version: 66.10
glider: 118
mission: 9
dive: 4
start: 6 12 112 20 50 17
data:
$ID,118
$MISSION,9
$DIVE,4
$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,-56502.793
$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,2195
$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,2100
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,15
$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
$GPS1,120612,204236,4742.999,-12224.751,14,1.5,24,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-64.7
$GPS2,120612,204936,4743.020,-12224.717,12,1.2,22,18.2
$SPEED_LIMITS,0.119,0.210
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,0.257
$KALMAN_X,-7.1,-13.3,-43.2,130.1,-9.8
$KALMAN_Y,-140.4,-116.7,-136.1,964.2,-47.5
$MHEAD_RNG_PITCHd_Wd,329.1,1309,-21.4,-12.500
$D_GRID,177
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-146.6,0.0,0.0,0,95,0.00,0.00,-78.22,0.000,2,0.000,0.000,170,2100,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.77,-146.6,3.3,-9.7,12,118,7.07,1.77,-8.68,0.000,4,0.228,0.075,1940,1046,3447,0,0,0,0,0,0,26.21,26.41,26.60
$GC,172,-0.77,-146.6,18.3,-15.4,26,180,0.00,1.85,0.00,0.000,6,0.000,0.066,1940,2103,3447,0,0,0,0,0,0,28.83,26.45,28.83
$GC,239,-0.77,-146.6,29.4,-16.6,39,246,0.00,1.83,0.00,0.000,4,0.000,0.072,1940,3158,3447,0,0,0,0,0,0,28.83,26.50,28.83
$GC,306,-0.77,-146.6,40.3,-16.3,52,313,0.00,1.73,0.00,0.000,6,0.000,0.040,1940,2108,3447,0,0,0,0,0,0,28.83,26.53,28.83
$GC,432,-0.77,-146.6,59.3,-14.2,77,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2108,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,558,-0.77,-146.6,76.9,-14.5,102,565,0.00,1.83,0.00,0.000,4,0.000,0.070,1940,3163,3447,0,0,0,0,0,0,28.83,26.61,28.83
$GC,640,-0.77,-146.6,88.8,-14.3,118,647,0.00,1.75,0.00,0.000,6,0.000,0.040,1940,2099,3448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,767,-0.77,-146.6,105.5,-12.7,143,774,0.00,1.83,0.00,0.000,4,0.000,0.071,1940,3158,3447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,853,-0.77,-146.6,116.7,-12.9,160,861,0.00,1.75,0.00,0.000,6,0.000,0.040,1939,2091,3448,0,0,0,0,0,0,28.83,26.69,28.83
$GC,980,-0.77,-146.6,133.4,-14.2,185,987,0.00,1.85,0.00,0.000,4,0.000,0.071,1940,3163,3450,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1062,-0.77,-146.6,145.5,-15.1,201,1069,0.00,1.75,0.00,0.000,6,0.000,0.040,1939,2101,3450,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1101,-0.17,0.0,151.0,-15.8,208,1237,0.62,0.00,129.82,0.573,6,0.120,0.000,2137,2455,2842,0,0,0,0,0,0,26.62,28.83,25.08
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1240,0.77,146.6,157.9,0.0,229,1364,0.90,1.90,116.45,0.571,4,0.071,0.069,2439,3508,2240,0,0,0,0,0,0,25.58,25.35,24.87
$GC,1588,0.81,248.1,154.3,6.6,293,1681,0.00,1.75,82.57,0.563,6,0.000,0.036,2445,2445,1821,0,0,0,0,0,0,28.83,26.25,25.06
$GC,1800,0.82,271.7,134.6,11.1,331,1827,0.00,1.90,19.40,0.546,4,0.000,0.070,2445,3502,1725,0,0,0,0,0,0,28.83,25.86,25.39
$GC,1941,0.82,271.7,116.7,12.7,358,1949,0.00,1.73,0.00,0.000,6,0.000,0.036,2445,2456,1717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2069,0.83,288.1,102.1,11.5,383,2089,0.00,0.00,13.00,0.542,6,0.000,0.000,2445,2456,1662,0,0,0,0,1,0,28.83,28.83,25.16
$GC,2209,0.84,315.3,86.2,10.9,410,2235,0.00,0.00,17.70,0.550,6,0.000,0.000,2445,2456,1565,0,0,0,0,1,0,28.83,28.83,25.34
$GC,2356,0.86,381.4,71.9,8.7,438,2401,0.00,0.00,36.95,0.750,6,0.000,0.000,2445,2456,1294,0,0,0,0,1,0,28.83,28.83,25.06
$GC,2520,0.86,381.4,54.9,13.0,469,2528,0.00,1.80,1.50,0.194,4,0.000,0.057,2445,1391,1293,0,0,0,0,0,0,28.83,26.12,26.00
$GC,2568,0.87,388.5,48.9,12.1,478,2588,0.00,1.85,12.50,0.542,6,0.000,0.064,2445,2459,1253,0,0,0,0,0,0,28.83,26.20,25.60
$GC,2708,0.94,572.9,33.1,10.5,505,2845,0.17,1.92,129.25,0.498,4,0.066,0.057,2516,1397,639,0,0,0,0,0,0,26.32,25.47,25.04
$GC,2855,0.94,572.9,11.7,15.2,528,2863,0.00,1.90,0.00,0.000,6,0.000,0.064,2515,2450,632,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,2916,end climb,SURFACE_DEPTH_REACHED
$STATE,2916,begin surface coast
$FINISH,-0.5,1.018212
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2936,begin surface
$SM_CCo,2954,-0.85,0.000,0,0,652,538.92
$SM_CCo,2956,0.35,0.363,0,0,647,538.92
$SM_CCo,2959,-0.17,0.000,0,0,651,538.92
$SM_GC,1.29,6.62,0.60,-0.17,0.039,0.047,0.000,164,2093,651,-6.27,0.79,538.92,0,0,0,0,0,0,26.01,26.00,26.15
$IRIDIUM_FIX,4751.72,-12340.51,120612,202034
$TT8_MAMPS,0.096621,0.096621
$HUMID,43.34
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,19.70
$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,3.3/516036/498812
$MI_ROOT,70.5/190403/56247
$MI_HOME,2.5/453757/442488
$24V_AH,24.9,0.687
$10V_AH,10.3,0.452
$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,15.400,33.875,559.150,0.350,0.000,0.000,0.000,0.000,0.000,3031.100,23.695,0.000,1140.063,593.796,1230.331,50.139,32.207,1107.038,0.000,781.401,0.000,0.000,0.000
$DEVICE_MAMPS,227.970,74.970,750.465,362.610,0.000,0.000,0.000,0.000,0.000,8.991,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,376.120,0.000,0.000,0.000,0.000,0.000,3031.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.637,0.000,0.000,0.000
$MEM,323652
$DATA_FILE_SIZE,16780,544
$CAP_FILE_SIZE,80480,1
$CFSIZE,-70844416,-77201408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120612,214012,4743.446,-12224.904,8,1.5,18,18.2