version: 66.09
glider: 117
mission: 26
dive: 195
start: 10 7 110 9 7 14
data:
$ID,117
$MISSION,26
$DIVE,195
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,1100
$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,120
$T_MISSION,140
$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,-114686.98
$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,17
$R_STBD_OVSHOOT,26
$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
$GPS1,071010,090143,3250.906,-11849.572,9,1.4,14,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.1
$GPS2,071010,090632,3250.920,-11849.598,11,1.6,11,13.3
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.337,0.004
$KALMAN_X,-9505.6,-664.7,-199.6,15665.7,22.8
$KALMAN_Y,6081.2,730.0,177.7,-2445.9,-712.7
$MHEAD_RNG_PITCHd_Wd,76.0,10498,-21.9,-15.000
$D_GRID,540
$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,11,begin dive
$GC,13,-1.93,-194.6,0.0,0.0,0,92,0.00,0.00,-76.47,0.000,2,0.000,0.000,408,1749,3290,0,0,0,0,0,0
$GC,94,-1.93,-194.6,3.2,-4.3,7,127,11.32,2.53,-11.73,0.000,4,0.200,0.054,2169,3157,3887,0,0,0,0,0,0
$GC,323,-1.93,-194.6,65.7,-21.6,28,331,0.00,2.58,0.00,0.000,6,0.000,0.047,2169,1752,3889,0,0,0,0,0,0
$GC,534,-1.93,-194.6,116.7,-23.6,45,538,0.00,2.70,0.00,0.000,4,0.000,0.079,2169,347,3890,0,0,0,0,0,0
$GC,565,-1.93,-194.6,124.6,-25.8,46,570,0.00,2.47,0.00,0.000,6,0.000,0.037,2169,1746,3890,0,0,0,0,0,0
$GC,901,-1.93,-194.6,205.9,-24.5,57,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1752,3890,0,0,0,0,0,0
$GC,1204,-1.93,-194.6,277.5,-23.1,67,1208,0.00,2.55,0.00,0.000,4,0.000,0.049,2169,3151,3890,0,0,0,0,0,0
$GC,1236,-1.93,-194.6,284.6,-21.6,68,1240,0.00,2.58,0.00,0.000,6,0.000,0.050,2169,1756,3890,0,0,0,0,0,0
$GC,1571,-1.93,-194.6,359.4,-21.9,79,1575,0.00,2.75,0.00,0.000,4,0.000,0.080,2169,343,3888,0,0,0,0,0,0
$GC,1597,-1.93,-194.6,365.7,-24.0,79,1605,0.00,2.53,0.00,0.000,6,0.000,0.040,2169,1752,3888,0,0,0,0,0,0
$GC,1906,-1.93,-194.6,434.5,-22.4,90,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1757,3887,0,0,0,0,0,0
$GC,2210,-1.93,-194.6,501.4,-22.1,100,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1758,3886,0,0,0,0,0,0
$STATE,2390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2390,begin apogee
$GC,2394,-0.38,0.0,540.6,21.7,106,2580,1.85,0.00,175.32,0.968,6,0.133,0.000,2510,1864,3091,0,0,0,0,0,0
$STATE,2581,end apogee,CONTROL_FINISHED_OK
$STATE,2581,begin climb
$GC,2583,1.93,194.6,548.4,0.0,112,2770,2.40,2.58,178.02,0.933,4,0.070,0.054,3020,3243,2297,0,0,0,0,0,0
$GC,2833,1.93,194.6,521.2,16.9,120,2837,0.00,2.60,0.00,0.000,6,0.000,0.053,3020,1851,2293,0,0,0,0,0,0
$GC,3168,1.93,194.6,465.0,17.2,131,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1851,2288,0,0,0,0,0,0
$GC,3471,1.93,194.6,414.7,16.2,141,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1851,2286,0,0,0,0,0,0
$GC,3775,1.93,194.6,366.7,16.2,151,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1851,2285,0,0,0,0,0,0
$GC,4078,1.93,194.6,319.3,15.5,161,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1851,2283,0,0,0,0,0,0
$GC,4381,1.93,194.6,273.4,15.1,171,4386,0.00,2.75,0.00,0.000,4,0.000,0.083,3020,436,2282,0,0,0,0,0,0
$GC,4402,1.93,194.6,269.9,16.5,171,4407,0.00,2.53,0.00,0.000,6,0.000,0.043,3020,1846,2281,0,0,0,0,0,0
$GC,4717,1.93,196.8,223.4,14.9,182,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1852,2281,0,0,0,0,0,0
$GC,5020,1.93,198.7,179.1,14.9,192,5024,0.00,2.58,0.00,0.000,4,0.000,0.055,3020,3250,2280,0,0,0,0,0,0
$GC,5041,1.93,201.4,176.0,14.9,192,5054,0.00,2.58,4.53,0.573,6,0.000,0.051,3020,1851,2269,0,0,0,0,0,0
$GC,5355,1.95,211.7,129.9,14.5,203,5367,0.00,0.00,10.65,0.692,6,0.000,0.000,3020,1851,2228,0,0,0,0,0,0
$GC,5659,1.97,230.1,87.4,14.0,217,5682,0.00,0.00,17.62,0.688,6,0.000,0.000,3020,1851,2151,0,0,0,0,0,0
$GC,5866,1.99,245.5,58.5,14.2,237,5889,0.00,2.62,14.20,0.655,4,0.000,0.053,3020,3249,2090,0,0,0,0,0,0
$GC,5893,2.00,251.1,54.5,14.7,239,5904,0.00,2.60,6.80,0.569,6,0.000,0.050,3020,1850,2067,0,0,0,0,0,0
$GC,6091,2.04,283.9,29.3,13.3,258,6125,0.10,2.75,29.35,0.650,4,0.090,0.080,3044,438,1933,0,0,0,0,0,0
$GC,6172,2.04,283.9,15.7,19.8,265,6180,0.00,2.53,0.00,0.000,6,0.000,0.040,3044,1844,1930,0,0,0,0,0,0
$STATE,6269,end climb,SURFACE_DEPTH_REACHED
$STATE,6269,begin surface coast
$FINISH,0.7,1.013927
$STATE,6290,end surface coast,CONTROL_FINISHED_OK
$STATE,6290,begin surface
$SM_CCo,6311,33.47,0.487,1,0,1765,325.02
$SM_GC,1.62,0.00,0.00,33.47,0.000,0.000,0.487,409,1742,1765,-10.08,-0.23,325.02
$IRIDIUM_FIX,3327.96,-11804.20,071010,080814
$TT8_MAMPS,0.092127
$HUMID,62.40
$INTERNAL_PRESSURE,9.3776
$TCM_TEMP,20.00
$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,1.9/489287/480037
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.2/489293/468691
$24V_AH,23.4,32.305
$10V_AH,10.0,21.137
$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,27.750,47.150,436.500,33.475,0.000,0.000,0.000,0.000,0.000,6418.800,12.300,0.000,4997.085,511.219,833.631,51.266,33.338,928.559,0.000,617.222,0.000,0.000,0.000
$DEVICE_MAMPS,200.430,86.445,967.725,486.540,0.000,0.000,0.000,0.000,0.000,15.263,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,199.561,0.000,0.000,0.000,0.000,0.000,6418.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.598,0.000,0.000,0.000
$MEM,329532
$DATA_FILE_SIZE,10127,277
$CAP_FILE_SIZE,91702,0
$CFSIZE,260165632,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,105358,3250.905,-11848.623,15,4.2,35,13.3