version: 66.10
glider: 118
mission: 9
dive: 2
start: 6 12 112 18 38 8
data:
$ID,118
$MISSION,9
$DIVE,2
$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,30
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56417.59
$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,2200
$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,2475
$C_ROLL_CLIMB,2550600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,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
$GPS1,120612,183036,4742.653,-12224.917,14,1.8,24,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-66.3
$GPS2,120612,183730,4742.612,-12224.929,15,1.3,25,18.2
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,0.237
$KALMAN_X,-39.9,-39.9,-39.9,-66.2,-87.1
$KALMAN_Y,-84.9,-84.9,-84.9,88.5,-185.2
$MHEAD_RNG_PITCHd_Wd,355.0,2017,-17.2,-10.000
$D_GRID,184
$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,-146.6,0.0,0.0,0,102,0.00,0.00,-84.30,0.000,2,0.000,0.000,171,2503,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.63,-146.6,3.8,-9.4,13,124,7.32,1.83,-4.62,0.000,4,0.232,0.068,1985,1421,3447,0,0,0,0,0,0,26.25,26.54,26.71
$GC,169,-0.63,-146.6,17.9,-12.5,25,176,0.00,1.83,0.00,0.000,6,0.000,0.067,1986,2469,3447,0,0,0,0,0,0,28.83,26.55,28.83
$GC,236,-0.63,-146.6,26.7,-14.8,38,243,0.00,1.88,0.00,0.000,4,0.000,0.074,1985,3533,3447,0,0,0,0,0,0,28.83,25.79,28.83
$GC,247,-0.63,-146.6,28.2,-13.8,40,254,0.00,1.70,0.00,0.000,6,0.000,0.034,1985,2475,3447,0,0,0,0,0,0,28.83,26.62,28.83
$GC,314,-0.63,-146.6,37.1,-12.5,53,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2475,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,380,-0.63,-146.6,45.1,-12.1,66,387,0.00,1.83,0.00,0.000,4,0.000,0.073,1986,3530,3447,0,0,0,0,0,0,28.83,26.61,28.83
$GC,417,-0.63,-146.6,49.4,-11.0,73,424,0.00,1.70,0.00,0.000,6,0.000,0.033,1986,2468,3447,0,0,0,0,0,0,28.83,26.68,28.83
$GC,543,-0.63,-146.6,64.0,-10.9,98,551,0.00,1.73,0.00,0.000,4,0.000,0.054,1986,1431,3447,0,0,0,0,0,0,28.83,26.66,28.83
$GC,605,-0.63,-146.6,70.7,-10.7,110,612,0.00,1.80,0.00,0.000,6,0.000,0.065,1986,2472,3447,0,0,0,0,0,0,28.83,26.66,28.83
$GC,732,-0.63,-146.6,84.7,-10.5,135,739,0.00,1.83,0.00,0.000,4,0.000,0.073,1986,3532,3447,0,0,0,0,0,0,28.83,26.67,28.83
$GC,784,-0.63,-146.6,89.9,-9.9,145,791,0.00,1.67,0.00,0.000,6,0.000,0.033,1986,2480,3447,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,793,begin apogee
$GC,801,-0.17,0.0,91.1,-10.7,147,917,0.47,0.00,108.68,0.552,6,0.115,0.000,2137,249,2839,0,0,0,0,0,0,26.59,28.83,25.27
$STATE,918,end apogee,CONTROL_FINISHED_OK
$STATE,918,begin climb
$GC,919,0.63,146.6,98.2,0.0,165,1035,0.77,0.00,110.40,0.535,6,0.079,0.000,2397,249,2241,0,0,0,0,0,0,25.70,28.83,25.09
$GC,1155,0.69,295.4,99.6,3.0,207,1279,0.00,0.00,117.28,0.530,4,0.000,0.000,2397,248,1631,0,0,0,0,0,0,28.83,28.83,25.13
$GC,1363,0.71,332.7,86.2,8.2,243,1397,0.00,0.00,30.83,0.519,6,0.000,0.000,2397,249,1486,0,0,0,0,0,0,28.83,28.83,25.37
$GC,1517,0.73,384.9,73.5,7.5,272,1569,0.12,0.00,44.03,0.516,4,0.077,0.000,2462,249,1265,0,0,0,0,0,0,26.28,28.83,25.39
$GC,1639,0.73,384.9,61.4,10.1,294,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,249,1258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1765,0.73,387.5,49.1,9.9,319,1771,0.00,0.00,0.00,0.000,4,0.000,0.000,2462,249,1257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,0.73,387.5,44.7,10.3,328,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,249,1256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1937,0.73,388.2,32.4,10.0,353,1943,0.00,0.00,0.00,0.000,4,0.000,0.000,2462,249,1256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,0.73,390.2,29.2,9.9,359,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,248,1256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2034,0.74,404.8,22.6,9.3,372,2054,0.00,0.00,16.08,0.509,4,0.000,0.000,2462,249,1187,0,0,0,0,0,0,28.83,28.83,25.89
$GC,2109,0.80,561.8,15.5,8.9,386,2226,0.00,0.00,113.57,0.487,6,0.000,0.000,2462,248,646,0,0,0,0,0,0,28.83,28.83,25.25
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,1.1,1.019631
$STATE,2279,end surface coast,CONTROL_FINISHED_OK
$STATE,2279,begin surface
$SM_CCo,2298,-0.85,0.000,0,0,651,538.92
$SM_CCo,2300,0.30,0.412,0,0,648,538.92
$SM_CCo,2303,-0.17,0.000,0,0,651,538.92
$SM_GC,1.11,6.38,3.95,-0.17,0.032,0.061,0.000,167,2481,651,-6.28,-0.48,538.92,0,0,0,0,0,0,26.07,26.01,26.21
$IRIDIUM_FIX,4751.72,-12340.51,120612,181831
$TT8_MAMPS,0.105609,0.105609
$HUMID,42.43
$INTERNAL_PRESSURE,8.82725
$TCM_TEMP,19.80
$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,3.3/516036/498815
$MI_ROOT,70.5/190403/56247
$MI_HOME,2.3/453757/443335
$24V_AH,25.1,0.386
$10V_AH,10.4,0.269
$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,15.075,25.575,540.850,0.300,0.000,0.000,0.000,0.000,0.000,2374.000,26.357,0.000,782.230,579.314,954.280,44.459,30.059,1007.456,0.000,598.878,0.000,0.000,0.000
$DEVICE_MAMPS,231.795,74.205,552.330,411.570,0.000,0.000,0.000,0.000,0.000,14.816,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,286.018,0.000,0.000,0.000,0.000,0.000,2374.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.432,0.000,0.000,0.000
$MEM,323608
$DATA_FILE_SIZE,13458,415
$CAP_FILE_SIZE,66334,1
$CFSIZE,-70844416,-76677120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,191712,4742.652,-12224.966,12,1.9,22,18.2