version: 66.10
glider: 118
mission: 9
dive: 1
start: 6 12 112 17 51 12
data:
$ID,118
$MISSION,9
$DIVE,1
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,0.80000001
$RHO,1.023
$MASS,51253
$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,24.3333
$TGT_DEFAULT_LON,-82.333298
$TGT_AUTO_DEFAULT,0
$SM_CC,545
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56388.508
$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,2157
$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,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,2847
$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,-5.9648128
$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_NOTIFYMOTORS,0.0
$GPS1,120612,174342,4742.728,-12224.796,13,1.4,23,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.2
$GPS2,120612,175030,4742.707,-12224.776,9,1.6,19,18.2
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.036,0.241
$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,333.2,1861,-17.2,-10.000
$D_GRID,180
$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,-0.63,-146.6,0.0,0.0,0,109,0.00,0.00,-90.75,0.000,2,0.000,0.000,166,2511,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.63,-146.6,3.9,-9.0,14,125,7.15,1.73,-2.25,0.000,4,0.231,0.066,1941,1445,3447,0,0,0,0,0,0,26.33,26.63,26.82
$GC,220,-0.63,-146.6,26.7,-14.4,35,227,0.00,1.77,0.00,0.000,6,0.000,0.064,1941,2495,3447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,286,-0.63,-146.6,36.8,-15.6,48,293,0.00,1.83,0.00,0.000,4,0.000,0.073,1941,3557,3447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,308,-0.63,-146.6,40.0,-15.1,52,315,0.00,1.67,0.00,0.000,6,0.000,0.031,1941,2494,3447,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,343,begin apogee
$GC,347,-0.17,0.0,45.4,-14.6,59,456,0.50,0.00,102.28,0.513,6,0.119,0.000,2098,2492,2843,0,0,0,0,0,0,26.55,28.83,25.41
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,458,0.63,146.6,52.0,0.0,76,574,0.77,1.90,106.45,0.498,4,0.090,0.068,2353,3570,2243,0,0,0,0,0,0,25.89,25.71,25.25
$GC,633,0.69,301.0,53.8,2.7,106,756,0.00,1.75,113.05,0.493,6,0.000,0.032,2353,2498,1613,0,0,0,0,0,0,28.83,26.16,25.25
$GC,876,0.73,380.6,39.8,6.3,149,941,0.12,1.88,58.70,0.489,4,0.084,0.071,2414,3562,1287,0,0,0,0,0,0,26.31,25.85,25.42
$GC,1061,0.74,407.8,25.5,8.7,183,1088,0.00,1.73,18.83,0.487,6,0.000,0.034,2414,2500,1176,0,0,0,0,0,0,28.83,26.35,25.67
$GC,1147,0.75,450.4,19.1,8.0,199,1187,0.00,1.83,31.15,0.483,4,0.000,0.056,2414,1453,1002,0,0,0,0,0,0,28.83,26.06,25.60
$GC,1196,0.78,526.1,15.7,6.4,207,1212,0.00,1.85,11.55,0.471,2,0.000,0.064,2414,2499,940,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1216,0.82,602.3,14.2,7.0,210,1275,0.00,0.00,56.22,0.473,6,0.000,0.000,2414,2499,645,0,0,0,0,0,0,28.83,28.83,25.36
$GC,1334,0.84,670.2,5.9,6.8,231,1342,0.00,1.80,0.00,0.000,4,0.000,0.054,2414,1454,636,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1356,0.87,732.3,4.3,7.1,235,1363,0.00,1.85,0.00,0.000,6,0.000,0.063,2415,2502,636,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1381,end climb,SURFACE_DEPTH_REACHED
$STATE,1381,begin surface coast
$FINISH,0.9,1.018312
$STATE,1437,end surface coast,CONTROL_FINISHED_OK
$STATE,1437,begin surface
$SM_CCo,1452,-0.57,0.000,0,0,651,538.92
$SM_CCo,1454,0.17,0.621,0,0,646,538.92
$SM_CCo,1457,-0.22,0.000,0,0,651,538.92
$SM_GC,1.00,6.18,0.00,-0.22,0.035,0.000,0.000,169,2502,651,-6.15,0.06,538.92,0,0,0,0,0,0,26.39,28.83,26.53
$IRIDIUM_FIX,4751.72,-12340.51,120612,171737
$TT8_MAMPS,0.096621,0.096621
$HUMID,40.70
$INTERNAL_PRESSURE,8.87608
$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,6
$MI_LOG,3.3/516036/498816
$MI_ROOT,70.5/190403/56247
$MI_HOME,2.2/453757/443655
$24V_AH,25.2,0.258
$10V_AH,10.4,0.191
$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,14.725,21.575,498.225,0.175,0.000,0.000,0.000,0.000,0.000,1525.900,21.989,0.000,377.772,507.580,593.643,35.644,29.116,811.099,0.000,366.901,0.000,0.000,0.000
$DEVICE_MAMPS,231.030,73.440,512.550,621.180,0.000,0.000,0.000,0.000,0.000,8.640,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,171.436,0.000,0.000,0.000,0.000,0.000,1525.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.360,0.000,0.000,0.000
$MEM,323768
$DATA_FILE_SIZE,6820,251
$CAP_FILE_SIZE,75610,1
$CFSIZE,-70844416,-76414976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,181606,4742.739,-12224.893,9,1.9,19,18.2