version: 66.10
glider: 118
mission: 9
dive: 5
start: 6 12 112 21 51 34
data:
$ID,118
$MISSION,9
$DIVE,5
$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,25
$T_MISSION,25
$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,-56504.047
$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,30
$R_STBD_OVSHOOT,16
$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
$GPS1,120612,214012,4743.446,-12224.904,8,1.5,18,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-69.6
$GPS2,120612,215052,4743.485,-12224.860,12,2.5,31,18.2
$SPEED_LIMITS,0.114,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.153,0.210
$KALMAN_X,1.9,-55.1,-62.0,11.8,49.9
$KALMAN_Y,87.1,-28.3,-144.1,1517.8,60.3
$MHEAD_RNG_PITCHd_Wd,305.6,435,-20.6,-12.000
$D_GRID,176
$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,-0.74,-146.6,0.0,0.0,0,101,0.00,0.00,-83.62,0.000,2,0.000,0.000,164,2093,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.74,-146.6,3.8,-12.5,13,117,7.18,0.00,-5.28,0.000,6,0.230,0.000,1944,2092,3447,0,0,0,0,0,0,26.13,28.83,26.51
$GC,177,-0.74,-146.6,22.3,-16.6,27,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2092,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,242,-0.74,-146.6,32.5,-15.6,40,250,0.00,1.85,0.00,0.000,4,0.000,0.070,1938,3157,3446,0,0,0,0,0,0,28.83,26.43,28.83
$GC,274,-0.74,-146.6,37.8,-17.3,46,282,0.00,1.75,0.00,0.000,6,0.000,0.041,1938,2102,3447,0,0,0,0,0,0,28.83,26.46,28.83
$GC,341,-0.74,-146.6,48.5,-16.1,59,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2102,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,467,-0.74,-146.6,68.4,-14.1,84,474,0.00,1.85,0.00,0.000,4,0.000,0.070,1938,3164,3446,0,0,0,0,0,0,28.83,26.53,28.83
$GC,539,-0.74,-146.6,78.3,-14.0,98,546,0.00,1.75,0.00,0.000,6,0.000,0.039,1938,2101,3446,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,619,begin apogee
$GC,622,-0.17,0.0,90.2,-14.6,114,783,0.62,0.00,150.35,0.525,6,0.119,0.000,2133,2464,2849,0,0,0,0,1,0,26.50,28.83,24.66
$STATE,785,end apogee,CONTROL_FINISHED_OK
$STATE,785,begin climb
$GC,786,0.74,146.6,99.4,0.0,139,916,0.88,1.90,114.53,0.574,4,0.067,0.070,2432,3511,2258,0,0,0,0,1,0,25.53,25.27,24.46
$GC,1140,0.80,297.5,100.8,3.6,204,1277,0.00,1.75,129.25,0.533,6,0.000,0.036,2437,2446,1625,0,0,0,0,0,0,28.83,26.20,24.93
$GC,1396,0.82,326.4,79.1,10.4,249,1423,0.00,1.88,17.12,0.501,4,0.000,0.070,2437,3508,1516,0,0,0,0,1,0,28.83,25.82,25.15
$GC,1463,0.82,344.2,71.9,11.0,261,1490,0.00,1.75,16.58,0.516,6,0.000,0.037,2437,2458,1441,0,0,0,0,1,0,28.83,25.99,25.16
$GC,1505,0.92,586.0,67.9,9.4,268,1604,0.17,1.95,87.15,0.799,4,0.065,0.057,2513,1384,651,0,0,0,0,1,0,25.94,25.15,24.49
$GC,1629,0.92,586.0,49.0,16.6,288,1637,0.00,1.92,1.08,0.222,6,0.000,0.064,2513,2456,649,0,0,0,0,0,0,28.83,25.47,25.35
$GC,1757,0.92,586.0,28.3,16.3,313,1764,0.00,1.88,1.55,0.192,4,0.000,0.057,2512,1397,650,0,0,0,0,0,0,28.83,26.00,25.86
$GC,1793,0.92,586.0,22.6,14.4,320,1801,0.00,1.88,1.23,0.179,6,0.000,0.064,2513,2450,648,0,0,0,0,0,0,28.83,26.05,25.93
$GC,1861,0.92,586.0,12.6,14.6,333,1868,0.00,1.83,1.35,0.201,4,0.000,0.070,2513,3509,648,0,0,0,0,0,0,28.83,26.15,26.04
$GC,1883,0.92,586.0,9.2,15.6,337,1890,0.00,1.75,0.52,0.247,6,0.000,0.037,2516,2451,648,0,0,0,0,0,0,28.83,26.22,26.06
$STATE,1923,end climb,SURFACE_DEPTH_REACHED
$STATE,1923,begin surface coast
$FINISH,0.8,1.018240
$STATE,1939,end surface coast,CONTROL_FINISHED_OK
$STATE,1939,begin surface
$SM_CCo,1954,1.05,0.213,0,0,648,538.92
$SM_CCo,1957,-0.20,0.000,0,0,653,538.68
$SM_CCo,1959,0.43,0.347,0,0,648,538.92
$SM_GC,2.21,6.68,0.60,0.43,0.050,0.051,0.347,160,2094,648,-6.28,0.68,538.92,0,0,0,0,0,0,26.29,26.28,26.14
$IRIDIUM_FIX,4751.72,-12340.51,120612,202019
$TT8_MAMPS,0.09737,0.09737
$HUMID,44.01
$INTERNAL_PRESSURE,8.79795
$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,3.3/516036/498812
$MI_ROOT,70.5/190403/56247
$MI_HOME,2.5/453757/442225
$24V_AH,24.5,0.799
$10V_AH,10.3,0.511
$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,15.525,26.900,520.700,1.475,0.000,29.078,38.189,292.015,0.000,2677.500,33.452,0.000,619.989,549.827,1198.402,101.985,33.203,931.230,0.000,505.410,0.000,0.000,0.000
$DEVICE_MAMPS,229.500,70.380,798.660,347.310,0.000,103.000,160.000,223.000,0.000,8.551,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,240.222,0.000,0.000,0.000,0.000,0.000,2677.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.733,0.000,0.000,0.000
$MEM,323692
$DATA_FILE_SIZE,10158,348
$CAP_FILE_SIZE,51083,1
$CFSIZE,-70844416,-77398016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,120612,222536,4743.771,-12225.052,53,1.2,64,18.2