version: 66.10
glider: 117
mission: 42
dive: 2
start: 8 12 115 19 42 24
data:
$ID,117
$MISSION,42
$DIVE,2
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,30
$T_MISSION,40
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.80000001
$RHO,1.0235
$MASS,51626
$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,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.720001
$TGT_DEFAULT_LON,122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$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,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-154076
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,300
$PITCH_MAX,3916
$C_PITCH,2600
$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,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,2611
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$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,145
$AH0_10V,94
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.4723392
$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,0
$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
$GPS1,120815,193634,4742.497,-12224.645,10,1.0,44,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.5
$GPS2,120815,194146,4742.451,-12224.670,12,1.4,46,18.2
$SPEED_LIMITS,0.231,0.309
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.098,0.374
$KALMAN_X,-44.4,-44.4,-44.4,23.5,-123.6
$KALMAN_Y,-171.8,-171.8,-171.8,53.1,-478.5
$MHEAD_RNG_PITCHd_Wd,356.5,2987,-21.3,-16.667
$D_GRID,150
$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,14,-0.83,-244.3,0.0,0.0,0,101,0.00,0.00,-84.18,0.000,2,0.000,0.000,296,2037,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.83,-244.3,3.6,-8.2,13,123,8.77,2.40,-4.40,0.000,4,0.248,0.065,2313,3447,3586,0,0,0,0,0,0,25.37,25.84,26.20
$GC,237,-0.83,-244.3,34.3,-14.9,39,244,0.00,2.42,0.00,0.000,6,0.000,0.041,2313,2028,3588,0,0,0,0,0,0,28.83,25.89,28.83
$GC,303,-0.83,-244.3,44.5,-16.2,52,311,0.00,2.42,0.00,0.000,4,0.000,0.053,2312,616,3588,0,0,0,0,0,0,28.83,25.80,28.83
$GC,320,-0.83,-244.3,47.1,-16.0,55,328,0.00,2.40,0.00,0.000,6,0.000,0.043,2303,2034,3588,0,0,1,0,0,0,28.83,25.91,28.83
$GC,447,-0.83,-244.3,67.2,-15.7,80,455,0.00,2.42,0.00,0.000,4,0.000,0.054,2293,3442,3588,0,0,0,0,0,0,28.83,25.83,28.83
$GC,599,-0.83,-244.3,89.4,-16.0,110,607,0.10,2.40,0.00,0.000,6,0.128,0.041,2326,2032,3588,0,0,0,0,0,0,25.56,25.94,28.83
$GC,726,-0.83,-244.3,104.5,-10.4,135,733,0.00,2.45,0.00,0.000,4,0.000,0.053,2316,3447,3588,0,0,0,0,0,0,28.83,25.84,28.83
$GC,822,-0.83,-244.3,114.8,-10.9,154,830,0.00,2.42,0.00,0.000,6,0.000,0.041,2317,2026,3588,0,0,0,0,0,0,28.83,25.98,28.83
$GC,950,-0.83,-244.3,121.2,-0.1,179,957,0.00,2.45,0.00,0.000,4,0.000,0.056,2308,3444,3588,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1015,end dive,NO_VERTICAL_VELOCITY
$STATE,1015,begin apogee
$GC,1020,-0.17,0.0,121.1,0.0,192,1219,0.68,0.00,192.85,0.535,6,0.083,0.000,2542,2017,2608,0,0,0,0,0,0,25.93,28.83,24.34
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1220,0.83,244.3,121.1,0.0,223,1426,0.95,2.53,193.20,0.504,4,0.079,0.054,2873,624,1628,0,0,0,0,0,0,25.03,24.82,24.30
$GC,1581,0.83,244.3,67.0,20.4,286,1588,0.00,2.38,0.00,0.000,6,0.000,0.042,2873,2034,1621,0,0,1,0,0,0,28.83,25.53,28.83
$GC,1708,0.83,244.3,39.7,20.2,311,1715,0.00,2.40,0.00,0.000,4,0.000,0.053,2873,3440,1620,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1814,0.83,244.3,15.2,20.9,332,1822,0.00,2.40,0.00,0.000,6,0.000,0.041,2882,2036,1619,0,0,1,0,0,0,28.83,25.77,28.83
$STATE,1880,end climb,SURFACE_DEPTH_REACHED
$STATE,1880,begin surface coast
$FINISH,0.2,1.011190
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1909,75.18,0.140,0,0,816,450.15
$SM_GC,1.03,6.95,0.00,75.18,0.038,0.000,0.140,293,2036,816,-7.14,0.17,450.15,0,0,0,0,0,0,25.84,28.83,25.46
$IRIDIUM_FIX,4748.51,-12337.82,080608,080855
$TT8_MAMPS,0.094374,0.094374
$HUMID,54.44
$INTERNAL_PRESSURE,8.92135
$TCM_TEMP,21.40
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,138
$MI_LOG,3.5/516052/497920
$MI_ROOT,70.7/190403/55825
$MI_HOME,2.1/474973/464875
$24V_AH,24.3,1.928
$10V_AH,10.2,2.621
$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,17.450,33.925,386.050,75.175,0.000,0.000,0.000,0.000,0.000,2061.800,47.193,0.000,692.347,512.076,842.035,14.429,30.059,854.019,0.000,503.483,0.000,0.000,0.000
$DEVICE_MAMPS,247.860,65.025,535.500,139.995,0.000,0.000,0.000,0.000,0.000,11.579,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,236.986,0.000,0.000,0.000,0.000,0.000,2061.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.984,0.000,0.000,0.000
$MEM,231852
$DATA_FILE_SIZE,10155,348
$CAP_FILE_SIZE,51268,0
$CFSIZE,1024393216,1023246336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,120815,201628,4742.436,-12224.681,10,1.1,44,18.2