version: 66.10
glider: 116
mission: 31
dive: 2
start: 4 4 112 17 30 14
data:
$ID,116
$MISSION,31
$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,40
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.0233001
$MASS,51034
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-74211.367
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,133
$PITCH_MAX,3926
$C_PITCH,2435
$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,275
$ROLL_MAX,3832
$ROLL_DEG,30
$C_ROLL_DIVE,2676
$C_ROLL_CLIMB,2676
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3960
$C_VBD,3262
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-21.811865
$PRESSURE_SLOPE,0.0001145545
$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,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.7
$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,0.0043750796
$SEABIRD_T_H,0.00063934911
$SEABIRD_T_I,2.7085041e-05
$SEABIRD_T_J,3.1576283e-06
$SEABIRD_C_G,-9.8751535
$SEABIRD_C_H,1.1253172
$SEABIRD_C_I,-0.0019110913
$SEABIRD_C_J,0.00023224781
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,040412,172442,4743.202,-12223.721,13,1.6,23,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.8
$GPS2,040412,172936,4743.201,-12223.693,11,1.6,21,18.2
$SPEED_LIMITS,0.080,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.249,0.076
$KALMAN_X,42.8,42.8,42.8,-112.1,98.9
$KALMAN_Y,16.8,16.8,16.8,122.6,38.8
$MHEAD_RNG_PITCHd_Wd,268.8,1872,-18.2,-10.000
$D_GRID,162
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-146.6,0.0,0.0,0,140,0.00,0.00,-121.00,0.000,6,0.000,0.000,128,2666,3860,0,0,0,0,0,0,28.83,28.83,26.39
$GC,142,-0.79,-146.6,2.5,-3.6,19,157,9.12,1.83,0.00,0.000,4,0.257,0.059,2179,1607,3863,0,0,0,0,0,0,25.76,26.09,28.83
$GC,161,-0.79,-146.6,8.6,-21.8,22,169,0.00,1.92,0.00,0.000,6,0.000,0.073,2172,2677,3863,0,0,0,0,0,0,28.83,26.03,28.83
$GC,229,-0.79,-146.6,22.3,-20.2,35,235,0.00,1.88,0.00,0.000,4,0.000,0.080,2163,3743,3863,0,0,0,0,0,0,28.83,26.08,28.83
$GC,250,-0.79,-146.6,26.6,-19.8,39,257,0.00,1.88,0.00,0.000,6,0.000,0.057,2170,2652,3864,0,0,0,0,0,0,28.83,26.13,28.83
$GC,317,-0.79,-146.6,40.8,-21.6,52,324,0.00,1.95,0.00,0.000,4,0.000,0.079,2162,3737,3864,0,0,0,0,0,0,28.83,26.10,28.83
$GC,334,-0.79,-146.6,44.5,-21.7,55,341,0.00,1.83,0.00,0.000,6,0.000,0.057,2169,2681,3864,0,0,0,0,0,0,28.83,26.17,28.83
$GC,461,-0.79,-146.6,69.7,-17.5,80,468,0.00,1.90,0.00,0.000,4,0.000,0.081,2161,3744,3864,0,0,0,0,0,0,28.83,26.13,28.83
$GC,482,-0.79,-146.6,74.1,-20.8,84,489,0.00,1.85,0.00,0.000,6,0.000,0.057,2167,2679,3864,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,566,-0.17,0.0,90.3,-19.6,100,651,0.75,0.00,75.97,0.980,6,0.177,0.000,2370,2679,3260,0,0,0,0,1,0,25.97,28.83,24.02
$STATE,651,end apogee,CONTROL_FINISHED_OK
$STATE,651,begin climb
$GC,654,0.79,146.6,96.1,0.0,113,803,1.05,0.00,140.88,0.543,6,0.126,0.000,2679,2679,2653,0,0,0,0,0,0,25.00,28.83,24.55
$GC,923,0.79,146.6,65.3,14.0,160,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2679,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1049,0.79,146.6,49.6,12.5,185,1056,0.00,1.95,0.00,0.000,4,0.000,0.086,2679,3734,2637,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1106,0.79,146.6,41.8,13.7,196,1113,0.00,1.88,0.00,0.000,6,0.000,0.060,2688,2674,2637,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1234,0.79,146.6,25.6,13.7,221,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2673,2636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,0.79,146.6,16.7,12.2,234,1307,0.00,1.92,0.00,0.000,4,0.000,0.085,2688,3737,2635,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1327,0.79,146.6,12.7,15.2,239,1334,0.00,1.85,0.00,0.000,6,0.000,0.060,2696,2679,2635,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1394,0.79,146.6,3.7,12.7,252,1400,0.00,1.92,0.00,0.000,4,0.000,0.085,2696,3740,2635,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,1403,end climb,SURFACE_DEPTH_REACHED
$STATE,1403,begin surface coast
$FINISH,0.2,1.009704
$STATE,1429,end surface coast,CONTROL_FINISHED_OK
$STATE,1429,begin surface
$SM_CCo,1447,82.12,0.136,0,0,1831,350.04
$SM_GC,1.19,7.30,1.90,82.12,0.057,0.060,0.136,133,2666,1831,-7.15,0.42,350.04,0,0,0,0,0,0,26.14,26.15,25.78
$IRIDIUM_FIX,4751.72,-12340.51,040412,171725
$TT8_MAMPS,0.093625,0.093625
$HUMID,35.27
$INTERNAL_PRESSURE,8.95471
$TCM_TEMP,18.80
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,17
$MI_LOG,3.4/516052/498753
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.2/436550/427094
$24V_AH,24.0,1.509
$10V_AH,10.3,1.664
$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,18.225,26.450,216.850,82.125,0.000,0.000,0.000,0.000,0.000,1575.500,22.029,0.000,507.139,423.448,606.522,46.026,30.061,694.171,0.000,378.167,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,85.680,979.965,136.170,0.000,0.000,0.000,0.000,0.000,14.822,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,170.301,0.000,0.000,0.000,0.000,0.000,1575.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.508,0.000,0.000,0.000
$MEM,323620
$DATA_FILE_SIZE,6828,259
$CAP_FILE_SIZE,53525,0
$CFSIZE,260034560,240029696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040412,175634,4743.224,-12223.954,11,3.9,30,18.2