version: 66.10
glider: 116
mission: 33
dive: 4
start: 6 12 112 19 28 26
data:
$ID,116
$MISSION,33
$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,720
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,0.80000001
$RHO,1.023
$MASS,51412
$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,24.3333
$TGT_DEFAULT_LON,-82.333298
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-76138
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,133
$PITCH_MAX,3926
$C_PITCH,2505
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2600
$C_ROLL_CLIMB,2675
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3960
$C_VBD,2310
$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,-22.355999
$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,-1.85
$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
$GPS1,120612,192257,4742.676,-12225.191,8,3.1,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.8
$GPS2,120612,192746,4742.675,-12225.188,12,3.3,31,18.2
$SPEED_LIMITS,0.143,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,0.273
$KALMAN_X,-159.7,-109.4,-92.0,103.8,-74.0
$KALMAN_Y,-384.3,-364.9,-355.6,940.2,-177.9
$MHEAD_RNG_PITCHd_Wd,354.4,1913,-21.9,-12.500
$D_GRID,186
$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,-146.6,0.0,0.0,0,76,0.00,0.00,-58.42,0.000,2,0.000,0.000,130,2616,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.74,-146.6,3.0,-5.1,9,105,9.48,1.85,-9.10,0.000,4,0.256,0.070,2263,1540,2909,0,0,0,0,0,0,25.83,26.10,26.26
$GC,330,-0.74,-146.6,44.0,-14.5,58,337,0.00,1.85,0.00,0.000,6,0.000,0.067,2257,2588,2910,0,0,0,0,0,0,28.83,26.20,28.83
$GC,457,-0.74,-146.6,62.3,-13.8,83,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2589,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,582,-0.74,-146.6,79.6,-13.1,108,590,0.00,1.90,0.00,0.000,4,0.000,0.080,2249,3658,2910,0,0,0,0,0,0,28.83,26.28,28.83
$GC,714,-0.74,-146.6,99.7,-14.9,134,721,0.00,1.80,0.00,0.000,6,0.000,0.056,2249,2609,2910,0,0,0,0,0,0,28.83,26.36,28.83
$GC,842,-0.74,-146.6,114.6,-10.9,159,849,0.00,1.77,0.00,0.000,4,0.000,0.054,2249,1534,2910,0,0,0,0,0,0,28.83,26.36,28.83
$GC,990,-0.74,-146.6,133.3,-12.6,188,997,0.00,1.85,0.00,0.000,6,0.000,0.070,2241,2601,2910,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1114,-0.16,0.0,150.7,-14.5,212,1249,0.70,0.00,125.60,0.616,6,0.152,0.000,2444,2677,2302,0,0,0,0,0,0,26.26,28.83,24.76
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1252,0.74,146.6,155.6,0.0,233,1382,0.93,1.95,123.30,0.582,4,0.095,0.057,2745,1614,1704,0,0,0,0,0,0,25.29,25.14,24.66
$GC,1447,0.75,175.8,142.1,10.8,266,1480,0.00,1.95,24.12,0.582,6,0.000,0.072,2745,2672,1581,0,0,0,0,0,0,28.83,25.53,24.94
$GC,1600,0.76,191.1,124.2,11.6,295,1620,0.00,1.98,11.68,0.618,4,0.000,0.082,2745,3738,1521,0,0,0,0,0,0,28.83,25.66,25.22
$GC,1625,0.76,198.2,121.2,12.1,299,1633,0.00,1.90,1.65,0.183,6,0.000,0.057,2753,2666,1503,0,0,0,0,0,0,28.83,25.75,25.53
$GC,1752,0.76,198.2,104.9,13.1,324,1760,0.00,0.00,1.08,0.221,6,0.000,0.000,2753,2666,1501,0,0,0,0,0,0,28.83,28.83,25.85
$GC,1880,0.77,213.5,89.6,11.6,349,1900,0.00,0.00,18.20,0.601,6,0.000,0.000,2753,2666,1436,0,0,0,0,0,0,28.83,28.83,25.38
$GC,2021,0.77,218.7,72.5,12.2,376,2028,0.00,1.95,0.00,0.000,4,0.000,0.082,2753,3742,1422,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2058,0.77,218.7,67.5,14.1,383,2065,0.00,1.85,0.00,0.000,6,0.000,0.057,2762,2679,1422,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2185,0.77,218.7,50.7,13.0,408,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2679,1422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2311,0.77,222.9,35.1,12.3,433,2318,0.00,1.85,2.03,0.249,4,0.000,0.058,2769,1615,1401,0,0,0,0,0,0,28.83,26.21,23.94
$GC,2348,0.78,243.4,30.9,11.3,440,2375,0.00,1.90,23.20,0.567,6,0.000,0.073,2769,2699,1315,0,0,0,0,0,0,28.83,26.17,25.48
$GC,2435,0.78,253.7,20.6,11.9,456,2443,0.00,1.95,2.42,0.363,4,0.000,0.082,2770,3739,1274,0,0,0,0,0,0,28.83,25.44,25.26
$GC,2453,0.79,257.6,18.4,12.3,459,2460,0.00,1.85,2.12,0.278,6,0.000,0.057,2778,2676,1256,0,0,0,0,0,0,28.83,26.03,25.19
$GC,2520,0.81,308.1,11.2,9.6,472,2573,0.00,2.00,49.00,0.534,4,0.000,0.081,2777,3736,1047,0,0,0,0,0,0,28.83,25.56,25.17
$STATE,2586,end climb,SURFACE_DEPTH_REACHED
$STATE,2586,begin surface coast
$FINISH,0.7,1.017869
$STATE,2606,end surface coast,CONTROL_FINISHED_OK
$STATE,2607,begin surface
$SM_CCo,2627,25.25,0.148,0,0,768,377.76
$SM_CCo,2654,-0.15,0.000,0,0,771,377.76
$SM_CCo,2657,0.28,0.448,0,0,766,377.76
$SM_GC,1.20,7.57,2.03,0.28,0.048,0.056,0.448,133,2598,766,-7.37,0.79,377.76,0,0,0,0,0,0,25.76,25.75,25.61
$IRIDIUM_FIX,4751.72,-12056.72,120612,191954
$TT8_MAMPS,0.092876,0.092876
$HUMID,49.33
$INTERNAL_PRESSURE,8.94143
$TCM_TEMP,19.40
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,4
$MI_LOG,3.3/516052/498832
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.7/436550/424909
$24V_AH,23.9,0.504
$10V_AH,10.1,0.412
$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,18.675,34.325,384.400,25.525,0.000,0.000,0.000,0.000,0.000,2713.700,33.090,0.000,1096.959,464.248,1101.340,58.746,32.206,900.198,0.000,700.472,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,122.400,618.120,448.290,0.000,0.000,0.000,0.000,0.000,16.183,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,324.721,0.000,0.000,0.000,0.000,0.000,2713.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.590,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,13443,487
$CAP_FILE_SIZE,75538,0
$CFSIZE,260034560,257634304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,201456,4742.953,-12225.148,93,6.5,112,18.2