version: 66.10
glider: 118
mission: 6
dive: 21
start: 1 31 112 15 56 31
data:
$ID,118
$MISSION,6
$DIVE,21
$N_DIVES,22
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$T_BOOST,0
$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,-4
$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,45
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51539
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-51598.152
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,176
$PITCH_MAX,3933
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3836
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,3355
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-3.9689138
$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,1
$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_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,310112,155058,4808.227,-12224.027,10,5.8,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.3
$GPS2,310112,155534,4808.288,-12224.030,14,3.4,33,18.3
$SPEED_LIMITS,0.080,0.195
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.237
$KALMAN_X,-1582.4,-523.2,-66.0,1328.3,-34.3
$KALMAN_Y,2617.0,873.2,100.8,-3289.7,88.7
$MHEAD_RNG_PITCHd_Wd,148.6,534,-17.2,-10.000
$D_GRID,103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.75,-146.6,0.0,0.0,0,86,0.00,0.00,-65.70,0.000,2,0.000,0.000,175,2499,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.75,-146.6,3.2,-3.3,6,135,7.12,1.85,-27.88,0.000,4,0.239,0.083,1885,1449,3896,0,0,0,0,0,0,25.98,26.21,26.40
$GC,217,-0.75,-146.6,15.1,-8.1,19,229,0.00,1.85,0.00,0.000,6,0.000,0.074,1885,2501,3897,0,0,0,0,0,0,28.83,26.27,28.83
$GC,338,-0.75,-146.6,25.2,-9.4,32,349,0.00,1.83,0.00,0.000,4,0.000,0.073,1885,3572,3897,0,0,0,0,0,0,28.83,26.34,28.83
$GC,362,-0.75,-146.6,27.9,-10.4,34,374,0.00,1.77,0.00,0.000,6,0.000,0.042,1884,2489,3896,0,0,0,0,0,0,28.83,26.37,28.83
$GC,481,-0.75,-146.6,41.0,-11.0,47,493,0.00,1.88,0.00,0.000,4,0.000,0.073,1885,3571,3897,0,0,0,0,0,0,28.83,26.39,28.83
$GC,504,-0.75,-146.6,43.4,-10.7,49,516,0.00,1.77,0.00,0.000,6,0.000,0.044,1884,2474,3897,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,526,begin apogee
$GC,530,-0.17,0.0,46.1,-10.9,51,587,0.62,0.00,49.50,0.787,6,0.135,0.000,2074,2475,3353,0,0,0,0,0,0,26.30,28.83,24.98
$STATE,588,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,590,0.75,146.6,48.6,0.0,56,658,0.93,0.00,56.30,0.760,6,0.081,0.000,2380,2474,2755,0,0,0,0,0,0,25.67,28.83,24.56
$GC,869,0.75,146.6,8.0,13.8,86,881,0.00,1.92,0.00,0.000,4,0.000,0.070,2380,3570,2752,0,0,0,0,0,0,28.83,25.97,28.83
$GC,953,1.12,447.4,7.9,-4.2,95,1087,0.35,1.77,117.85,0.613,6,0.057,0.047,2508,2497,1524,0,0,0,0,0,0,26.10,26.09,24.67
$STATE,1097,end climb,SURFACE_DEPTH_REACHED
$STATE,1097,begin surface coast
$FINISH,2.4,1.012676
$STATE,1211,end surface coast,CONTROL_FINISHED_OK
$STATE,1211,begin surface
$SM_CCo,1228,79.72,0.148,0,0,703,650.04
$SM_GC,1.71,6.85,0.00,79.72,0.057,0.000,0.148,178,2497,703,-6.09,-0.08,650.04,0,0,0,0,0,0,25.81,28.83,25.65
$IRIDIUM_FIX,4751.72,-12340.51,310112,151555
$TT8_MAMPS,0.072653,0.072653
$HUMID,27.98
$INTERNAL_PRESSURE,8.87608
$TCM_TEMP,19.00
$MI_MIVER,0.2
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,7
$MI_LOG,3.3/516036/498823
$MI_ROOT,70.5/190403/56252
$MI_HOME,2.0/453757/444595
$24V_AH,24.6,1.957
$10V_AH,10.2,1.207
$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,15.875,14.650,223.650,79.725,0.000,23.589,36.730,102.612,0.000,1306.330,34.872,331.679,0.000,271.409,938.770,60.759,33.216,601.502,0.000,192.697,0.000,0.000,0.000
$DEVICE_MAMPS,239.445,83.385,787.185,148.410,0.000,103.000,160.000,223.000,0.000,58.432,50.000,18.000,0.000,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,85.617,0.000,0.000,0.000,0.000,0.000,1306.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,190.473,0.000,0.000,0.000
$MEM,323260
$DATA_FILE_SIZE,3515,121
$CAP_FILE_SIZE,61450,1
$CFSIZE,-70844416,-78774272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,161930,4808.335,-12224.042,26,2.0,36,18.3
$RESTART_TIME,Thu Jan  1 00:01:14 1970