version: 66.09
glider: 117
mission: 26
dive: 196
start: 10 7 110 11 2 3
data:
$ID,117
$MISSION,26
$DIVE,196
$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,-114688.24
$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,21
$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,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
$GPS1,071010,105358,3250.905,-11848.623,15,4.2,35,13.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.7
$GPS2,071010,110120,3250.988,-11848.679,14,1.7,14,13.3
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.322,-0.100
$KALMAN_X,-10485.4,-267.8,-532.7,18014.0,-301.8
$KALMAN_Y,6929.6,217.6,-130.4,-2353.4,38.9
$MHEAD_RNG_PITCHd_Wd,94.0,9167,-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,-194.6,0.0,0.0,0,81,0.00,0.00,-66.45,0.000,2,0.000,0.000,409,1742,3266,0,0,0,0,0,0
$GC,83,-1.93,-194.6,3.7,-7.2,6,116,11.65,2.60,-11.75,0.000,4,0.207,0.057,2171,3154,3889,0,0,0,0,0,0
$GC,297,-1.93,-194.6,66.9,-26.2,26,301,0.00,2.58,0.00,0.000,6,0.000,0.049,2171,1758,3892,0,0,0,0,0,0
$GC,492,-1.93,-194.6,116.6,-24.7,41,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1758,3893,0,0,0,0,0,0
$GC,795,-1.93,-194.6,189.8,-24.0,51,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1758,3893,0,0,0,0,0,0
$GC,1099,-1.93,-194.6,262.6,-24.1,61,1103,0.00,2.55,0.00,0.000,4,0.000,0.049,2171,3151,3893,0,0,0,0,0,0
$GC,1131,-1.93,-194.6,270.0,-22.7,62,1135,0.00,2.58,0.00,0.000,6,0.000,0.050,2171,1754,3894,0,0,0,0,0,0
$GC,1466,-1.93,-194.6,347.9,-22.8,73,1470,0.00,2.75,0.00,0.000,4,0.000,0.081,2171,339,3893,0,0,0,0,0,0
$GC,1481,-1.93,-194.6,351.5,-22.5,73,1486,0.00,2.53,0.00,0.000,6,0.000,0.041,2171,1748,3894,0,0,0,0,0,0
$GC,1801,-1.93,-194.6,422.9,-22.6,84,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1754,3894,0,0,0,0,0,0
$GC,2104,-1.93,-194.6,491.1,-22.1,94,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1754,3893,0,0,0,0,0,0
$STATE,2346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2346,begin apogee
$GC,2349,-0.38,0.0,543.0,20.9,102,2536,1.80,0.00,177.48,0.978,6,0.131,0.000,2510,1860,3091,0,0,0,0,0,0
$STATE,2536,end apogee,CONTROL_FINISHED_OK
$STATE,2536,begin climb
$GC,2538,1.93,194.6,550.8,0.0,108,2725,2.40,2.58,177.52,0.943,4,0.070,0.054,3017,3242,2297,0,0,0,0,0,0
$GC,2761,1.93,194.6,529.2,16.1,115,2765,0.00,2.58,0.00,0.000,6,0.000,0.052,3016,1849,2294,0,0,0,0,0,0
$GC,3091,1.93,194.6,474.1,16.8,126,3095,0.00,2.58,0.00,0.000,4,0.000,0.054,3017,3235,2290,0,0,0,0,0,0
$GC,3122,1.93,194.6,468.7,17.1,127,3127,0.00,2.58,0.00,0.000,6,0.000,0.054,3016,1852,2289,0,0,0,0,0,0
$GC,3458,1.93,194.6,413.1,16.7,138,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1852,2288,0,0,0,0,0,0
$GC,3761,1.93,194.6,362.6,16.3,148,3765,0.00,2.72,0.00,0.000,4,0.000,0.083,3018,437,2287,0,0,0,0,0,0
$GC,3787,1.93,194.6,358.2,17.5,148,3795,0.00,2.53,0.00,0.000,6,0.000,0.042,3017,1847,2286,0,0,0,0,0,0
$GC,4096,1.93,195.9,310.0,14.9,159,4101,0.00,2.75,0.00,0.000,4,0.000,0.083,3017,434,2285,0,0,0,0,0,0
$GC,4117,1.93,195.9,306.7,16.1,159,4122,0.00,2.53,0.00,0.000,6,0.000,0.042,3017,1840,2284,0,0,0,0,0,0
$GC,4431,1.94,204.3,260.2,14.6,170,4441,0.00,0.00,8.00,0.721,6,0.000,0.000,3017,1846,2258,0,0,0,0,0,0
$GC,4735,1.97,229.4,217.4,13.7,180,4760,0.00,0.00,24.23,0.780,6,0.000,0.000,3017,1846,2156,0,0,0,0,0,0
$GC,5038,1.97,229.4,171.7,15.6,190,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1846,2150,0,0,0,0,0,0
$GC,5342,1.97,229.4,124.0,15.7,200,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1846,2149,0,0,0,0,0,0
$GC,5648,1.99,246.1,77.2,14.1,218,5664,0.00,0.00,15.07,0.678,6,0.000,0.000,3017,1846,2087,0,0,0,0,0,0
$GC,5851,2.02,269.6,48.6,13.8,237,5877,0.10,2.75,21.90,0.667,4,0.090,0.080,3040,435,1991,0,0,0,0,0,0
$GC,5919,2.02,269.6,38.1,16.8,243,5923,0.00,2.55,0.00,0.000,6,0.000,0.041,3040,1854,1988,0,0,0,0,0,0
$GC,6116,2.15,374.4,10.7,9.6,262,6183,0.12,0.00,64.50,0.640,2,0.082,0.000,3069,1859,1686,0,0,0,0,0,0
$STATE,6184,end climb,SURFACE_DEPTH_REACHED
$STATE,6184,begin surface coast
$FINISH,0.8,1.002574
$STATE,6200,end surface coast,CONTROL_FINISHED_OK
$STATE,6200,begin surface
$SM_CCo,6281,0.00,0.000,0,0,1676,347.34
$SM_GC,1.75,12.27,0.00,0.00,0.049,0.000,0.000,412,1743,1676,-10.04,-0.20,347.34
$IRIDIUM_FIX,3327.96,-11804.20,071010,090931
$TT8_MAMPS,0.090629
$HUMID,62.32
$INTERNAL_PRESSURE,9.38737
$TCM_TEMP,19.90
$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,4.2/489293/468640
$24V_AH,23.4,32.472
$10V_AH,10.1,21.242
$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,28.350,42.100,488.700,0.000,0.000,29.861,29.193,233.697,0.000,6793.400,15.040,0.000,4976.969,484.904,1150.307,105.862,33.348,898.740,0.000,603.071,0.000,0.000,0.000
$DEVICE_MAMPS,207.315,86.445,978.435,0.000,0.000,103.000,160.000,223.000,0.000,15.243,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,196.358,0.000,0.000,0.000,0.000,0.000,6793.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.625,0.000,0.000,0.000
$MEM,329476
$DATA_FILE_SIZE,10174,270
$CAP_FILE_SIZE,61435,0
$CFSIZE,260165632,250257408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,124737,3250.755,-11847.936,35,1.0,36,13.3