version: 66.10
glider: 117
mission: 34
dive: 3
start: 6 12 112 18 54 1
data:
$ID,117
$MISSION,34
$DIVE,3
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.80000001
$RHO,1.023
$MASS,51563
$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,345
$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,-120501.37
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3916
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,29
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,235
$ROLL_MAX,3826
$ROLL_DEG,25
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,2236
$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,-7.0084891
$PRESSURE_SLOPE,0.0001158926
$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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$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,0.0043948698
$SEABIRD_T_H,0.00065035583
$SEABIRD_T_I,2.6514934e-05
$SEABIRD_T_J,2.8649386e-06
$SEABIRD_C_G,-9.9217796
$SEABIRD_C_H,1.113543
$SEABIRD_C_I,-0.0018813133
$SEABIRD_C_J,0.00019560773
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,120612,184824,4742.141,-12225.442,11,1.3,21,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.5
$GPS2,120612,185322,4742.126,-12225.448,12,2.4,31,18.2
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,0.261
$KALMAN_X,-265.4,-173.5,-164.3,20.5,-170.8
$KALMAN_Y,-595.9,-425.4,-407.0,278.6,-402.7
$MHEAD_RNG_PITCHd_Wd,2.5,2968,-21.9,-12.500
$D_GRID,164
$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,-0.81,-146.6,0.0,0.0,0,82,0.00,0.00,-64.68,0.000,2,0.000,0.000,157,2317,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.81,-146.6,4.1,-10.1,10,99,8.20,1.50,-1.62,0.000,4,0.246,0.070,2184,1417,2837,0,0,0,0,0,0,26.05,26.33,26.50
$GC,323,-0.81,-146.6,42.4,-12.8,57,331,0.00,1.50,0.00,0.000,6,0.000,0.054,2179,2295,2838,0,0,1,0,0,0,28.83,26.38,28.83
$GC,450,-0.81,-146.6,58.6,-13.5,82,457,0.00,1.48,0.00,0.000,4,0.000,0.047,2179,1418,2838,0,0,0,0,0,0,28.83,26.44,28.83
$GC,472,-0.81,-146.6,61.4,-13.1,86,479,0.00,1.50,0.00,0.000,6,0.000,0.054,2173,2301,2838,0,0,1,0,0,0,28.83,26.41,28.83
$GC,599,-0.81,-146.6,78.3,-12.2,111,606,0.00,1.50,0.00,0.000,4,0.000,0.062,2166,3186,2838,0,0,0,0,0,0,28.83,26.42,28.83
$GC,700,-0.81,-146.6,91.5,-13.1,131,707,0.00,1.50,0.00,0.000,6,0.000,0.043,2166,2288,2838,0,0,0,0,0,0,28.83,26.48,28.83
$GC,827,-0.81,-146.6,107.9,-13.1,156,834,0.00,1.52,0.00,0.000,4,0.000,0.061,2160,3175,2837,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1059,-0.81,-146.6,138.6,-13.1,202,1066,0.00,1.48,0.00,0.000,6,0.000,0.043,2160,2294,2837,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1158,-0.17,0.0,150.2,-11.6,221,1292,0.73,0.00,125.90,0.584,6,0.132,0.000,2388,2292,2229,0,0,0,0,0,0,26.35,28.83,24.90
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1295,0.81,146.6,152.3,0.0,242,1425,0.93,1.50,123.20,0.552,4,0.076,0.054,2714,1429,1630,0,0,0,0,0,0,25.47,25.25,24.77
$GC,1605,0.81,146.6,109.5,14.6,298,1612,0.00,1.50,0.00,0.000,6,0.000,0.055,2714,2296,1617,0,0,1,0,0,0,28.83,25.98,28.83
$GC,1733,0.81,146.6,87.1,16.9,323,1739,0.00,1.55,0.00,0.000,4,0.000,0.062,2714,3203,1615,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1964,0.81,146.6,46.5,14.9,369,1971,0.00,1.52,0.00,0.000,6,0.000,0.045,2720,2304,1614,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2091,0.81,146.6,27.6,13.6,394,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2301,1613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2157,0.81,146.6,18.5,13.9,407,2164,0.00,1.55,0.00,0.000,4,0.000,0.063,2720,3182,1613,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2267,end climb,SURFACE_DEPTH_REACHED
$STATE,2267,begin surface coast
$FINISH,0.9,1.019348
$STATE,2287,end surface coast,CONTROL_FINISHED_OK
$STATE,2287,begin surface
$SM_CCo,2304,73.28,0.151,0,0,828,345.14
$SM_GC,1.49,7.25,1.52,73.28,0.075,0.045,0.151,153,2291,828,-7.13,0.65,345.14,0,0,0,0,0,0,26.35,26.40,26.04
$IRIDIUM_FIX,4751.72,-12340.51,120612,181855
$TT8_MAMPS,0.092876,0.092876
$HUMID,49.56
$INTERNAL_PRESSURE,8.79439
$TCM_TEMP,20.20
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,31
$MI_LOG,3.4/516052/498446
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.6/436550/425135
$24V_AH,24.8,0.388
$10V_AH,10.4,0.335
$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,17.100,21.125,249.100,73.275,0.000,0.000,0.000,0.000,0.000,2444.000,33.289,0.000,1034.141,387.917,978.813,40.567,31.296,754.470,0.000,624.238,0.000,0.000,0.000
$DEVICE_MAMPS,246.330,70.380,584.460,151.470,0.000,0.000,0.000,0.000,0.000,14.858,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,299.454,0.000,0.000,0.000,0.000,0.000,2444.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.108,0.000,0.000,0.000
$MEM,323684
$DATA_FILE_SIZE,13444,433
$CAP_FILE_SIZE,74242,0
$CFSIZE,260034560,245243904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,120612,193434,4742.195,-12225.470,17,3.1,36,18.2