version: 66.09
glider: 117
mission: 26
dive: 187
start: 10 6 110 4 40 37
data:
$ID,117
$MISSION,26
$DIVE,187
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$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,75
$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,-114519.95
$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,15
$R_STBD_OVSHOOT,27
$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
$GPS1,061010,043207,3248.964,-11852.722,35,1.1,36,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.6
$GPS2,061010,043956,3248.957,-11852.716,13,1.6,13,13.3
$SPEED_LIMITS,0.318,0.377
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.376,-0.027
$KALMAN_X,-878.9,-443.5,-279.9,2046.4,-262.7
$KALMAN_Y,552.8,305.3,217.9,-169.7,155.9
$MHEAD_RNG_PITCHd_Wd,80.7,14988,-24.2,-18.333
$D_GRID,330
$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,-2.13,-219.0,0.0,0.0,0,110,0.00,0.00,-92.88,0.000,2,0.000,0.000,408,1750,3336,0,0,0,0,0,0
$GC,111,-2.13,-219.0,3.6,-6.7,16,142,11.12,2.70,-11.12,0.000,4,0.205,0.083,2129,339,3941,0,0,0,0,0,0
$GC,338,-2.13,-219.0,80.1,-32.1,50,346,0.00,2.50,0.00,0.000,6,0.000,0.037,2129,1746,3943,0,0,0,0,0,0
$GC,549,-2.13,-219.0,142.8,-28.9,67,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,1751,3944,0,0,0,0,0,0
$GC,852,-2.13,-219.0,228.9,-27.9,77,857,0.00,2.72,0.00,0.000,4,0.000,0.075,2130,343,3945,0,0,0,0,0,0
$GC,884,-2.13,-219.0,238.3,-29.8,78,888,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,1750,3945,0,0,0,0,0,0
$GC,1220,-2.13,-219.0,327.5,-26.3,89,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,1755,3945,0,0,0,0,0,0
$STATE,1248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1252,-0.38,0.0,335.2,26.0,90,1451,2.05,0.00,190.90,0.802,6,0.133,0.000,2509,1867,3062,0,0,0,0,0,0
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin loiter
$GC,1771,-0.35,28.1,347.7,-1.6,107,1803,0.00,2.55,25.23,0.786,4,0.000,0.052,2510,3233,2947,0,0,0,0,0,0
$GC,2042,-0.35,28.1,345.7,1.3,115,2047,0.00,2.53,0.00,0.000,6,0.000,0.045,2510,1842,2945,0,0,0,0,0,0
$GC,2362,-0.35,28.1,343.9,0.4,126,2366,0.00,2.67,0.00,0.000,4,0.000,0.074,2510,440,2944,0,0,0,0,0,0
$GC,2607,-0.35,28.1,341.7,1.3,133,2612,0.00,2.50,0.00,0.000,6,0.000,0.039,2510,1853,2943,0,0,0,0,0,0
$GC,2922,-0.35,28.1,337.1,1.9,144,2926,0.00,2.53,0.00,0.000,4,0.000,0.051,2510,3237,2943,0,0,0,0,0,0
$GC,2953,-0.35,28.1,336.4,2.2,145,2957,0.00,2.50,0.00,0.000,6,0.000,0.044,2510,1856,2942,0,0,0,0,0,0
$GC,3289,-0.35,28.1,330.6,1.6,156,3293,0.00,2.53,0.00,0.000,4,0.000,0.051,2510,3245,2942,0,0,0,0,0,0
$GC,3534,-0.35,28.1,327.4,1.2,163,3538,0.00,2.53,0.00,0.000,6,0.000,0.044,2510,1853,2941,0,0,0,0,0,0
$GC,3848,-0.35,28.1,325.2,0.7,174,3852,0.00,2.67,0.00,0.000,4,0.000,0.073,2510,441,2940,0,0,0,0,0,0
$STATE,3856,end loiter,LOITER_COMPLETE
$STATE,3857,begin climb
$GC,3858,2.13,219.0,325.0,0.0,174,4037,2.58,2.47,169.32,0.825,6,0.075,0.039,3062,1847,2170,0,0,0,0,0,0
$GC,4338,2.13,219.0,250.2,18.9,190,4341,0.00,2.55,0.00,0.000,4,0.000,0.054,3062,3237,2159,0,0,0,0,0,0
$GC,4507,2.56,568.1,217.1,19.9,195,4821,0.38,2.55,304.60,0.699,6,0.048,0.050,3153,1855,746,0,0,0,0,0,0
$GC,5007,2.56,568.1,28.1,41.6,229,5015,0.00,2.55,0.00,0.000,4,0.000,0.050,3153,3232,738,0,0,0,0,0,0
$GC,5034,2.56,568.1,17.6,37.0,234,5042,0.00,2.62,0.00,0.000,6,0.000,0.060,3153,1853,736,0,0,0,0,0,0
$STATE,5087,end climb,SURFACE_DEPTH_REACHED
$STATE,5087,begin surface coast
$FINISH,0.7,1.014417
$STATE,5093,end surface coast,CONTROL_FINISHED_OK
$STATE,5093,begin surface
$SM_CCo,5174,0.00,0.000,0,0,732,571.55
$SM_GC,1.57,12.57,0.00,0.00,0.047,0.000,0.000,413,1737,732,-10.03,-0.37,571.55
$IRIDIUM_FIX,3327.96,-11804.20,061010,020236
$TT8_MAMPS,0.090629
$HUMID,62.71
$INTERNAL_PRESSURE,9.31901
$TCM_TEMP,19.80
$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,4.1/489293/469279
$24V_AH,22.6,30.539
$10V_AH,10.0,19.560
$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,28.700,46.550,690.050,0.000,0.000,30.865,40.557,253.535,0.000,5733.000,13.811,0.000,3543.932,642.742,1330.165,120.398,32.321,1175.897,0.000,774.351,0.000,0.000,0.000
$DEVICE_MAMPS,205.020,82.620,825.435,0.000,0.000,103.000,160.000,223.000,0.000,15.335,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,175.228,0.000,0.000,0.000,0.000,0.000,5733.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.687,0.000,0.000,0.000
$MEM,329436
$DATA_FILE_SIZE,6830,245
$CAP_FILE_SIZE,63827,1
$CFSIZE,260165632,250691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,060720,3249.240,-11852.365,12,1.7,13,13.3