version: 66.09
glider: 117
mission: 26
dive: 193
start: 10 6 110 13 58 38
data:
$ID,117
$MISSION,26
$DIVE,193
$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,40
$T_MISSION,60
$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,200
$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,-114527.52
$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,16
$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,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
$GPS1,061010,135122,3249.650,-11851.209,12,3.6,31,13.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.5
$GPS2,061010,135756,3249.725,-11851.244,15,1.8,15,13.3
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.320,-0.107
$KALMAN_X,-5861.9,-374.1,-384.2,9350.2,-220.0
$KALMAN_Y,2005.3,100.8,-55.0,274.6,230.4
$MHEAD_RNG_PITCHd_Wd,95.2,12690,-21.9,-15.000
$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,-1.93,-194.6,0.0,0.0,0,79,0.00,0.00,-63.22,0.000,2,0.000,0.000,410,1741,3174,0,0,0,0,0,0
$GC,81,-1.93,-194.6,3.7,-7.2,6,112,11.38,2.55,-15.02,0.000,4,0.204,0.059,2174,3137,3888,0,0,0,0,0,0
$GC,203,-1.93,-194.6,36.5,-26.7,18,208,0.00,2.53,0.00,0.000,6,0.000,0.046,2174,1756,3890,0,0,0,0,0,0
$GC,400,-1.93,-194.6,88.6,-27.3,37,404,0.00,2.70,0.00,0.000,4,0.000,0.073,2174,346,3891,0,0,0,0,0,0
$GC,411,-1.93,-194.6,91.4,-26.8,38,415,0.00,2.45,0.00,0.000,6,0.000,0.037,2174,1732,3891,0,0,0,0,0,0
$GC,604,-1.93,-194.6,141.3,-25.3,47,608,0.00,2.65,0.00,0.000,4,0.000,0.075,2174,335,3892,0,0,0,0,0,0
$GC,630,-1.93,-194.6,148.1,-25.8,47,638,0.00,2.50,0.00,0.000,6,0.000,0.037,2174,1746,3892,0,0,0,0,0,0
$STATE,785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,786,begin apogee
$GC,789,-0.38,0.0,187.0,24.6,53,953,1.77,0.00,158.35,0.709,6,0.130,0.000,2510,1861,3090,0,0,0,0,0,0
$STATE,954,end apogee,CONTROL_FINISHED_OK
$STATE,954,begin climb
$GC,956,1.93,194.6,196.7,0.0,58,1128,2.40,2.58,159.38,0.686,4,0.071,0.050,3017,3238,2296,0,0,0,0,0,0
$GC,1159,1.93,200.7,179.7,14.7,65,1169,0.00,2.55,6.30,0.534,6,0.000,0.047,3017,1852,2272,0,0,0,0,0,0
$GC,1488,1.94,201.8,130.9,14.9,76,1492,0.00,2.55,0.00,0.000,4,0.000,0.050,3017,3245,2267,0,0,0,0,0,0
$GC,1546,1.95,215.6,122.3,14.3,77,1564,0.00,2.55,13.57,0.615,6,0.000,0.047,3017,1852,2212,0,0,0,0,0,0
$GC,1876,2.00,256.9,76.4,12.9,100,1921,0.00,2.75,37.45,0.627,4,0.000,0.077,3016,438,2041,0,0,0,0,0,0
$GC,1941,2.00,256.9,67.3,15.4,106,1945,0.00,2.53,0.00,0.000,6,0.000,0.039,3017,1847,2040,0,0,0,0,0,0
$GC,2138,2.03,278.0,39.0,13.9,125,2162,0.12,2.70,18.70,0.601,4,0.079,0.076,3046,441,1956,0,0,0,0,0,0
$GC,2176,2.03,278.0,32.9,16.3,128,2184,0.00,2.53,0.00,0.000,6,0.000,0.039,3046,1849,1954,0,0,0,0,0,0
$GC,2368,2.11,345.2,5.2,11.5,147,2392,0.00,0.00,22.23,0.590,2,0.000,0.000,3046,1852,1852,0,0,0,0,0,0
$STATE,2393,end climb,SURFACE_DEPTH_REACHED
$STATE,2393,begin surface coast
$FINISH,0.6,1.012178
$STATE,2408,end surface coast,CONTROL_FINISHED_OK
$STATE,2408,begin surface
$SM_CCo,2429,14.23,0.230,1,0,1766,325.02
$SM_GC,1.28,0.00,0.00,14.23,0.000,0.000,0.230,409,1737,1766,-10.08,-0.34,325.02
$IRIDIUM_FIX,3327.96,-11804.20,061010,121210
$TT8_MAMPS,0.092127
$HUMID,61.57
$INTERNAL_PRESSURE,9.41667
$TCM_TEMP,20.30
$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,1.9/489287/480041
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469057
$24V_AH,23.1,31.571
$10V_AH,10.0,20.088
$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,27.750,36.500,415.975,14.225,0.000,23.639,29.936,207.989,0.000,2959.200,16.714,0.000,1488.806,437.231,824.670,91.002,33.313,737.548,0.000,388.088,0.000,0.000,0.000
$DEVICE_MAMPS,204.255,83.385,709.155,230.265,0.000,103.000,160.000,223.000,0.000,15.305,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,107.719,0.000,0.000,0.000,0.000,0.000,2959.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.858,0.000,0.000,0.000
$MEM,329536
$DATA_FILE_SIZE,3513,151
$CAP_FILE_SIZE,44802,0
$CFSIZE,260165632,250515456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,144024,3249.812,-11850.908,37,1.2,40,13.3