version: 66.09
glider: 118
mission: 3
dive: 139
start: 10 6 110 4 12 56
data:
$ID,118
$MISSION,3
$DIVE,139
$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,-48805.41
$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,28
$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
$GPS1,061010,040228,3244.167,-11857.847,12,4.9,31,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.4
$GPS2,061010,041216,3244.142,-11857.911,12,7.2,31,13.3
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.316,0.078
$KALMAN_X,-122.7,-122.7,-122.7,952.3,-297.5
$KALMAN_Y,30.6,30.6,30.6,500.3,74.2
$MHEAD_RNG_PITCHd_Wd,62.8,25024,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.23,-243.3,0.0,0.0,0,102,0.00,0.00,-85.10,0.000,2,0.000,0.000,426,1965,3441,0,0,0,0,0,0
$GC,106,-1.23,-243.3,3.3,-6.3,14,130,10.95,2.50,-7.88,0.000,4,0.141,0.055,2452,548,3895,0,0,0,0,0,0
$GC,349,-1.23,-243.3,53.9,-16.2,57,356,0.00,2.42,0.00,0.000,6,0.000,0.029,2452,1955,3899,0,0,0,0,0,0
$GC,541,-1.23,-243.3,84.0,-15.8,76,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1955,3900,0,0,0,0,0,0
$GC,727,-1.23,-243.3,114.7,-16.8,94,731,0.00,2.50,0.00,0.000,4,0.000,0.049,2452,548,3901,0,0,0,0,0,0
$GC,754,-1.23,-243.3,119.1,-16.7,96,758,0.00,2.40,0.00,0.000,6,0.000,0.031,2452,1950,3901,0,0,0,0,0,0
$GC,952,-1.23,-243.3,149.8,-15.3,105,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1950,3901,0,0,0,0,0,0
$STATE,1192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1192,begin apogee
$GC,1199,-0.33,0.0,182.6,13.3,113,1369,0.93,0.00,165.30,0.609,6,0.086,0.000,2644,1950,3019,0,0,0,0,0,0
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1373,1.23,243.3,187.7,0.0,118,1565,1.60,0.00,188.10,0.587,6,0.063,0.000,2988,1950,2028,0,0,0,0,0,0
$GC,1869,1.24,252.7,144.8,9.7,135,1878,0.00,0.00,8.23,0.512,6,0.000,0.000,2988,1949,1989,0,0,0,0,0,0
$GC,2172,1.24,252.7,112.4,10.2,151,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1950,1985,0,0,0,0,0,0
$GC,2358,1.27,279.1,94.9,9.3,169,2382,0.00,0.00,22.45,0.556,6,0.000,0.000,2988,1950,1882,0,0,0,0,0,0
$GC,2565,1.34,334.2,76.1,8.5,189,2616,0.12,0.00,46.97,0.552,6,0.063,0.000,3030,1950,1656,0,0,0,0,0,0
$GC,2803,1.34,334.2,49.1,11.2,212,2811,0.00,2.53,0.00,0.000,4,0.000,0.048,3030,3356,1648,0,0,0,0,0,0
$GC,2821,1.34,334.2,47.0,10.5,215,2828,0.00,2.47,0.00,0.000,6,0.000,0.031,3029,1951,1647,0,0,0,0,0,0
$GC,2893,1.34,334.2,39.5,10.7,228,2899,0.00,2.50,0.00,0.000,4,0.000,0.054,3030,548,1647,0,0,0,0,0,0
$GC,2910,1.34,334.2,37.4,11.6,231,2916,0.00,2.45,0.00,0.000,6,0.000,0.031,3030,1959,1646,0,0,0,0,0,0
$GC,2980,1.34,334.2,29.3,11.0,244,2987,0.00,2.55,0.00,0.000,4,0.000,0.054,3030,542,1645,0,0,0,0,0,0
$GC,3008,1.34,334.2,26.2,11.7,249,3014,0.00,2.45,0.00,0.000,6,0.000,0.031,3030,1954,1645,0,0,0,0,0,0
$GC,3079,1.34,334.4,18.6,10.0,262,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1954,1645,0,0,0,0,0,0
$GC,3150,1.44,418.0,12.3,7.7,275,3224,0.00,2.60,69.10,0.517,4,0.000,0.053,3030,548,1313,0,0,0,0,0,0
$GC,3249,1.47,442.9,4.1,9.3,291,3263,0.00,2.45,8.98,0.458,2,0.000,0.029,3030,1956,1273,0,0,0,0,0,0
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3263,begin surface coast
$FINISH,0.4,1.011061
$STATE,3294,end surface coast,CONTROL_FINISHED_OK
$STATE,3294,begin surface
$SM_CCo,3378,0.00,0.000,0,0,1264,430.75
$SM_GC,1.27,11.48,0.00,0.00,0.029,0.000,0.000,427,1962,1264,-10.51,0.34,430.75
$IRIDIUM_FIX,3327.96,-11804.20,061010,020252
$TT8_MAMPS,0.095123
$HUMID,54.41
$INTERNAL_PRESSURE,9.2128
$TCM_TEMP,20.20
$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,4.0/478492/459142
$24V_AH,24.0,24.704
$10V_AH,9.9,21.061
$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,25.075,29.825,509.125,0.000,0.000,25.317,29.371,285.211,0.000,4056.100,33.475,0.000,2034.031,550.176,1102.976,271.251,30.166,887.628,0.000,484.205,0.000,0.000,0.000
$DEVICE_MAMPS,140.760,55.080,608.940,0.000,0.000,103.000,160.000,223.000,0.000,15.763,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,206.760,0.000,0.000,0.000,0.000,0.000,4056.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,47.236,0.000,0.000,0.000
$MEM,331208
$DATA_FILE_SIZE,10132,299
$CAP_FILE_SIZE,50841,0
$CFSIZE,-70647808,-107151360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,051006,3244.440,-11857.432,15,1.1,31,13.3