version: 66.10
glider: 118
mission: 14
dive: 2
start: 9 4 114 19 52 7
data:
$ID,118
$MISSION,14
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,130
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$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,50
$T_ABORT,1440
$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,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51253
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023278999
$HD_B,0.010866
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.733002
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,571.77917
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-60174.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,300
$PITCH_MAX,3933
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,240
$ROLL_MAX,3836
$ROLL_DEG,40
$C_ROLL_DIVE,2038
$C_ROLL_CLIMB,2038
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,2966
$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,135
$AH0_10V,88
$MINV_24V,21
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-5.7765136
$PRESSURE_SLOPE,0.0001161622
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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,0.0043071429
$SEABIRD_T_H,0.00063708809
$SEABIRD_T_I,2.3396524e-05
$SEABIRD_T_J,2.3594623e-06
$SEABIRD_C_G,-9.9806595
$SEABIRD_C_H,1.1263306
$SEABIRD_C_I,-0.0021160755
$SEABIRD_C_J,0.0002166138
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,040914,194717,4742.149,-12225.120,9,1.0,43,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-60.8
$GPS2,040914,195159,4742.128,-12225.144,13,0.9,47,18.2
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$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,23.7,3747,-17.2,-10.000
$D_GRID,120
$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,-0.78,-146.6,0.0,0.0,0,125,0.00,0.00,-103.32,0.000,6,0.000,0.000,290,2026,3549,0,0,0,0,0,0,28.83,28.83,26.40
$GC,126,-0.78,-146.6,3.0,-6.4,16,140,7.20,0.00,0.00,0.000,6,0.221,0.000,2059,2025,3550,0,0,0,0,0,0,25.74,28.83,28.83
$GC,199,-0.72,-146.6,16.9,-12.3,30,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2025,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,259,-0.67,-146.6,23.7,-11.1,42,267,0.15,2.40,0.00,0.000,4,0.156,0.055,2090,3433,3551,0,0,0,0,0,0,25.84,26.03,28.83
$GC,316,-0.67,-146.6,29.7,-10.8,53,325,0.00,2.33,0.00,0.000,6,0.000,0.036,2091,2035,3551,0,0,0,0,0,0,28.83,26.16,28.83
$GC,384,-0.67,-146.6,36.6,-10.2,66,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2035,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,449,-0.67,-146.6,43.3,-10.1,79,457,0.00,2.40,0.00,0.000,4,0.000,0.055,2086,3434,3552,0,0,0,0,0,0,28.83,26.11,28.83
$GC,471,-0.67,-146.6,45.4,-10.2,83,479,0.00,2.33,0.00,0.000,6,0.000,0.037,2087,2030,3551,0,0,0,0,0,0,28.83,26.20,28.83
$GC,598,-0.72,-146.6,56.6,-7.9,108,605,0.00,2.38,0.00,0.000,4,0.000,0.054,2081,3442,3551,0,0,0,0,0,0,28.83,26.16,28.83
$GC,709,-0.72,-146.6,65.8,-8.8,130,717,0.00,2.33,0.00,0.000,6,0.000,0.036,2081,2032,3552,0,0,0,0,0,0,28.83,26.25,28.83
$GC,836,-0.72,-146.6,77.3,-9.6,155,844,0.00,2.40,0.00,0.000,4,0.000,0.054,2073,3438,3552,0,0,0,0,0,0,28.83,26.29,28.83
$GC,893,-0.72,-146.6,82.4,-8.7,166,900,0.00,2.30,0.00,0.000,6,0.000,0.037,2073,2041,3552,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1020,-0.72,-146.6,93.8,-9.7,191,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2041,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1145,-1.05,-146.6,105.8,-6.4,216,1153,0.28,2.33,0.00,0.000,4,0.074,0.055,1972,3435,3552,0,0,0,0,0,0,26.32,26.27,28.83
$STATE,1286,end dive,NO_VERTICAL_VELOCITY
$STATE,1286,begin apogee
$GC,1291,-0.21,0.0,106.0,0.0,244,1404,0.80,0.00,106.88,0.615,6,0.068,0.000,2253,2023,2960,0,0,0,0,0,0,26.32,28.83,24.69
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1405,0.78,146.6,106.0,0.0,261,1528,0.95,2.40,111.00,0.589,4,0.080,0.048,2573,640,2370,0,0,0,0,0,0,25.35,25.13,24.49
$GC,1722,0.69,146.6,73.7,14.0,318,1731,0.10,2.35,0.00,0.000,6,0.148,0.042,2546,2026,2363,0,0,0,0,0,0,25.46,25.82,28.83
$GC,1850,0.63,146.6,57.1,12.6,343,1858,0.00,2.47,0.00,0.000,4,0.000,0.057,2546,3445,2363,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2042,0.55,146.6,36.1,10.2,381,2050,0.15,2.33,0.00,0.000,6,0.159,0.037,2501,2051,2363,0,0,0,0,0,0,25.81,26.10,28.83
$GC,2109,0.64,180.0,30.5,8.4,394,2137,0.00,0.00,23.48,0.560,6,0.000,0.000,2500,2051,2240,0,0,0,0,0,0,28.83,28.83,25.22
$GC,2196,0.75,194.9,22.6,9.3,410,2206,0.20,2.40,4.22,0.517,4,0.106,0.057,2562,3445,2194,0,0,0,0,0,0,25.94,25.95,25.25
$GC,2250,0.65,194.9,16.2,12.0,420,2259,0.12,2.38,1.38,0.175,6,0.148,0.039,2536,2035,2189,0,0,0,0,0,0,25.70,25.96,25.72
$GC,2317,0.66,222.5,9.9,8.7,433,2334,0.00,2.45,11.25,0.155,4,0.000,0.057,2537,3452,2076,0,0,0,0,0,0,28.83,25.96,25.72
$STATE,2382,end climb,SURFACE_DEPTH_REACHED
$STATE,2382,begin surface coast
$FINISH,1.4,1.022078
$STATE,2392,end surface coast,CONTROL_FINISHED_OK
$STATE,2392,begin surface
$SM_CCo,2408,128.12,0.125,0,0,688,571.98
$SM_GC,0.54,6.68,2.40,128.12,0.071,0.039,0.125,294,2039,688,-6.27,0.74,571.98,0,0,0,0,0,0,26.06,25.98,25.63
$IRIDIUM_FIX,4751.72,-12340.51,040914,191929
$TT8_MAMPS,0.098119,0.098119
$HUMID,55.55
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,20.70
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,97
$MI_LOG,3.5/516052/498179
$MI_ROOT,70.7/190403/55825
$MI_HOME,2.1/474973/464807
$24V_AH,24.5,0.197
$10V_AH,10.1,0.196
$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,16.625,42.725,258.200,128.125,0.000,0.000,0.000,0.000,0.000,2528.400,48.309,0.000,982.132,523.448,1092.165,15.770,0.000,915.323,0.000,643.434,0.000,0.000,0.000
$DEVICE_MAMPS,221.085,56.610,615.060,125.460,0.000,0.000,0.000,0.000,0.000,12.483,50.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,306.503,0.000,0.000,0.000,0.000,0.000,2528.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,43.055,0.000,0.000,0.000
$MEM,231964
$DATA_FILE_SIZE,13442,447
$CAP_FILE_SIZE,67185,0
$CFSIZE,1024393216,1023393792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,244.5,1
$GPS,040914,203522,4742.204,-12225.074,9,1.1,43,18.2