version: 66.09
glider: 117
mission: 26
dive: 183
start: 10 5 110 21 54 11
data:
$ID,117
$MISSION,26
$DIVE,183
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52113
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$ESCAPE_HEADING,180
$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,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-114514.91
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-7.0321703
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$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,0.00439863
$SEABIRD_T_H,0.00065720873
$SEABIRD_T_I,3.0612431e-05
$SEABIRD_T_J,3.6729182e-06
$SEABIRD_C_G,-9.9227343
$SEABIRD_C_H,1.1140056
$SEABIRD_C_I,-0.0018444209
$SEABIRD_C_J,0.00019243189
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,051010,214838,3248.888,-11850.480,11,1.1,11,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.3
$GPS2,051010,215402,3248.896,-11850.482,11,1.6,11,13.3
$SPEED_LIMITS,0.260,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,3248.896,-11903.332
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.008,0.311
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,256.7,20000,-20.7,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.86,-219.0,0.0,0.0,0,86,0.00,0.00,-69.75,0.000,2,0.000,0.000,407,1743,3329,0,0,0,0,0,0
$GC,88,-1.86,-219.0,3.0,-4.0,12,112,10.95,0.00,-12.02,0.000,6,0.186,0.000,2189,1744,3939,0,0,0,0,0,0
$GC,175,-1.86,-219.0,30.6,-29.1,28,183,0.00,2.65,0.00,0.000,4,0.000,0.070,2189,332,3940,0,0,0,0,0,0
$GC,186,-1.86,-219.0,34.0,-30.1,30,194,0.00,2.47,0.00,0.000,6,0.000,0.035,2189,1749,3941,0,0,0,0,0,0
$GC,257,-1.86,-219.0,53.2,-29.8,42,261,0.00,2.50,0.00,0.000,4,0.000,0.044,2189,3146,3941,0,0,0,0,0,0
$GC,272,-1.86,-219.0,57.6,-28.9,43,280,0.00,2.53,0.00,0.000,6,0.000,0.044,2189,1754,3942,0,0,0,0,0,0
$GC,464,-1.86,-219.0,106.7,-24.1,62,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1753,3942,0,0,0,0,0,0
$GC,668,-1.86,-219.0,153.6,-22.7,74,672,0.00,2.67,0.00,0.000,4,0.000,0.073,2189,335,3943,0,0,0,0,0,0
$GC,689,-1.86,-219.0,158.4,-22.8,74,693,0.00,2.47,0.00,0.000,6,0.000,0.036,2189,1740,3943,0,0,0,0,0,0
$GC,1003,-1.86,-219.0,231.1,-23.4,85,1007,0.00,2.65,0.00,0.000,4,0.000,0.074,2189,340,3942,0,0,0,0,0,0
$GC,1024,-1.86,-219.0,236.1,-23.1,85,1028,0.00,2.47,0.00,0.000,6,0.000,0.037,2189,1743,3942,0,0,0,0,0,0
$GC,1338,-1.86,-219.0,308.8,-22.8,96,1342,0.00,2.70,0.00,0.000,4,0.000,0.076,2189,342,3941,0,0,0,0,0,0
$GC,1375,-1.86,-219.0,317.9,-24.5,97,1379,0.00,2.50,0.00,0.000,6,0.000,0.038,2189,1750,3941,0,0,0,0,0,0
$GC,1705,-1.86,-219.0,390.2,-21.7,108,1709,0.00,2.70,0.00,0.000,4,0.000,0.076,2189,344,3938,0,0,0,0,0,0
$GC,1758,-1.86,-219.0,402.1,-21.7,109,1762,0.00,2.50,0.00,0.000,6,0.000,0.040,2189,1746,3938,0,0,0,0,0,0
$GC,2072,-1.86,-219.0,467.5,-20.9,120,2076,0.00,2.67,0.00,0.000,4,0.000,0.076,2189,341,3936,0,0,0,0,0,0
$GC,2098,-1.86,-219.0,473.4,-22.3,120,2106,0.00,2.50,0.00,0.000,6,0.000,0.040,2189,1746,3936,0,0,0,0,0,0
$GC,2407,-1.86,-219.0,536.9,-20.5,131,2411,0.00,2.70,0.00,0.000,4,0.000,0.077,2189,343,3934,0,0,0,0,0,0
$GC,2449,-1.86,-219.0,545.9,-21.0,132,2453,0.00,2.53,0.00,0.000,6,0.000,0.041,2189,1751,3933,0,0,0,0,0,0
$GC,2774,-1.86,-219.0,610.7,-20.2,143,2778,0.00,2.70,0.00,0.000,4,0.000,0.077,2189,341,3931,0,0,0,0,0,0
$GC,2795,-1.86,-219.0,615.1,-21.2,143,2799,0.00,2.53,0.00,0.000,6,0.000,0.041,2190,1753,3931,0,0,0,0,0,0
$GC,3109,-1.86,-219.0,676.8,-19.4,154,3113,0.00,2.75,0.00,0.000,4,0.000,0.078,2189,336,3930,0,0,0,0,0,0
$GC,3151,-1.86,-219.0,685.6,-20.9,155,3155,0.00,2.53,0.00,0.000,6,0.000,0.042,2189,1746,3929,0,0,0,0,0,0
$GC,3476,-1.86,-219.0,748.9,-19.6,166,3480,0.00,2.72,0.00,0.000,4,0.000,0.078,2189,338,3927,0,0,0,0,0,0
$GC,3518,-1.86,-219.0,757.8,-20.2,167,3522,0.00,2.53,0.00,0.000,6,0.000,0.043,2189,1745,3927,0,0,0,0,0,0
$GC,3843,-1.86,-219.0,822.3,-19.8,178,3847,0.00,2.72,0.00,0.000,4,0.000,0.080,2189,336,3925,0,0,0,0,0,0
$GC,3885,-1.86,-219.0,831.2,-21.1,179,3889,0.00,2.55,0.00,0.000,6,0.000,0.044,2189,1752,3925,0,0,0,0,0,0
$GC,4210,-1.86,-219.0,895.1,-19.4,190,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1757,3922,0,0,0,0,0,0
$GC,4513,-1.86,-219.0,953.1,-19.2,200,4517,0.00,2.72,0.00,0.000,4,0.000,0.080,2189,336,3921,0,0,0,0,0,0
$GC,4561,-1.86,-219.0,962.6,-19.6,201,4565,0.00,2.55,0.00,0.000,6,0.000,0.044,2189,1748,3920,0,0,0,0,0,0
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4731,-0.38,0.0,994.7,19.2,207,4961,1.67,0.00,221.93,1.297,6,0.128,0.000,2510,1856,3062,0,0,0,0,0,0
$STATE,4962,end apogee,CONTROL_FINISHED_OK
$STATE,4962,begin climb
$GC,4964,1.86,219.0,1004.0,0.0,214,5208,2.35,2.60,232.80,1.248,4,0.071,0.057,3007,3248,2169,0,0,0,0,0,0
$GC,5319,1.86,219.0,957.2,18.3,226,5323,0.00,2.62,0.00,0.000,6,0.000,0.055,3007,1847,2164,0,0,0,0,0,0
$GC,5654,1.86,219.0,897.3,17.9,237,5658,0.00,2.72,0.00,0.000,4,0.000,0.082,3007,445,2160,0,0,0,0,0,0
$GC,5680,1.86,219.0,892.1,19.3,237,5688,0.00,2.55,0.00,0.000,6,0.000,0.045,3007,1855,2160,0,0,0,0,0,0
$GC,5989,1.86,219.0,838.9,17.0,248,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1856,2158,0,0,0,0,0,0
$GC,6292,1.86,219.0,787.5,16.6,258,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1856,2157,0,0,0,0,0,0
$GC,6596,1.86,219.0,737.8,16.5,268,6600,0.00,2.78,0.00,0.000,4,0.000,0.084,3007,441,2156,0,0,0,0,0,0
$GC,6628,1.86,219.0,732.2,18.1,269,6632,0.00,2.53,0.00,0.000,6,0.000,0.047,3007,1846,2155,0,0,0,0,0,0
$GC,6963,1.86,219.0,674.1,17.2,280,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1852,2155,0,0,0,0,0,0
$GC,7266,1.86,219.0,621.8,17.3,290,7270,0.00,2.78,0.00,0.000,4,0.000,0.084,3007,440,2155,0,0,0,0,0,0
$GC,7309,1.86,219.0,614.1,18.9,291,7313,0.00,2.55,0.00,0.000,6,0.000,0.046,3007,1846,2154,0,0,0,0,0,0
$GC,7633,1.86,219.0,558.9,17.2,302,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1851,2154,0,0,0,0,0,0
$GC,7937,1.86,219.0,507.4,16.7,312,7941,0.00,2.78,0.00,0.000,4,0.000,0.084,3007,423,2153,0,0,0,0,0,0
$GC,7963,1.86,219.0,502.8,17.3,312,7970,0.00,2.60,0.00,0.000,6,0.000,0.046,3007,1853,2153,0,0,0,0,0,0
$GC,8272,1.86,219.0,452.7,16.0,323,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1858,2153,0,0,0,0,0,0
$GC,8575,1.86,219.0,403.2,16.1,333,8579,0.00,2.78,0.00,0.000,4,0.000,0.083,3007,442,2153,0,0,0,0,0,0
$GC,8596,1.86,219.0,399.6,17.8,333,8601,0.00,2.55,0.00,0.000,6,0.000,0.044,3007,1851,2153,0,0,0,0,0,0
$GC,8910,1.86,219.0,347.9,16.4,344,8914,0.00,2.75,0.00,0.000,4,0.000,0.083,3007,444,2153,0,0,0,0,0,0
$GC,8942,1.86,219.0,342.5,17.9,345,8946,0.00,2.53,0.00,0.000,6,0.000,0.044,3007,1844,2152,0,0,0,0,0,0
$GC,9277,1.86,219.0,289.6,15.6,356,9281,0.00,2.72,0.00,0.000,4,0.000,0.081,3007,429,2152,0,0,0,0,0,0
$GC,9309,1.86,219.0,284.4,17.0,357,9313,0.00,2.58,0.00,0.000,6,0.000,0.043,3007,1856,2152,0,0,0,0,0,0
$GC,9644,1.86,219.0,232.4,15.2,368,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1861,2152,0,0,0,0,0,0
$GC,9947,1.86,219.0,186.0,15.3,378,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1861,2152,0,0,0,0,0,0
$GC,10251,1.86,219.0,139.4,15.1,388,10255,0.00,2.70,0.00,0.000,4,0.000,0.078,3006,441,2152,0,0,0,0,0,0
$GC,10288,1.86,219.0,133.6,16.0,389,10292,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1850,2152,0,0,0,0,0,0
$GC,10603,1.91,257.2,91.1,13.2,414,10641,0.00,2.75,33.12,0.721,4,0.000,0.078,3007,438,2012,0,0,0,0,0,0
$GC,10662,1.91,257.2,82.3,17.0,419,10666,0.00,2.55,0.00,0.000,6,0.000,0.041,3007,1850,2011,0,0,0,0,0,0
$GC,10859,1.92,267.5,53.7,14.5,438,10874,0.00,2.78,10.07,0.639,4,0.000,0.078,3007,441,1971,0,0,0,0,0,0
$GC,10896,1.92,269.3,48.3,14.9,442,10903,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1858,1969,0,0,0,0,0,0
$GC,10966,1.97,303.7,38.6,13.4,455,11003,0.00,2.58,32.47,0.675,4,0.000,0.057,3007,3250,1823,0,0,0,0,0,0
$GC,11078,1.99,324.0,23.5,14.1,475,11103,0.12,2.58,18.38,0.642,6,0.077,0.052,3038,1844,1741,0,0,0,0,0,0
$GC,11166,2.01,338.4,10.7,14.3,491,11185,0.00,2.72,14.05,0.614,4,0.000,0.077,3038,438,1681,0,0,0,0,0,0
$GC,11195,2.05,371.8,6.6,13.5,496,11226,0.00,2.53,26.65,0.617,2,0.000,0.039,3037,1855,1564,0,0,0,0,0,0
$STATE,11227,end climb,SURFACE_DEPTH_REACHED
$STATE,11227,begin surface coast
$FINISH,0.7,1.008796
$STATE,11240,end surface coast,CONTROL_FINISHED_OK
$STATE,11240,begin surface
$SM_CCo,11321,0.00,0.000,0,0,1555,369.42
$SM_GC,1.78,11.98,0.00,0.00,0.041,0.000,0.000,411,1746,1555,-10.04,-0.08,369.42
$IRIDIUM_FIX,3327.96,-11804.20,051010,212130
$TT8_MAMPS,0.090629
$HUMID,64.17
$INTERNAL_PRESSURE,9.3776
$TCM_TEMP,20.00
$MI_MIVER,0.1
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010
$MI_BOOTCOUNT,46
$MI_LOG,1.9/489287/480047
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469472
$24V_AH,22.6,29.947
$10V_AH,10.0,19.231
$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,27.075,136.550,589.475,0.000,0.000,0.000,0.000,0.000,0.000,11331.500,12.105,0.000,9149.409,638.447,1470.468,104.797,0.000,1353.185,0.000,1099.856,0.000,0.000,0.000
$DEVICE_MAMPS,185.895,85.680,1297.440,0.000,0.000,0.000,0.000,0.000,0.000,15.266,50.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,365.505,0.000,0.000,0.000,0.000,0.000,11331.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.738,0.000,0.000,0.000
$MEM,329112
$DATA_FILE_SIZE,16773,504
$CAP_FILE_SIZE,188158,0
$CFSIZE,260165632,250753024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,010337,3248.487,-11852.996,27,1.3,27,13.3