version: 66.10
glider: 118
mission: 9
dive: 3
start: 6 12 112 19 39 28
data:
$ID,118
$MISSION,9
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,40
$T_MISSION,45
$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,-56474.551
$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,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,120612,193434,4742.632,-12224.987,11,99.0,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-63.6
$GPS2,120612,193848,4742.627,-12225.001,13,1.5,23,18.2
$SPEED_LIMITS,0.119,0.210
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,0.264
$KALMAN_X,-115.3,-85.6,-81.9,5.0,-89.0
$KALMAN_Y,-225.8,-170.5,-163.6,416.1,-175.7
$MHEAD_RNG_PITCHd_Wd,351.7,1987,-20.8,-12.500
$D_GRID,185
$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,-0.75,-146.6,0.0,0.0,0,95,0.00,0.00,-77.88,0.000,2,0.000,0.000,171,2481,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.75,-146.6,3.3,-9.9,12,118,7.15,1.80,-9.50,0.000,4,0.232,0.088,1943,3542,3446,0,0,0,0,0,0,26.27,26.48,26.69
$GC,342,-0.75,-146.6,45.7,-15.0,60,349,0.00,1.70,0.00,0.000,6,0.000,0.033,1942,2477,3446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,469,-0.75,-146.6,64.3,-15.1,85,476,0.00,1.85,0.00,0.000,4,0.000,0.073,1942,3540,3447,0,0,0,0,0,0,28.83,26.58,28.83
$GC,596,-0.75,-146.6,82.6,-13.8,110,603,0.00,1.70,0.00,0.000,6,0.000,0.034,1942,2476,3447,0,0,0,0,0,0,28.83,26.69,28.83
$GC,722,-0.75,-146.6,99.7,-13.6,135,730,0.00,1.77,0.00,0.000,4,0.000,0.056,1942,1418,3447,0,0,0,0,0,0,28.83,26.66,28.83
$GC,759,-0.75,-146.6,104.5,-12.5,142,766,0.00,1.83,0.00,0.000,6,0.000,0.067,1942,2468,3447,0,0,0,0,0,0,28.83,26.63,28.83
$GC,886,-0.75,-146.6,122.0,-13.7,167,892,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2468,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1011,-0.75,-146.6,138.9,-13.9,192,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2468,3449,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1091,begin apogee
$GC,1094,-0.17,0.0,150.1,-13.9,208,1243,0.62,0.00,135.60,0.607,6,0.122,0.000,2138,2610,2850,0,0,0,0,1,0,26.58,28.83,24.53
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1246,0.75,146.6,159.5,0.0,231,1382,0.85,1.92,119.93,1.163,4,0.053,0.054,2444,1549,2251,0,0,0,0,1,0,25.58,25.08,24.20
$GC,1608,0.82,301.7,160.4,3.9,297,1745,0.00,1.83,128.82,0.571,6,0.000,0.063,2443,2595,1608,0,0,0,0,0,0,28.83,26.24,25.01
$GC,1864,0.83,339.2,138.1,10.4,342,1904,0.00,1.83,31.08,0.566,4,0.000,0.054,2443,1553,1452,0,0,0,0,0,0,28.83,25.77,25.32
$GC,1938,0.85,383.2,130.3,10.1,355,1985,0.00,1.85,37.60,0.553,6,0.000,0.064,2443,2595,1272,0,0,0,0,0,0,28.83,25.95,25.20
$GC,2104,0.85,393.7,111.3,11.9,386,2112,0.00,1.85,2.33,0.306,4,0.000,0.054,2443,1551,1244,0,0,0,0,0,0,28.83,26.09,25.01
$GC,2137,0.87,435.4,107.6,10.2,392,2177,0.08,1.85,26.45,0.749,6,0.056,0.066,2491,2597,1073,0,0,0,0,1,0,26.20,26.14,24.99
$GC,2296,0.87,435.4,83.8,15.3,422,2305,0.00,1.77,1.85,0.192,4,0.000,0.054,2491,1546,1074,0,0,0,0,0,0,28.83,26.15,25.96
$GC,2339,0.87,435.4,77.0,15.6,430,2347,0.00,1.85,1.50,0.181,6,0.000,0.065,2491,2595,1071,0,0,0,0,0,0,28.83,26.20,26.06
$GC,2467,0.87,435.4,58.1,14.3,455,2474,0.00,0.00,1.60,0.195,6,0.000,0.000,2491,2596,1071,0,0,0,0,0,0,28.83,28.83,26.20
$GC,2593,0.87,435.4,40.5,13.9,480,2601,0.00,1.75,1.55,0.198,4,0.000,0.053,2491,1550,1071,0,0,0,0,0,0,28.83,26.42,26.27
$GC,2666,0.88,452.4,31.6,11.6,494,2693,0.00,1.83,22.12,0.525,6,0.000,0.065,2491,2597,994,0,0,0,0,0,0,28.83,26.46,25.77
$GC,2707,0.91,547.3,26.6,12.0,501,2786,0.00,1.80,74.18,0.496,4,0.000,0.053,2492,1549,643,0,0,0,0,0,0,28.83,25.69,25.27
$GC,2800,0.91,547.3,13.7,14.5,516,2808,0.00,1.90,0.00,0.000,6,0.000,0.066,2491,2602,631,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2867,0.91,547.3,4.7,12.9,529,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2602,628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2881,end climb,SURFACE_DEPTH_REACHED
$STATE,2881,begin surface coast
$FINISH,0.2,1.018318
$STATE,2902,end surface coast,CONTROL_FINISHED_OK
$STATE,2902,begin surface
$SM_CCo,2919,-0.80,0.000,0,0,650,538.92
$SM_CCo,2922,0.20,0.550,0,0,646,538.92
$SM_CCo,2924,-0.20,0.000,0,0,652,538.68
$SM_GC,1.71,6.57,0.20,-0.20,0.044,0.058,0.000,167,2466,652,-6.29,1.07,538.68,0,0,0,0,0,0,26.16,26.17,26.30
$IRIDIUM_FIX,4751.72,-12340.51,120612,191952
$TT8_MAMPS,0.098868,0.098868
$HUMID,44.44
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,19.60
$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,3.3/516036/498814
$MI_ROOT,70.5/190403/56247
$MI_HOME,2.4/453757/442908
$24V_AH,24.2,0.552
$10V_AH,10.3,0.360
$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,15.275,33.125,584.600,0.200,0.000,0.000,0.000,0.000,0.000,2995.600,24.376,0.000,1103.041,616.754,1212.914,47.310,31.294,1131.085,0.000,769.960,0.000,0.000,0.000
$DEVICE_MAMPS,231.795,87.975,1162.800,550.035,0.000,0.000,0.000,0.000,0.000,15.448,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,370.333,0.000,0.000,0.000,0.000,0.000,2995.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.554,0.000,0.000,0.000
$MEM,323612
$DATA_FILE_SIZE,16791,536
$CAP_FILE_SIZE,83024,1
$CFSIZE,-70844416,-76939264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120612,203011,4742.959,-12224.782,90,1.5,100,18.2