version: 66.09
glider: 117
mission: 26
dive: 186
start: 10 6 110 3 5 32
data:
$ID,117
$MISSION,26
$DIVE,186
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,115
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,2400
$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,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,-114518.7
$T_RSLEEP,8
$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,19
$R_STBD_OVSHOOT,41
$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
$GPS1,061010,025728,3248.817,-11852.841,11,3.3,30,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.2
$GPS2,061010,030452,3248.823,-11852.846,14,3.1,33,13.3
$SPEED_LIMITS,0.173,0.311
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.305,-0.062
$KALMAN_X,-325.7,-211.6,-200.6,976.0,-335.2
$KALMAN_Y,267.3,178.2,169.3,43.1,276.7
$MHEAD_RNG_PITCHd_Wd,88.2,15205,-14.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.40,-219.0,0.0,0.0,0,98,0.00,0.00,-81.28,0.000,2,0.000,0.000,413,1766,3274,0,0,0,0,0,0
$GC,100,-1.40,-219.0,3.3,-5.9,14,131,12.00,2.47,-12.68,0.000,4,0.203,0.057,2289,3144,3939,0,0,0,0,0,0
$GC,348,-1.40,-219.0,55.5,-17.9,57,353,0.00,2.53,0.00,0.000,6,0.000,0.046,2290,1756,3941,0,0,0,0,0,0
$GC,545,-1.40,-219.0,92.0,-18.7,76,550,0.00,2.70,0.00,0.000,4,0.000,0.076,2290,345,3942,0,0,0,0,0,0
$GC,560,-1.40,-219.0,95.0,-19.1,77,568,0.00,2.47,0.00,0.000,6,0.000,0.037,2289,1743,3943,0,0,0,0,0,0
$GC,762,-1.40,-219.0,131.3,-17.1,95,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1749,3943,0,0,0,0,0,0
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1068,-0.38,0.0,180.5,16.1,105,1255,1.15,0.00,180.32,0.689,6,0.116,0.000,2511,1856,3062,0,0,0,0,0,0
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1255,begin loiter
$GC,1555,-0.28,85.4,196.3,-2.6,121,1633,0.12,2.55,73.05,0.694,4,0.107,0.050,2536,3249,2711,0,0,0,0,0,0
$GC,1842,-0.28,85.4,190.0,3.7,130,1846,0.00,2.55,0.00,0.000,6,0.000,0.044,2536,1844,2708,0,0,0,0,0,0
$GC,2171,-0.28,85.4,178.5,3.9,141,2176,0.00,2.67,0.00,0.000,4,0.000,0.073,2535,443,2706,0,0,0,0,0,0
$GC,2225,-0.28,85.4,176.8,3.1,142,2229,0.00,2.50,0.00,0.000,6,0.000,0.038,2536,1857,2706,0,0,0,0,0,0
$GC,2539,-0.28,85.4,165.3,3.6,153,2543,0.00,2.53,0.00,0.000,4,0.000,0.050,2535,3233,2706,0,0,0,0,0,0
$GC,2661,-0.28,85.4,161.6,2.7,156,2669,0.00,2.50,0.00,0.000,6,0.000,0.044,2535,1853,2705,0,0,0,0,0,0
$GC,2970,-0.28,85.4,153.1,2.6,167,2974,0.00,2.53,0.00,0.000,4,0.000,0.050,2535,3231,2704,0,0,0,0,0,0
$GC,3114,-0.28,85.4,148.7,3.7,171,3118,0.00,2.50,0.00,0.000,6,0.000,0.044,2535,1851,2704,0,0,0,0,0,0
$GC,3433,-0.28,85.4,136.1,4.4,182,3437,0.00,2.55,0.00,0.000,4,0.000,0.050,2535,3239,2704,0,0,0,0,0,0
$GC,3594,-0.28,85.4,130.4,2.7,187,3598,0.00,2.50,0.00,0.000,6,0.000,0.044,2536,1848,2703,0,0,0,0,0,0
$STATE,3679,end loiter,LOITER_COMPLETE
$STATE,3679,begin climb
$GC,3681,1.40,219.0,128.4,0.0,190,3808,1.73,2.62,114.05,0.692,4,0.074,0.052,2901,3236,2167,0,0,0,0,0,0
$GC,3903,1.49,286.6,115.1,7.9,205,3971,0.05,2.53,59.97,0.662,6,0.059,0.046,2922,1852,1893,0,0,0,0,0,0
$GC,4154,1.49,286.6,88.3,11.9,229,4158,0.00,2.67,0.00,0.000,4,0.000,0.075,2922,440,1885,0,0,0,0,0,0
$GC,4223,1.49,286.6,80.0,11.8,235,4230,0.00,2.50,0.00,0.000,6,0.000,0.039,2922,1846,1883,0,0,0,0,0,0
$GC,4414,1.49,287.6,60.4,10.0,254,4418,0.00,2.65,0.00,0.000,4,0.000,0.075,2922,442,1882,0,0,0,0,0,0
$GC,4457,1.49,287.6,55.7,11.6,258,4461,0.00,2.50,0.00,0.000,6,0.000,0.039,2922,1843,1881,0,0,0,0,0,0
$GC,4653,1.49,287.6,36.3,10.9,289,4660,0.00,2.58,0.00,0.000,4,0.000,0.054,2922,3246,1880,0,0,0,0,0,0
$GC,4680,1.49,287.6,33.3,11.0,294,4687,0.00,2.58,0.00,0.000,6,0.000,0.048,2922,1848,1880,0,0,0,0,0,0
$GC,4750,1.52,312.2,26.4,9.2,307,4781,0.00,2.75,21.92,0.611,4,0.000,0.076,2922,444,1788,0,0,0,0,0,0
$GC,4817,1.57,356.3,20.4,8.6,319,4865,0.00,2.50,40.30,0.609,6,0.000,0.038,2922,1853,1608,0,0,0,0,0,0
$GC,4929,1.70,462.3,13.5,6.7,339,5030,0.22,2.67,92.82,0.593,4,0.052,0.076,2979,437,1174,0,0,0,0,0,0
$STATE,5033,end climb,SURFACE_DEPTH_REACHED
$STATE,5033,begin surface coast
$FINISH,0.6,1.020643
$STATE,5060,end surface coast,CONTROL_FINISHED_OK
$STATE,5060,begin surface
$SM_CCo,5142,0.00,0.000,0,0,1165,465.09
$SM_GC,1.57,11.65,0.00,0.00,0.040,0.000,0.000,407,1750,1165,-10.05,0.00,465.09
$IRIDIUM_FIX,3327.96,-11804.20,061010,020226
$TT8_MAMPS,0.091378
$HUMID,61.65
$INTERNAL_PRESSURE,9.38737
$TCM_TEMP,20.50
$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,1.9/489287/480045
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469323
$24V_AH,22.7,30.348
$10V_AH,10.0,19.462
$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,26.925,66.625,582.450,0.000,0.000,31.191,32.881,222.456,0.000,5667.600,35.141,0.000,3455.547,595.176,1409.125,122.625,31.406,1134.938,0.000,826.685,0.000,0.000,0.000
$DEVICE_MAMPS,202.725,75.735,693.855,0.000,0.000,103.000,160.000,223.000,0.000,15.369,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,255.667,0.000,0.000,0.000,0.000,0.000,5667.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.973,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,13486,362
$CAP_FILE_SIZE,70743,0
$CFSIZE,260165632,250716160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,043207,3248.964,-11852.722,35,1.1,36,13.3