version: 66.09
glider: 117
mission: 26
dive: 189
start: 10 6 110 7 55 56
data:
$ID,117
$MISSION,26
$DIVE,189
$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,-114522.47
$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,22
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3091
$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
$GPS1,061010,074601,3248.977,-11852.017,35,1.5,37,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.0
$GPS2,061010,075514,3248.915,-11852.079,9,1.8,9,13.3
$SPEED_LIMITS,0.318,0.377
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.373,0.057
$KALMAN_X,-2243.7,-805.8,-98.8,4582.7,-235.3
$KALMAN_Y,790.3,363.0,46.8,-357.9,-135.6
$MHEAD_RNG_PITCHd_Wd,68.0,14004,-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,13,-2.13,-219.0,0.0,0.0,0,124,0.00,0.00,-108.05,0.000,2,0.000,0.000,412,1745,3232,0,0,0,0,0,0
$GC,126,-2.13,-219.0,3.2,-5.3,10,160,10.93,2.67,-14.20,0.000,4,0.199,0.084,2132,352,3941,0,0,0,0,0,0
$GC,367,-2.13,-219.0,81.8,-31.4,32,374,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,1746,3944,0,0,0,0,0,0
$GC,556,-2.13,-219.0,138.8,-30.0,43,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1750,3945,0,0,0,0,0,0
$GC,859,-2.13,-219.0,225.3,-27.9,53,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1750,3946,0,0,0,0,0,0
$GC,1162,-2.13,-219.0,307.4,-26.8,63,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1750,3946,0,0,0,0,0,0
$STATE,1252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1252,begin apogee
$GC,1256,-0.38,0.0,331.6,26.7,66,1445,2.03,0.00,183.52,0.805,6,0.135,0.000,2513,1863,3091,0,0,0,0,0,0
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin loiter
$GC,1770,-0.33,40.9,348.9,-2.3,83,1812,0.00,2.55,36.83,0.799,4,0.000,0.051,2513,3246,2924,0,0,0,0,0,0
$GC,2052,-0.33,40.9,346.5,1.8,92,2056,0.00,2.55,0.00,0.000,6,0.000,0.045,2513,1852,2921,0,0,0,0,0,0
$GC,2387,-0.33,40.9,342.3,1.5,103,2391,0.00,2.72,0.00,0.000,4,0.000,0.074,2513,440,2919,0,0,0,0,0,0
$GC,2493,-0.33,40.9,340.5,1.5,106,2498,0.00,2.50,0.00,0.000,6,0.000,0.040,2513,1849,2919,0,0,0,0,0,0
$GC,2819,-0.33,40.9,333.5,2.5,117,2823,0.00,2.70,0.00,0.000,4,0.000,0.073,2513,426,2918,0,0,0,0,0,0
$GC,3064,-0.33,40.9,326.7,2.9,124,3068,0.00,2.53,0.00,0.000,6,0.000,0.040,2513,1853,2917,0,0,0,0,0,0
$GC,3378,-0.33,40.9,319.0,2.4,135,3382,0.00,2.55,0.00,0.000,4,0.000,0.051,2513,3234,2916,0,0,0,0,0,0
$GC,3420,-0.33,40.9,318.3,1.6,136,3424,0.00,2.53,0.00,0.000,6,0.000,0.045,2513,1851,2916,0,0,0,0,0,0
$GC,3745,-0.33,40.9,312.3,1.9,147,3749,0.00,2.55,0.00,0.000,4,0.000,0.050,2513,3233,2916,0,0,0,0,0,0
$STATE,3844,end loiter,LOITER_COMPLETE
$STATE,3844,begin climb
$GC,3846,2.13,219.0,310.6,0.0,150,4007,2.58,2.53,151.90,0.828,6,0.072,0.045,3064,1846,2198,0,0,0,0,0,0
$GC,4327,2.13,219.0,232.7,14773.2,166,4331,0.00,2.53,0.00,0.000,4,0.000,0.054,3064,3234,2187,0,0,0,0,0,0
$GC,4417,2.13,219.0,214.9,14773.2,169,4421,0.00,2.55,0.00,0.000,6,0.000,0.050,3064,1850,2186,0,0,0,0,0,0
$GC,4509,2.57,575.2,197.0,14773.2,172,4823,0.43,0.00,304.38,0.692,6,0.061,0.000,3157,1849,744,0,0,0,0,0,0
$STATE,5036,end climb,SURFACE_DEPTH_REACHED
$STATE,5036,begin surface coast
$FINISH,0.7,1.014967
$STATE,5046,end surface coast,CONTROL_FINISHED_OK
$STATE,5046,begin surface
$SM_CCo,5127,0.00,0.000,0,0,733,578.17
$SM_GC,1.50,12.68,0.00,0.00,0.048,0.000,0.000,413,1741,733,-10.03,-0.25,578.17
$IRIDIUM_FIX,3325.38,-11948.22,061010,060639
$TT8_MAMPS,0.091378
$HUMID,63.82
$INTERNAL_PRESSURE,9.31901
$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,46
$MI_LOG,1.9/489287/480043
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469198
$24V_AH,22.7,30.928
$10V_AH,10.0,19.757
$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,28.625,36.300,676.625,0.000,0.000,24.920,27.417,353.060,0.000,5769.900,10.235,0.000,3585.669,628.214,1328.257,134.519,33.324,1134.719,0.000,723.435,0.000,0.000,0.000
$DEVICE_MAMPS,198.900,84.150,827.730,0.000,0.000,103.000,160.000,223.000,0.000,15.342,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,147.338,0.000,0.000,0.000,0.000,0.000,5769.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.666,0.000,0.000,0.000
$MEM,329528
$DATA_FILE_SIZE,6864,204
$CAP_FILE_SIZE,61978,1
$CFSIZE,260165632,250626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,092150,3249.015,-11851.681,9,1.3,10,13.3