version: 66.09
glider: 118
mission: 3
dive: 150
start: 10 7 110 11 29 7
data:
$ID,118
$MISSION,3
$DIVE,150
$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,-48934.383
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,071010,111903,3248.522,-11850.864,14,99.0,33,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.6
$GPS2,071010,112826,3248.563,-11850.876,14,1.1,14,13.3
$SPEED_LIMITS,0.260,0.345
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.344,0.021
$KALMAN_X,-8477.7,-65.1,-429.6,20515.3,21.6
$KALMAN_Y,5094.9,240.7,-273.0,3713.1,171.5
$MHEAD_RNG_PITCHd_Wd,73.2,12201,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.68,-204.4,0.0,0.0,0,91,0.00,0.00,-74.65,0.000,2,0.000,0.000,426,1938,3328,0,0,0,0,0,0
$GC,95,-1.68,-204.4,3.4,-7.0,7,120,10.60,2.50,-9.70,0.000,4,0.146,0.059,2353,551,3856,0,0,0,0,0,0
$GC,363,-1.68,-204.4,71.9,-21.4,32,366,0.00,2.40,0.00,0.000,6,0.000,0.030,2353,1953,3860,0,0,0,0,0,0
$GC,563,-1.68,-204.4,113.7,-21.3,47,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1954,3863,0,0,0,0,0,0
$GC,867,-1.68,-204.4,175.9,-20.5,57,871,0.00,2.53,0.00,0.000,4,0.000,0.047,2353,542,3863,0,0,0,0,0,0
$GC,898,-1.68,-204.4,182.6,-21.4,58,902,0.00,2.45,0.00,0.000,6,0.000,0.031,2353,1958,3863,0,0,0,0,0,0
$GC,1223,-1.68,-204.4,248.4,-20.2,69,1227,0.00,2.53,0.00,0.000,4,0.000,0.048,2353,544,3863,0,0,0,0,0,0
$GC,1244,-1.68,-204.4,252.8,-20.5,69,1251,0.00,2.42,0.00,0.000,6,0.000,0.031,2353,1958,3863,0,0,0,0,0,0
$GC,1553,-1.68,-204.4,314.3,-19.3,80,1557,0.00,2.53,0.00,0.000,4,0.000,0.049,2353,536,3863,0,0,0,0,0,0
$GC,1590,-1.68,-204.4,321.6,-19.9,81,1594,0.00,2.42,0.00,0.000,6,0.000,0.031,2353,1952,3863,0,0,0,0,0,0
$GC,1910,-1.68,-204.4,380.9,-18.5,92,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1952,3863,0,0,0,0,0,0
$GC,2213,-1.68,-204.4,439.6,-19.3,102,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1952,3863,0,0,0,0,0,0
$GC,2517,-1.68,-204.4,497.0,-18.6,112,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1952,3863,0,0,0,0,0,0
$STATE,2756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2756,begin apogee
$GC,2763,-0.33,0.0,541.7,18.0,120,2936,1.42,0.00,166.25,0.887,6,0.094,0.000,2644,1952,3020,0,0,0,0,0,0
$STATE,2937,end apogee,CONTROL_FINISHED_OK
$STATE,2937,begin climb
$GC,2940,1.68,204.4,549.3,0.0,125,3113,2.05,0.00,165.35,0.861,6,0.062,0.000,3089,1951,2186,0,0,0,0,0,0
$GC,3407,1.68,204.4,483.5,16.7,141,3410,0.00,2.55,0.00,0.000,4,0.000,0.053,3090,3352,2181,0,0,0,0,0,0
$GC,3443,1.68,204.4,477.1,17.8,142,3447,0.00,2.47,0.00,0.000,6,0.000,0.035,3090,1952,2181,0,0,0,0,0,0
$GC,3763,1.68,204.4,425.9,15.7,153,3767,0.00,2.55,0.00,0.000,4,0.000,0.051,3090,3352,2179,0,0,0,0,0,0
$GC,3790,1.68,204.4,421.6,15.6,154,3793,0.00,2.50,0.00,0.000,6,0.000,0.034,3090,1948,2179,0,0,0,0,0,0
$GC,4120,1.68,204.4,369.5,15.6,165,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1948,2178,0,0,0,0,0,0
$GC,4423,1.68,204.4,322.0,15.3,175,4427,0.00,2.55,0.00,0.000,4,0.000,0.050,3090,3352,2177,0,0,0,0,0,0
$GC,4465,1.68,204.4,314.9,17.0,176,4469,0.00,2.47,0.00,0.000,6,0.000,0.034,3090,1948,2177,0,0,0,0,0,0
$GC,4780,1.68,204.4,265.4,15.4,187,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1948,2176,0,0,0,0,0,0
$GC,5083,1.68,204.4,218.3,15.2,197,5087,0.00,2.53,0.00,0.000,4,0.000,0.049,3090,3352,2176,0,0,0,0,0,0
$GC,5104,1.68,204.4,214.9,16.4,197,5110,0.00,2.45,0.00,0.000,6,0.000,0.033,3090,1950,2176,0,0,0,0,0,0
$GC,5413,1.68,204.6,167.7,15.0,208,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1950,2176,0,0,0,0,0,0
$GC,5717,1.71,226.1,124.5,13.9,218,5740,0.00,2.65,17.00,0.626,4,0.000,0.047,3090,3361,2098,0,0,0,0,0,0
$GC,5779,1.73,243.6,115.4,14.1,220,5799,0.00,2.47,16.02,0.607,6,0.000,0.032,3089,1950,2026,0,0,0,0,0,0
$GC,6113,1.78,281.9,69.3,13.1,245,6151,0.10,2.55,32.78,0.591,4,0.083,0.054,3119,547,1868,0,0,0,0,0,0
$GC,6162,1.78,284.4,62.3,14.9,249,6165,0.00,2.45,0.00,0.000,6,0.000,0.029,3119,1953,1867,0,0,0,0,0,0
$GC,6353,1.78,284.4,30.2,17.3,267,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1953,1863,0,0,0,0,0,0
$STATE,6536,end climb,SURFACE_DEPTH_REACHED
$STATE,6537,begin surface coast
$FINISH,0.5,1.002533
$STATE,6557,end surface coast,CONTROL_FINISHED_OK
$STATE,6557,begin surface
$SM_CCo,6586,32.53,0.504,2,0,1695,325.02
$SM_GC,1.63,0.00,0.00,32.53,0.000,0.000,0.504,424,1959,1695,-10.59,0.25,325.02
$IRIDIUM_FIX,3327.96,-11804.20,071010,090922
$TT8_MAMPS,0.095872
$HUMID,57.40
$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,4.2/478492/458517
$24V_AH,23.8,26.517
$10V_AH,9.9,22.956
$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,26.100,49.975,397.400,32.525,0.000,38.309,29.012,250.445,0.000,7297.200,15.541,0.000,5247.447,464.580,1207.636,263.176,33.319,874.937,0.000,624.232,0.000,0.000,0.000
$DEVICE_MAMPS,146.115,58.905,887.400,504.135,0.000,103.000,160.000,223.000,0.000,15.869,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,203.637,0.000,0.000,0.000,0.000,0.000,7297.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,45.791,0.000,0.000,0.000
$MEM,331280
$DATA_FILE_SIZE,10157,287
$CAP_FILE_SIZE,64307,0
$CFSIZE,-70647808,-110100480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071010,132034,3248.997,-11849.856,13,99.0,32,13.3