version: 66.09
glider: 117
mission: 26
dive: 190
start: 10 6 110 9 31 51
data:
$ID,117
$MISSION,26
$DIVE,190
$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,-114523.73
$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,42
$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
$GPS1,061010,092150,3249.015,-11851.681,9,1.3,10,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.1
$GPS2,061010,093108,3248.986,-11851.794,15,1.4,15,13.3
$SPEED_LIMITS,0.318,0.377
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.369,0.079
$KALMAN_X,-2931.7,-749.0,-269.7,5828.2,-192.9
$KALMAN_Y,844.4,364.9,-101.2,-144.5,-218.6
$MHEAD_RNG_PITCHd_Wd,64.7,13553,-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,11,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,-108.25,0.000,2,0.000,0.000,413,1742,3237,0,0,0,0,0,0
$GC,126,-2.13,-219.0,3.3,-6.3,10,160,10.95,2.55,-13.75,0.000,4,0.203,0.057,2129,3137,3942,0,0,0,0,0,0
$GC,313,-2.13,-219.0,60.8,-27.0,27,321,0.00,2.53,0.00,0.000,6,0.000,0.045,2129,1752,3943,0,0,0,0,0,0
$GC,514,-2.13,-219.0,118.7,-29.0,43,518,0.00,2.70,0.00,0.000,4,0.000,0.075,2129,338,3944,0,0,0,0,0,0
$GC,556,-2.13,-219.0,131.3,-30.2,44,561,0.00,2.47,0.00,0.000,6,0.000,0.037,2129,1733,3945,0,0,0,0,0,0
$GC,881,-2.13,-219.0,222.1,-27.4,55,885,0.00,2.58,0.00,0.000,4,0.000,0.047,2129,3157,3945,0,0,0,0,0,0
$GC,912,-2.13,-219.0,230.5,-25.2,56,917,0.00,2.58,0.00,0.000,6,0.000,0.047,2129,1749,3945,0,0,0,0,0,0
$GC,1248,-2.13,-219.0,322.5,-27.4,67,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,1749,3945,0,0,0,0,0,0
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1280,-0.38,0.0,330.7,27.4,68,1467,2.03,0.00,176.12,0.808,6,0.136,0.000,2511,1861,3090,0,0,0,0,0,0
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin loiter
$GC,1767,-0.33,47.9,349.5,-2.7,84,1814,0.00,2.55,41.67,0.801,4,0.000,0.051,2511,3248,2895,0,0,0,0,0,0
$GC,2054,-0.33,47.9,345.9,2.5,93,2059,0.00,2.55,0.00,0.000,6,0.000,0.044,2511,1845,2892,0,0,0,0,0,0
$GC,2384,-0.33,47.9,339.2,2.2,104,2388,0.00,2.67,0.00,0.000,4,0.000,0.073,2511,441,2890,0,0,0,0,0,0
$GC,2399,-0.33,47.9,338.9,2.2,104,2404,0.00,2.50,0.00,0.000,6,0.000,0.039,2511,1860,2890,0,0,0,0,0,0
$GC,2719,-0.33,47.9,332.2,2.3,115,2723,0.00,2.70,0.00,0.000,4,0.000,0.073,2511,441,2890,0,0,0,0,0,0
$GC,2809,-0.33,47.9,330.5,2.2,117,2817,0.00,2.47,0.00,0.000,6,0.000,0.040,2511,1846,2890,0,0,0,0,0,0
$GC,3118,-0.33,47.9,325.0,1.8,128,3123,0.00,2.65,0.00,0.000,4,0.000,0.073,2511,447,2890,0,0,0,0,0,0
$GC,3214,-0.33,47.9,323.5,1.3,131,3218,0.00,2.47,0.00,0.000,6,0.000,0.040,2511,1853,2888,0,0,0,0,0,0
$GC,3549,-0.33,47.9,318.3,1.6,142,3553,0.00,2.67,0.00,0.000,4,0.000,0.073,2511,444,2887,0,0,0,0,0,0
$GC,3794,-0.33,47.9,313.7,1.7,149,3799,0.00,2.47,0.00,0.000,6,0.000,0.040,2511,1850,2887,0,0,0,0,0,0
$STATE,3865,end loiter,LOITER_COMPLETE
$STATE,3865,begin climb
$GC,3866,2.13,219.0,312.4,0.0,152,4026,2.60,2.60,151.40,0.819,4,0.074,0.054,3059,3239,2197,0,0,0,0,0,0
$GC,4266,2.13,219.0,249.8,18.5,164,4275,0.00,2.55,0.00,0.000,6,0.000,0.050,3059,1856,2188,0,0,0,0,0,0
$GC,4515,2.57,575.2,202.0,19.3,173,4819,0.45,0.00,297.25,0.700,6,0.062,0.000,3156,1855,745,0,0,0,0,0,0
$STATE,5051,end climb,SURFACE_DEPTH_REACHED
$STATE,5051,begin surface coast
$FINISH,0.8,0.999789
$STATE,5062,end surface coast,CONTROL_FINISHED_OK
$STATE,5062,begin surface
$SM_CCo,5143,0.00,0.000,0,0,734,578.17
$SM_GC,1.57,12.52,0.00,0.00,0.045,0.000,0.000,413,1743,734,-10.03,-0.20,578.17
$IRIDIUM_FIX,3327.96,-11804.20,061010,070715
$TT8_MAMPS,0.090629
$HUMID,64.21
$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,1.9/489287/480043
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469158
$24V_AH,23.0,31.118
$10V_AH,10.0,19.854
$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,28.550,46.650,666.450,0.000,0.000,30.674,28.401,347.114,0.000,5765.500,16.364,0.000,3548.678,637.028,1374.420,138.439,33.331,1164.219,0.000,757.438,0.000,0.000,0.000
$DEVICE_MAMPS,203.490,82.620,819.315,0.000,0.000,103.000,160.000,223.000,0.000,15.350,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,148.755,0.000,0.000,0.000,0.000,0.000,5765.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.645,0.000,0.000,0.000
$MEM,329468
$DATA_FILE_SIZE,6811,206
$CAP_FILE_SIZE,64805,1
$CFSIZE,260165632,250593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,105836,3249.090,-11851.567,39,1.9,46,13.3