version: 66.10
glider: 116
mission: 49
dive: 3
start: 8 30 116 18 15 23
data:
$ID,116
$MISSION,49
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,50
$T_BOOST,4
$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,55
$T_MISSION,75
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51146
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.365
$TGT_DEFAULT_LON,-158.24001
$TGT_AUTO_DEFAULT,0
$SM_CC,537.01898
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,60
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-171149.83
$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,2560
$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,40
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3960
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,127
$AH0_10V,80
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.098824
$PRESSURE_SLOPE,0.0001145545
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$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
$GPS1,300816,181127,4744.747,-12224.691,2,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-71.1
$GPS2,300816,181444,4744.760,-12224.702,4,1.2,38,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.007,-0.261
$KALMAN_X,-17.9,-18.2,-18.2,-29.2,-28.3
$KALMAN_Y,319.1,295.8,288.2,-537.9,532.1
$MHEAD_RNG_PITCHd_Wd,165.3,2364,-18.2,-10.000
$D_GRID,184
$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,-0.75,-146.6,0.0,0.0,0,120,0.00,0.00,-101.68,0.000,6,0.000,0.000,130,2919,3598,0,0,0,0,0,0,28.83,28.83,26.10
$GC,121,-0.75,-146.6,1.8,-1.7,16,135,9.68,0.00,0.00,0.000,6,0.236,0.000,2309,2919,3600,0,0,0,0,0,0,25.20,28.83,28.83
$GC,314,-0.75,-146.6,33.3,-15.7,54,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2919,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,494,-0.75,-146.6,56.6,-10.5,90,502,0.00,2.45,0.00,0.000,4,0.000,0.045,2309,1486,3602,0,0,0,0,0,0,28.83,25.67,28.83
$GC,551,-0.75,-146.6,63.1,-11.0,101,558,0.00,2.47,0.00,0.000,6,0.000,0.063,2309,2888,3602,0,0,0,0,0,0,28.83,25.53,28.83
$GC,737,-0.75,-146.6,83.9,-11.4,138,745,0.00,1.73,0.00,0.000,4,0.000,0.073,2309,3825,3602,0,0,0,0,0,0,28.83,25.32,28.83
$GC,784,-0.75,-146.6,89.4,-11.6,147,792,0.00,1.62,0.00,0.000,6,0.000,0.047,2309,2900,3602,0,0,0,0,0,0,28.83,25.83,28.83
$GC,971,-0.75,-146.6,110.5,-12.1,184,978,0.00,1.73,0.00,0.000,4,0.000,0.073,2309,3825,3602,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1072,-0.75,-146.6,122.4,-11.9,204,1080,0.00,1.62,0.00,0.000,6,0.000,0.046,2309,2900,3602,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1259,-0.75,-146.6,143.2,-11.0,241,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2900,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1439,-0.75,-146.6,161.4,-9.2,277,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2900,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1483,begin apogee
$GC,1486,-0.17,0.0,165.2,-8.2,286,1628,0.62,0.00,133.05,0.603,6,0.125,0.000,2495,2900,2985,0,0,0,0,0,0,25.44,28.83,24.36
$STATE,1629,end apogee,CONTROL_FINISHED_OK
$STATE,1629,begin climb
$GC,1630,0.75,146.6,165.9,0.0,308,1780,0.93,2.45,138.80,0.558,4,0.076,0.047,2808,1497,2384,0,0,0,0,0,0,25.06,24.91,24.29
$GC,1829,0.75,146.6,142.2,15.5,341,1837,0.00,2.53,0.00,0.000,6,0.000,0.063,2808,2900,2370,0,0,0,0,0,0,28.83,25.11,28.83
$GC,2016,0.75,146.6,110.4,18.1,378,2024,0.00,1.70,0.00,0.000,4,0.000,0.073,2808,3819,2367,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2143,0.75,146.6,86.7,20.5,403,2151,0.00,1.62,0.00,0.000,6,0.000,0.047,2815,2900,2366,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2330,0.75,146.6,53.6,15.5,440,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2900,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,0.75,146.6,23.4,14.6,477,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2900,2364,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2660,end climb,SURFACE_DEPTH_REACHED
$STATE,2660,begin surface coast
$FINISH,0.4,1.022277
$STATE,2670,end surface coast,CONTROL_FINISHED_OK
$STATE,2670,begin surface
$SM_CCo,2685,176.77,0.120,0,0,806,537.21
$SM_GC,1.11,7.60,0.00,176.77,0.044,0.000,0.120,129,2900,806,-7.55,0.00,537.21,0,0,0,0,0,0,25.71,28.83,25.41
$IRIDIUM_FIX,4748.51,-12337.82,270609,070703
$TT8_MAMPS,0.095123,0.095123
$HUMID,58.89
$INTERNAL_PRESSURE,8.81447
$TCM_TEMP,20.60
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,191
$MI_LOG,3.6/516052/497581
$MI_ROOT,70.7/190403/55824
$MI_HOME,2.2/474973/464505
$24V_AH,24.3,10.216
$10V_AH,9.9,8.465
$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,18.825,19.925,271.850,176.775,0.000,0.000,0.000,0.000,0.000,2771.700,39.143,0.000,1173.511,539.872,1194.158,23.152,31.288,963.625,0.000,729.328,0.000,0.000,0.000
$DEVICE_MAMPS,236.385,73.440,602.820,120.105,0.000,0.000,0.000,0.000,0.000,7.908,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,338.531,0.000,0.000,0.000,0.000,0.000,2771.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.118,0.000,0.000,0.000
$MEM,200232
$DATA_FILE_SIZE,20136,508
$CAP_FILE_SIZE,60863,0
$CFSIZE,1024393216,1022803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300816,190358,4744.280,-12224.675,1,1.0,36,16.3