version: 66.10
glider: 116
mission: 31
dive: 3
start: 4 4 112 18 16 13
data:
$ID,116
$MISSION,31
$DIVE,3
$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,35
$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,-74256.602
$T_RSLEEP,2
$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,11
$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
$GPS1,040412,181024,4743.211,-12223.906,9,1.9,19,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.5
$GPS2,040412,181534,4743.206,-12223.888,10,2.5,29,18.2
$SPEED_LIMITS,0.080,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,0.123
$KALMAN_X,94.4,77.6,75.1,-468.9,75.8
$KALMAN_Y,-20.8,-6.8,-5.1,219.1,-9.5
$MHEAD_RNG_PITCHd_Wd,280.0,1661,-18.2,-10.000
$D_GRID,169
$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,-146.6,0.0,0.0,0,101,0.00,0.00,-80.05,0.000,6,0.000,0.000,131,2665,3861,0,0,0,0,0,0,28.83,28.83,26.31
$GC,104,-0.79,-146.6,3.7,-7.9,13,118,9.35,1.90,0.00,0.000,4,0.264,0.072,2163,3743,3862,0,0,0,0,0,0,25.70,25.99,28.83
$GC,123,-0.79,-146.6,12.1,-30.7,16,130,0.00,1.88,0.00,0.000,6,0.000,0.058,2171,2677,3863,0,0,0,0,0,0,28.83,26.02,28.83
$GC,190,-0.79,-146.6,26.6,-20.7,29,197,0.00,1.80,0.00,0.000,4,0.000,0.060,2172,1614,3863,0,0,0,0,0,0,28.83,26.07,28.83
$GC,217,-0.79,-146.6,32.0,-20.3,34,224,0.00,1.92,0.00,0.000,6,0.000,0.073,2165,2680,3864,0,0,0,0,0,0,28.83,26.01,28.83
$GC,284,-0.79,-146.6,44.7,-19.0,47,291,0.00,1.83,0.00,0.000,4,0.000,0.058,2164,1607,3864,0,0,0,0,0,0,28.83,26.07,28.83
$GC,345,-0.79,-146.6,57.9,-21.9,59,352,0.00,1.92,0.00,0.000,6,0.000,0.076,2159,2669,3864,0,0,0,0,0,0,28.83,26.04,28.83
$GC,473,-0.79,-146.6,84.0,-21.1,84,479,0.00,1.90,0.00,0.000,4,0.000,0.081,2151,3741,3864,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,503,-0.17,0.0,90.1,-23.0,89,588,0.82,0.00,75.95,0.982,6,0.189,0.000,2368,2672,3260,0,0,0,0,1,0,25.91,28.83,24.00
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,591,0.79,146.6,97.6,0.0,102,739,1.08,0.00,139.70,0.549,6,0.133,0.000,2679,2672,2653,0,0,0,0,0,0,24.95,28.83,24.52
$GC,859,0.79,146.6,67.6,14.0,149,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2672,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,985,0.79,146.6,50.4,12.4,174,992,0.00,1.95,0.00,0.000,4,0.000,0.083,2679,3738,2638,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1062,0.79,146.6,39.5,14.7,189,1069,0.00,1.88,0.00,0.000,6,0.000,0.060,2688,2673,2638,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1128,0.79,146.6,31.0,13.1,202,1135,0.00,1.85,0.00,0.000,4,0.000,0.063,2695,1613,2637,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1195,0.79,146.6,22.5,13.0,215,1202,0.00,1.90,0.00,0.000,6,0.000,0.076,2695,2676,2636,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1262,0.79,146.6,13.1,13.8,228,1269,0.00,1.92,0.00,0.000,4,0.000,0.086,2695,3735,2636,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,1327,end climb,SURFACE_DEPTH_REACHED
$STATE,1327,begin surface coast
$FINISH,0.3,1.021444
$STATE,1342,end surface coast,CONTROL_FINISHED_OK
$STATE,1342,begin surface
$SM_CCo,1361,83.07,0.135,0,0,1830,350.04
$SM_GC,1.29,7.30,1.88,83.07,0.055,0.060,0.135,127,2675,1830,-7.17,0.74,350.04,0,0,0,0,0,0,26.12,26.12,25.80
$IRIDIUM_FIX,4751.72,-12340.51,040412,181805
$TT8_MAMPS,0.093625,0.093625
$HUMID,35.54
$INTERNAL_PRESSURE,8.95471
$TCM_TEMP,18.70
$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,3.4/516052/498752
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.2/436550/426888
$24V_AH,24.0,1.590
$10V_AH,10.2,1.720
$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,18.550,26.400,215.650,83.075,0.000,0.000,0.000,0.000,0.000,1499.300,30.859,0.000,491.625,388.181,581.157,45.884,31.289,637.764,0.000,356.945,0.000,0.000,0.000
$DEVICE_MAMPS,263.925,85.680,982.260,134.640,0.000,0.000,0.000,0.000,0.000,13.496,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,160.904,0.000,0.000,0.000,0.000,0.000,1499.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.635,0.000,0.000,0.000
$MEM,323656
$DATA_FILE_SIZE,6806,244
$CAP_FILE_SIZE,51021,0
$CFSIZE,260034560,240009216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040412,184100,4743.177,-12224.193,13,1.5,23,18.2