE,260034560,245182464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,221104,4742.940,-12225.111,31,2.7,50,18.2