version: 66.09
glider: 118
mission: 3
dive: 138
start: 10 6 110 3 5 2
data:
$ID,118
$MISSION,3
$DIVE,138
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51918
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038600001
$HD_B,0.010078
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.75
$TGT_DEFAULT_LON,-118.6667
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48804.152
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.4564514
$PRESSURE_SLOPE,0.0001161622
$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,80
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067457
$SEABIRD_T_H,0.00063597393
$SEABIRD_T_I,2.2520266e-05
$SEABIRD_T_J,2.121848e-06
$SEABIRD_C_G,-9.9730387
$SEABIRD_C_H,1.1230758
$SEABIRD_C_I,-0.0012369319
$SEABIRD_C_J,0.00015181596
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,061010,025206,3243.874,-11858.261,42,1.6,42,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.7
$GPS2,061010,030426,3243.820,-11858.278,13,2.0,13,13.3
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.299,0.130
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,53.1,25784,-13.9,-10.000
$D_GRID,180
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.23,-243.3,0.0,0.0,0,102,0.00,0.00,-81.75,0.000,2,0.000,0.000,422,1943,3378,0,0,0,0,0,0
$GC,105,-1.23,-243.3,3.3,-7.7,14,131,10.98,2.55,-9.23,0.000,4,0.142,0.059,2453,3355,3896,0,0,0,0,0,0
$GC,334,-1.23,-243.3,53.5,-15.7,54,338,0.00,2.45,0.00,0.000,6,0.000,0.028,2453,1946,3901,0,0,0,0,0,0
$GC,526,-1.23,-243.3,82.5,-15.7,72,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1946,3902,0,0,0,0,0,0
$GC,712,-1.23,-243.3,111.5,-15.7,90,716,0.00,2.47,0.00,0.000,4,0.000,0.050,2453,548,3903,0,0,0,0,0,0
$GC,749,-1.23,-243.3,117.3,-15.5,93,753,0.00,2.42,0.00,0.000,6,0.000,0.031,2454,1955,3903,0,0,0,0,0,0
$GC,958,-1.23,-243.3,148.9,-15.0,103,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1955,3903,0,0,0,0,0,0
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1205,-0.33,0.0,181.9,13.2,111,1377,0.93,0.00,165.77,0.614,6,0.086,0.000,2646,1956,3020,0,0,0,0,0,0
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1381,1.23,243.3,187.2,0.0,116,1577,1.60,0.00,186.98,0.593,6,0.061,0.000,2990,1955,2026,0,0,0,0,0,0
$GC,1879,1.23,243.3,142.6,10.0,133,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1955,2020,0,0,0,0,0,0
$GC,2186,1.26,267.7,112.5,9.3,151,2211,0.00,2.60,19.95,0.561,4,0.000,0.055,2991,546,1927,0,0,0,0,0,0
$GC,2222,1.28,284.3,109.1,9.5,154,2245,0.00,2.45,14.98,0.539,6,0.000,0.030,2991,1961,1860,0,0,0,0,0,0
$GC,2433,1.28,284.3,88.7,10.1,174,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1961,1856,0,0,0,0,0,0
$GC,2616,1.31,314.5,70.8,9.2,192,2647,0.00,0.00,26.00,0.550,6,0.000,0.000,2991,1961,1736,0,0,0,0,0,0
$GC,2832,1.37,363.6,52.0,8.6,213,2884,0.15,2.62,41.78,0.541,4,0.057,0.056,3037,549,1535,0,0,0,0,0,0
$GC,2901,1.37,363.6,44.2,12.8,223,2908,0.00,2.45,0.00,0.000,6,0.000,0.030,3037,1956,1534,0,0,0,0,0,0
$GC,2972,1.37,363.6,35.0,13.1,236,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1956,1532,0,0,0,0,0,0
$GC,3044,1.37,363.6,26.2,12.6,249,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1956,1530,0,0,0,0,0,0
$GC,3115,1.37,363.6,17.5,11.3,262,3121,0.00,2.58,0.00,0.000,4,0.000,0.055,3037,543,1530,0,0,0,0,0,0
$GC,3165,1.37,363.6,12.8,10.1,271,3172,0.00,2.45,0.00,0.000,6,0.000,0.030,3037,1959,1528,0,0,0,0,0,0
$GC,3236,1.42,400.1,6.4,9.0,284,3273,0.00,0.00,30.73,0.513,6,0.000,0.000,3036,1959,1387,0,0,0,0,0,0
$STATE,3276,end climb,SURFACE_DEPTH_REACHED
$STATE,3276,begin surface coast
$FINISH,0.4,1.010428
$STATE,3308,end surface coast,CONTROL_FINISHED_OK
$STATE,3308,begin surface
$SM_CCo,3393,0.00,0.000,0,0,1377,402.78
$SM_GC,1.18,11.48,0.00,0.00,0.028,0.000,0.000,426,1965,1377,-10.51,0.42,402.78
$IRIDIUM_FIX,3327.96,-11804.20,051010,232316
$TT8_MAMPS,0.096621
$HUMID,54.37
$INTERNAL_PRESSURE,9.20303
$TCM_TEMP,20.10
$MI_MIVER,0.1
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010
$MI_BOOTCOUNT,72
$MI_LOG,2.0/472810/463347
$MI_ROOT,63.2/190403/70005
$MI_HOME,4.0/478492/459179
$24V_AH,24.0,24.584
$10V_AH,9.9,20.981
$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,25.125,25.050,486.175,0.000,0.000,32.639,28.382,385.263,0.000,4230.900,13.941,0.000,2070.149,493.105,1253.177,299.276,29.225,872.915,0.000,526.707,0.000,0.000,0.000
$DEVICE_MAMPS,141.525,58.905,614.295,0.000,0.000,103.000,160.000,223.000,0.000,15.891,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,205.630,0.000,0.000,0.000,0.000,0.000,4230.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,46.985,0.000,0.000,0.000
$MEM,331192
$DATA_FILE_SIZE,10132,297
$CAP_FILE_SIZE,55811,0
$CFSIZE,-70647808,-106889216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,040228,3244.167,-11857.847,12,4.9,31,13.3