version: 66.10
glider: 116
mission: 33
dive: 5
start: 6 12 112 20 36 47
data:
$ID,116
$MISSION,33
$DIVE,5
$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,-76201.898
$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,2495
$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,33
$R_STBD_OVSHOOT,20
$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
$GPS1,120612,203231,4742.982,-12225.137,13,1.5,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.1
$GPS2,120612,203606,4742.986,-12225.137,14,1.5,30,18.2
$SPEED_LIMITS,0.143,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,0.274
$KALMAN_X,-188.4,-129.1,-99.1,222.7,-31.4
$KALMAN_Y,-308.1,-381.6,-387.6,1490.0,64.1
$MHEAD_RNG_PITCHd_Wd,353.4,1333,-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,-58.30,0.000,2,0.000,0.000,129,2589,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.74,-146.6,3.1,-5.3,9,105,9.32,1.77,-8.73,0.000,4,0.252,0.072,2251,1548,2910,0,0,0,0,0,0,25.84,26.11,26.27
$GC,330,-0.74,-146.6,46.9,-16.0,58,337,0.00,1.85,0.00,0.000,6,0.000,0.070,2245,2590,2909,0,0,0,0,0,0,28.83,26.17,28.83
$GC,457,-0.74,-146.6,67.1,-15.3,83,464,0.00,1.77,0.00,0.000,4,0.000,0.052,2245,1541,2909,0,0,0,0,0,0,28.83,26.27,28.83
$GC,593,-0.74,-146.6,88.0,-14.4,110,600,0.00,1.88,0.00,0.000,6,0.000,0.070,2239,2595,2909,0,0,0,0,0,0,28.83,26.23,28.83
$GC,720,-0.74,-146.6,106.5,-13.7,135,727,0.00,1.90,0.00,0.000,4,0.000,0.080,2231,3660,2909,0,0,0,0,0,0,28.83,26.28,28.83
$GC,868,-0.74,-146.6,129.7,-16.3,164,874,0.00,1.77,0.00,0.000,6,0.000,0.056,2231,2606,2909,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,994,begin apogee
$GC,998,-0.16,0.0,150.1,-16.1,189,1127,0.73,0.00,118.97,1.099,6,0.155,0.000,2437,2681,2312,0,0,0,0,1,0,26.22,28.83,24.01
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1130,0.74,146.6,156.7,0.0,209,1265,0.93,1.98,118.47,1.075,4,0.100,0.057,2732,1615,1714,0,0,0,0,1,0,24.86,24.77,23.98
$GC,1271,0.79,258.7,152.3,6.1,231,1376,0.00,2.00,98.82,0.568,6,0.000,0.072,2732,2675,1249,0,0,0,0,0,0,28.83,24.96,24.61
$GC,1496,0.81,313.2,129.6,9.4,271,1549,0.00,2.03,46.28,0.562,4,0.000,0.083,2732,3741,1023,0,0,0,0,0,0,28.83,25.28,24.91
$GC,1568,0.82,334.7,121.9,11.3,283,1595,0.00,1.92,18.70,0.567,6,0.000,0.057,2739,2668,934,0,0,0,0,0,0,28.83,25.48,24.91
$GC,1715,0.83,357.5,104.8,11.2,311,1736,0.00,0.00,19.17,0.578,6,0.000,0.000,2740,2669,851,0,0,0,0,0,0,28.83,28.83,25.15
$GC,1856,0.85,408.7,89.5,9.6,338,1876,0.00,0.00,17.27,0.575,6,0.000,0.000,2739,2669,765,0,0,0,0,0,0,28.83,28.83,25.25
$GC,1997,0.86,435.6,74.5,11.0,365,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2669,753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,0.86,441.8,59.5,12.1,390,2130,0.00,1.80,0.00,0.000,4,0.000,0.058,2746,1626,753,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2150,0.86,441.8,55.9,13.4,395,2157,0.00,1.88,0.00,0.000,6,0.000,0.073,2746,2678,752,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2278,0.86,450.6,39.8,12.0,420,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2678,752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,0.87,466.7,31.9,11.6,433,2351,0.00,1.83,0.00,0.000,4,0.000,0.057,2753,1623,752,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2355,0.87,472.5,30.4,12.2,435,2363,0.00,1.90,0.00,0.000,6,0.000,0.072,2753,2679,752,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2423,0.88,487.1,22.6,11.7,448,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2679,752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2489,0.88,497.4,14.5,11.9,461,2496,0.00,1.90,0.00,0.000,4,0.000,0.083,2753,3755,752,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2500,0.88,497.4,13.0,12.7,463,2507,0.00,1.88,0.00,0.000,6,0.000,0.057,2761,2675,752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2567,0.89,523.7,5.0,11.0,476,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2675,752,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2586,end climb,SURFACE_DEPTH_REACHED
$STATE,2586,begin surface coast
$FINISH,0.7,1.018103
$STATE,2612,end surface coast,CONTROL_FINISHED_OK
$STATE,2612,begin surface
$SM_CCo,2629,-0.68,0.000,0,0,772,377.76
$SM_CCo,2631,0.03,2.977,0,0,767,377.76
$SM_CCo,2634,-0.17,0.000,0,0,772,377.76
$SM_GC,2.92,7.32,0.15,-0.17,0.044,0.084,0.000,128,2592,772,-7.35,0.42,377.76,0,0,0,0,0,0,26.26,26.29,26.41
$IRIDIUM_FIX,4751.72,-12340.51,120612,202027
$TT8_MAMPS,0.093625,0.093625
$HUMID,49.44
$INTERNAL_PRESSURE,8.93166
$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,3.3/516052/498831
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.8/436550/424519
$24V_AH,24.0,0.653
$10V_AH,10.3,0.499
$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,18.300,30.375,437.700,0.025,0.000,0.000,0.000,0.000,0.000,2710.100,31.239,0.000,1054.770,491.352,1090.366,60.385,33.208,941.599,0.000,697.640,0.000,0.000,0.000
$DEVICE_MAMPS,252.450,115.515,1099.305,2977.380,0.000,0.000,0.000,0.000,0.000,15.046,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,322.053,0.000,0.000,0.000,0.000,0.000,2710.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.550,0.000,0.000,0.000
$MEM,323756
$DATA_FILE_SIZE,13489,485
$CAP_FILE_SIZE,83036,0
$CFSIZE,260034560,257572864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120612,212142,4743.402,-12225.074,31,1.9,41,18.2