version: 66.09
glider: 118
mission: 3
dive: 137
start: 10 5 110 23 29 53
data:
$ID,118
$MISSION,3
$DIVE,137
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,220
$T_MISSION,275
$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,2
$HD_A,0.0038600001
$HD_B,0.010078
$HD_C,9.9999997e-06
$HEADING,270
$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,-48802.895
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,051010,230824,3244.069,-11855.725,22,1.7,39,13.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.0
$GPS2,051010,232946,3244.107,-11855.509,14,2.7,33,13.3
$SPEED_LIMITS,0.260,0.374
$TGT_NAME,HEADING
$TGT_LATLONG,3244.107,-11908.347
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.012,0.326
$KALMAN_X,-29103.7,-168.3,-105.0,32864.0,372.0
$KALMAN_Y,17229.5,157.9,-463.5,-20482.0,-554.6
$MHEAD_RNG_PITCHd_Wd,256.7,20000,-19.7,-15.000
$D_GRID,990
$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,-1.61,-243.3,0.0,0.0,0,115,0.00,0.00,-94.50,0.000,2,0.000,0.000,425,1956,3474,0,0,0,0,0,0
$GC,118,-1.61,-243.3,3.6,-7.9,16,143,10.48,2.50,-7.32,0.000,4,0.139,0.052,2370,539,3898,0,0,0,0,0,0
$GC,149,-1.61,-243.3,16.7,-37.9,21,155,0.00,2.42,0.00,0.000,6,0.000,0.029,2370,1947,3898,0,0,0,0,0,0
$GC,220,-1.61,-243.3,36.9,-25.1,34,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3900,0,0,0,0,0,0
$GC,290,-1.61,-243.3,52.3,-21.7,46,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1947,3900,0,0,0,0,0,0
$GC,476,-1.61,-243.3,92.5,-22.4,64,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3902,0,0,0,0,0,0
$GC,661,-1.61,-243.3,132.4,-21.3,80,665,0.00,2.50,0.00,0.000,4,0.000,0.046,2370,542,3903,0,0,0,0,0,0
$GC,714,-1.61,-243.3,143.2,-19.9,81,721,0.00,2.42,0.00,0.000,6,0.000,0.031,2370,1952,3903,0,0,0,0,0,0
$GC,1023,-1.61,-243.3,206.0,-20.2,92,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1952,3903,0,0,0,0,0,0
$GC,1327,-1.61,-243.3,266.1,-19.7,102,1331,0.00,2.53,0.00,0.000,4,0.000,0.049,2370,542,3903,0,0,0,0,0,0
$GC,1364,-1.61,-243.3,273.4,-19.5,103,1368,0.00,2.45,0.00,0.000,6,0.000,0.032,2370,1954,3903,0,0,0,0,0,0
$GC,1683,-1.61,-243.3,333.3,-17.9,114,1687,0.00,2.53,0.00,0.000,4,0.000,0.050,2369,548,3902,0,0,0,0,0,0
$GC,1715,-1.61,-243.3,339.1,-18.4,115,1719,0.00,2.45,0.00,0.000,6,0.000,0.033,2370,1953,3902,0,0,0,0,0,0
$GC,2040,-1.61,-243.3,397.6,-18.1,126,2044,0.00,2.53,0.00,0.000,4,0.000,0.051,2369,548,3901,0,0,0,0,0,0
$GC,2072,-1.61,-243.3,403.5,-18.3,127,2075,0.00,2.45,0.00,0.000,6,0.000,0.034,2369,1953,3901,0,0,0,0,0,0
$GC,2396,-1.61,-243.3,460.7,-17.6,138,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1953,3900,0,0,0,0,0,0
$GC,2700,-1.61,-243.3,513.1,-17.0,148,2704,0.00,2.55,0.00,0.000,4,0.000,0.054,2369,548,3899,0,0,0,0,0,0
$GC,2727,-1.61,-243.3,517.7,-17.5,149,2731,0.00,2.45,0.00,0.000,6,0.000,0.035,2370,1949,3899,0,0,0,0,0,0
$GC,3057,-1.61,-243.3,573.1,-16.8,160,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3897,0,0,0,0,0,0
$GC,3361,-1.61,-243.3,622.7,-16.3,170,3364,0.00,2.58,0.00,0.000,4,0.000,0.060,2369,545,3895,0,0,0,0,0,0
$GC,3381,-1.61,-243.3,626.3,-17.4,170,3388,0.00,2.47,0.00,0.000,6,0.000,0.037,2369,1949,3895,0,0,0,0,0,0
$GC,3690,-1.61,-243.3,677.5,-16.5,181,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3894,0,0,0,0,0,0
$GC,3994,-1.61,-243.3,726.7,-15.9,191,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3893,0,0,0,0,0,0
$GC,4297,-1.61,-243.3,774.3,-15.5,201,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3891,0,0,0,0,0,0
$GC,4601,-1.61,-243.3,822.3,-15.8,211,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1949,3889,0,0,0,0,0,0
$GC,4904,-1.61,-243.3,870.2,-16.0,221,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1948,3888,0,0,0,0,0,0
$GC,5208,-1.61,-243.3,918.6,-16.0,231,5212,0.00,3.25,0.00,0.000,4,0.000,0.174,2370,559,3887,0,0,0,0,0,0
$GC,5245,-1.61,-243.3,924.9,-16.6,232,5249,0.00,3.03,0.00,0.000,6,0.000,0.145,2369,1932,3887,0,0,1,0,0,0
$GC,5564,-1.61,-243.3,974.2,-15.3,243,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1932,3887,0,0,0,0,0,0
$STATE,5682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5682,begin apogee
$GC,5689,-0.33,0.0,993.3,15.7,247,5876,1.35,0.00,179.90,1.214,6,0.095,0.000,2645,1949,3020,0,0,0,0,0,0
$STATE,5877,end apogee,CONTROL_FINISHED_OK
$STATE,5877,begin climb
$GC,5880,1.61,243.3,999.4,0.0,253,6091,2.03,0.00,207.57,1.175,6,0.062,0.000,3074,1948,2028,0,0,0,0,0,0
$GC,6391,1.61,243.3,917.5,19.4,270,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1948,2019,0,0,0,0,0,0
$GC,6692,1.61,243.3,862.6,17.7,280,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1949,2017,0,0,0,0,0,0
$GC,6995,1.61,243.3,807.8,18.3,290,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1949,2017,0,0,0,0,0,0
$GC,7299,1.61,243.3,754.4,17.2,300,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1950,2016,0,0,0,0,0,0
$GC,7602,1.61,243.3,702.2,17.3,310,7606,0.00,2.65,0.00,0.000,4,0.000,0.064,3074,3380,2015,0,0,0,0,0,0
$GC,7634,1.61,243.3,696.6,17.5,311,7638,0.00,2.58,0.00,0.000,6,0.000,0.042,3074,1953,2015,0,0,0,0,0,0
$GC,7959,1.61,243.3,641.9,16.9,322,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1952,2014,0,0,0,0,0,0
$GC,8262,1.61,243.3,591.0,16.6,332,8266,0.00,2.62,0.00,0.000,4,0.000,0.056,3074,3380,2014,0,0,0,0,0,0
$GC,8294,1.61,243.3,585.5,17.5,333,8298,0.00,2.55,0.00,0.000,6,0.000,0.037,3074,1949,2015,0,0,0,0,0,0
$GC,8619,1.61,243.3,532.1,16.6,344,8622,0.00,2.58,0.00,0.000,4,0.000,0.063,3074,539,2013,0,0,0,0,0,0
$GC,8645,1.61,243.3,527.4,17.8,345,8649,0.00,2.50,0.00,0.000,6,0.000,0.033,3074,1971,2013,0,0,0,0,0,0
$GC,8975,1.61,243.3,472.0,17.1,356,8979,0.00,2.50,0.00,0.000,4,0.000,0.055,3074,3353,2013,0,0,0,0,0,0
$GC,9002,1.61,243.3,467.3,17.4,357,9006,0.00,2.50,0.00,0.000,6,0.000,0.035,3074,1939,2013,0,0,0,0,0,0
$GC,9332,1.61,243.3,411.4,17.0,368,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1940,2013,0,0,0,0,0,0
$GC,9635,1.61,243.3,361.0,16.3,378,9639,0.00,2.50,0.00,0.000,4,0.000,0.059,3074,546,2013,0,0,0,0,0,0
$GC,9656,1.61,243.3,357.4,17.5,378,9663,0.00,2.45,0.00,0.000,6,0.000,0.032,3074,1953,2013,0,0,0,0,0,0
$GC,9965,1.61,243.3,308.6,15.8,389,9969,0.00,2.53,0.00,0.000,4,0.000,0.053,3074,3356,2012,0,0,0,0,0,0
$GC,9997,1.61,243.3,303.3,16.5,390,10000,0.00,2.47,0.00,0.000,6,0.000,0.034,3074,1950,2012,0,0,0,0,0,0
$GC,10322,1.61,243.3,250.8,16.3,401,10325,0.00,2.55,0.00,0.000,4,0.000,0.050,3074,3358,2012,0,0,0,0,0,0
$GC,10343,1.61,243.3,247.4,15.9,401,10349,0.00,2.50,0.00,0.000,6,0.000,0.034,3074,1942,2012,0,0,0,0,0,0
$GC,10651,1.61,243.3,198.1,15.5,412,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1942,2012,0,0,0,0,0,0
$GC,10955,1.61,243.8,151.6,15.0,422,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1942,2012,0,0,0,0,0,0
$GC,11261,1.65,273.7,108.3,13.8,438,11294,0.00,2.60,23.92,0.637,4,0.000,0.056,3074,551,1902,0,0,0,0,0,0
$GC,11315,1.66,286.0,100.8,14.5,443,11331,0.00,2.45,11.85,0.597,6,0.000,0.030,3074,1954,1854,0,0,0,0,0,0
$GC,11520,1.67,293.3,71.6,14.7,462,11533,0.00,2.53,7.47,0.551,4,0.000,0.048,3074,3359,1824,0,0,0,0,0,0
$GC,11549,1.71,322.8,67.0,13.8,464,11580,0.10,2.50,26.67,0.594,6,0.085,0.031,3104,1944,1702,0,0,0,0,0,0
$GC,11771,1.71,322.8,29.2,15.2,496,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1944,1696,0,0,0,0,0,0
$GC,11841,1.79,388.8,20.2,12.3,509,11902,0.00,2.60,55.50,0.559,4,0.000,0.047,3104,3352,1433,0,0,0,0,0,0
$GC,11955,1.79,388.8,3.7,16.4,529,11961,0.00,2.47,0.00,0.000,6,0.000,0.031,3104,1950,1429,0,0,0,0,0,0
$STATE,11964,end climb,SURFACE_DEPTH_REACHED
$STATE,11964,begin surface coast
$FINISH,0.4,1.024340
$STATE,11982,end surface coast,CONTROL_FINISHED_OK
$STATE,11982,begin surface
$SM_CCo,12069,0.00,0.000,0,0,1422,391.99
$SM_GC,1.25,11.90,0.00,0.00,0.034,0.000,0.000,423,1942,1422,-10.53,-0.20,391.99
$IRIDIUM_FIX,3327.96,-11804.20,051010,232305
$TT8_MAMPS,0.104111
$HUMID,57.83
$INTERNAL_PRESSURE,9.17374
$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,2.0/472810/463347
$MI_ROOT,63.2/190403/70005
$MI_HOME,4.0/478492/459222
$24V_AH,23.6,24.460
$10V_AH,9.8,20.898
$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,25.850,91.775,512.900,0.000,0.000,85.940,112.854,620.617,0.000,13410.600,35.467,0.000,9993.656,605.736,2232.363,491.475,0.000,1215.777,0.000,970.978,0.000,0.000,0.000
$DEVICE_MAMPS,139.230,279.990,1214.055,0.000,0.000,103.000,160.000,223.000,0.000,15.866,50.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,381.096,0.000,0.000,0.000,0.000,0.000,13410.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,45.920,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,16825,534
$CAP_FILE_SIZE,111584,0
$CFSIZE,-70647808,-106692608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061010,025206,3243.874,-11858.261,42,1.6,42,13.3