version: 66.09
glider: 118
mission: 3
dive: 149
start: 10 7 110 9 26 30
data:
$ID,118
$MISSION,3
$DIVE,149
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,1100
$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,120
$T_MISSION,140
$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,210
$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,-48933.121
$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,26
$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
$GPS1,071010,091526,3247.751,-11851.689,9,1.4,9,13.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.1
$GPS2,071010,092549,3247.809,-11851.752,12,1.2,30,13.3
$SPEED_LIMITS,0.260,0.345
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.302,0.166
$KALMAN_X,-7526.3,-330.7,-346.9,18377.3,310.4
$KALMAN_Y,4310.4,521.6,67.0,2489.5,-651.1
$MHEAD_RNG_PITCHd_Wd,47.9,13784,-21.4,-15.000
$D_GRID,540
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-1.68,-204.4,0.0,0.0,0,82,0.00,0.00,-66.15,0.000,2,0.000,0.000,423,1963,3314,0,0,0,0,0,0
$GC,86,-1.68,-204.4,3.2,-7.2,6,114,10.50,2.50,-10.52,0.000,4,0.141,0.056,2353,545,3857,0,0,0,0,0,0
$GC,323,-1.68,-204.4,63.2,-21.3,28,329,0.00,2.42,0.00,0.000,6,0.000,0.029,2352,1955,3862,0,0,0,0,0,0
$GC,524,-1.68,-204.4,107.7,-22.6,46,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1955,3863,0,0,0,0,0,0
$GC,827,-1.68,-204.4,172.3,-20.9,56,831,0.00,2.53,0.00,0.000,4,0.000,0.047,2354,540,3863,0,0,0,0,0,0
$GC,870,-1.68,-204.4,181.1,-20.0,57,873,0.00,2.45,0.00,0.000,6,0.000,0.031,2354,1955,3863,0,0,0,0,0,0
$GC,1184,-1.68,-204.4,243.3,-19.9,68,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1955,3863,0,0,0,0,0,0
$GC,1487,-1.68,-204.4,302.4,-19.2,78,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1955,3862,0,0,0,0,0,0
$GC,1791,-1.68,-204.4,359.4,-18.6,88,1794,0.00,2.53,0.00,0.000,4,0.000,0.050,2353,538,3861,0,0,0,0,0,0
$GC,1833,-1.68,-204.4,367.4,-18.8,89,1837,0.00,2.42,0.00,0.000,6,0.000,0.032,2353,1947,3861,0,0,0,0,0,0
$GC,2147,-1.68,-204.4,425.0,-18.4,100,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1946,3860,0,0,0,0,0,0
$GC,2451,-1.68,-204.4,479.7,-18.3,110,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1947,3858,0,0,0,0,0,0
$GC,2754,-1.68,-204.4,535.2,-18.8,120,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1947,3856,0,0,0,0,0,0
$STATE,2782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2782,begin apogee
$GC,2788,-0.33,0.0,540.6,18.6,121,2958,1.45,0.00,164.77,0.881,6,0.095,0.000,2647,1947,3020,0,0,0,0,0,0
$STATE,2959,end apogee,CONTROL_FINISHED_OK
$STATE,2959,begin climb
$GC,2962,1.68,204.4,548.9,0.0,126,3137,2.03,2.60,164.60,0.858,4,0.062,0.053,3088,3355,2185,0,0,0,0,0,0
$GC,3158,1.68,204.4,530.4,15.9,133,3162,0.00,2.50,0.00,0.000,6,0.000,0.034,3089,1953,2184,0,0,0,0,0,0
$GC,3483,1.68,204.4,481.4,15.3,144,3486,0.00,2.60,0.00,0.000,4,0.000,0.053,3088,3360,2181,0,0,0,0,0,0
$GC,3504,1.68,204.4,478.0,15.9,144,3510,0.00,2.53,0.00,0.000,6,0.000,0.035,3089,1950,2180,0,0,0,0,0,0
$GC,3813,1.68,204.4,427.8,16.5,155,3816,0.00,2.60,0.00,0.000,4,0.000,0.053,3089,3361,2179,0,0,0,0,0,0
$GC,3833,1.68,204.4,424.1,17.2,155,3840,0.00,2.53,0.00,0.000,6,0.000,0.034,3089,1943,2177,0,0,0,0,0,0
$GC,4142,1.68,204.4,373.1,16.5,166,4146,0.00,2.60,0.00,0.000,4,0.000,0.052,3089,3361,2176,0,0,0,0,0,0
$GC,4169,1.68,204.4,368.4,18.1,167,4173,0.00,2.53,0.00,0.000,6,0.000,0.034,3089,1941,2176,0,0,0,0,0,0
$GC,4499,1.68,204.4,313.1,16.5,178,4503,0.00,2.60,0.00,0.000,4,0.000,0.050,3089,3362,2176,0,0,0,0,0,0
$GC,4525,1.68,204.4,308.7,16.6,179,4529,0.00,2.50,0.00,0.000,6,0.000,0.034,3089,1941,2175,0,0,0,0,0,0
$GC,4856,1.68,204.4,255.6,15.9,190,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1941,2174,0,0,0,0,0,0
$GC,5159,1.68,204.4,207.3,15.9,200,5163,0.00,2.55,0.00,0.000,4,0.000,0.049,3089,3355,2173,0,0,0,0,0,0
$GC,5201,1.68,204.4,199.9,18.1,201,5205,0.00,2.50,0.00,0.000,6,0.000,0.033,3089,1940,2173,0,0,0,0,0,0
$GC,5516,1.68,204.4,149.8,15.6,212,5519,0.00,2.58,0.00,0.000,4,0.000,0.048,3089,3355,2173,0,0,0,0,0,0
$GC,5536,1.68,204.4,146.4,15.6,212,5543,0.00,2.47,0.00,0.000,6,0.000,0.032,3089,1950,2173,0,0,0,0,0,0
$GC,5845,1.70,219.3,101.5,14.3,223,5858,0.00,0.00,11.12,0.597,6,0.000,0.000,3089,1950,2126,0,0,0,0,0,0
$GC,6158,1.77,274.8,62.9,12.3,251,6212,0.00,2.62,46.40,0.591,4,0.000,0.047,3089,3346,1898,0,0,0,0,0,0
$GC,6250,1.77,274.8,50.0,15.0,259,6256,0.00,2.47,0.00,0.000,6,0.000,0.031,3089,1950,1895,0,0,0,0,0,0
$GC,6441,1.81,306.5,25.2,13.4,278,6474,0.12,2.60,26.95,0.554,4,0.072,0.046,3125,3358,1769,0,0,0,0,0,0
$GC,6490,1.86,353.2,18.9,12.7,282,6540,0.00,2.50,40.62,0.538,6,0.000,0.031,3125,1945,1577,0,0,0,0,0,0
$STATE,6598,end climb,SURFACE_DEPTH_REACHED
$STATE,6598,begin surface coast
$FINISH,1.0,1.024274
$STATE,6611,end surface coast,CONTROL_FINISHED_OK
$STATE,6611,begin surface
$SM_CCo,6698,0.00,0.000,0,0,1564,356.67
$SM_GC,1.32,12.02,0.00,0.00,0.036,0.000,0.000,426,1941,1564,-10.52,-0.25,356.67
$IRIDIUM_FIX,3327.96,-11804.20,071010,090911
$TT8_MAMPS,0.096621
$HUMID,55.90
$INTERNAL_PRESSURE,9.20303
$TCM_TEMP,19.70
$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,2.0/472810/463343
$MI_ROOT,63.2/190403/70005
$MI_HOME,4.2/478492/458560
$24V_AH,23.8,26.370
$10V_AH,9.9,22.835
$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,26.125,60.725,454.475,0.000,0.000,0.000,0.000,0.000,0.000,6770.400,30.903,0.000,5273.605,483.908,880.725,120.814,33.338,914.827,0.000,638.414,0.000,0.000,0.000
$DEVICE_MAMPS,140.760,55.845,880.515,0.000,0.000,0.000,0.000,0.000,0.000,15.933,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,207.848,0.000,0.000,0.000,0.000,0.000,6770.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,45.895,0.000,0.000,0.000
$MEM,331320
$DATA_FILE_SIZE,10178,294
$CAP_FILE_SIZE,93390,0
$CFSIZE,-70647808,-109903872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,111903,3248.522,-11850.864,14,99.0,33,13.3