version: 66.09
glider: 117
mission: 26
dive: 197
start: 10 7 110 12 57 1
data:
$ID,117
$MISSION,26
$DIVE,197
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,405
$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,90
$T_MISSION,120
$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,-114689.5
$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,29
$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
$GPS1,071010,124737,3250.755,-11847.936,35,1.0,36,13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.6
$GPS2,071010,125619,3250.867,-11847.949,14,1.2,14,13.3
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.279,-0.189
$KALMAN_X,-11534.0,-256.9,-643.9,20299.3,-129.2
$KALMAN_Y,7676.5,174.1,-351.2,-3057.0,522.2
$MHEAD_RNG_PITCHd_Wd,110.7,8022,-21.9,-15.000
$D_GRID,405
$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,-65.82,0.000,2,0.000,0.000,412,1743,3159,0,0,0,0,0,0
$GC,83,-1.93,-194.6,3.2,-4.7,6,117,11.68,2.58,-14.90,0.000,4,0.210,0.059,2173,3159,3888,0,0,0,0,0,0
$GC,222,-1.93,-194.6,39.2,-26.7,19,227,0.00,2.60,0.00,0.000,6,0.000,0.050,2173,1750,3890,0,0,0,0,0,0
$GC,419,-1.93,-194.6,94.0,-26.2,38,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1749,3891,0,0,0,0,0,0
$GC,602,-1.93,-194.6,139.9,-24.7,46,606,0.00,2.72,0.00,0.000,4,0.000,0.080,2173,339,3892,0,0,0,0,0,0
$GC,617,-1.93,-194.6,143.9,-24.6,46,622,0.00,2.50,0.00,0.000,6,0.000,0.038,2173,1749,3892,0,0,0,0,0,0
$GC,937,-1.93,-194.6,223.7,-25.1,57,941,0.00,2.55,0.00,0.000,4,0.000,0.048,2173,3151,3892,0,0,0,0,0,0
$GC,958,-1.93,-194.6,229.1,-24.9,57,962,0.00,2.60,0.00,0.000,6,0.000,0.050,2173,1746,3892,0,0,0,0,0,0
$GC,1272,-1.93,-194.6,305.2,-23.8,68,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1746,3892,0,0,0,0,0,0
$GC,1576,-1.93,-194.6,373.7,-22.2,78,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1746,3893,0,0,0,0,0,0
$STATE,1726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1726,begin apogee
$GC,1730,-0.38,0.0,406.7,21.9,83,1916,1.77,0.00,175.20,0.870,6,0.133,0.000,2511,1856,3091,0,0,0,0,0,0
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1918,1.93,194.6,415.4,0.0,89,2108,2.38,2.60,178.88,0.841,4,0.069,0.055,3017,3246,2296,0,0,0,0,0,0
$GC,2172,1.93,194.6,390.2,16.2,97,2176,0.00,2.60,0.00,0.000,6,0.000,0.050,3017,1852,2293,0,0,0,0,0,0
$GC,2502,1.93,194.6,339.6,15.3,108,2506,0.00,2.75,0.00,0.000,4,0.000,0.081,3017,443,2290,0,0,0,0,0,0
$GC,2523,1.93,194.6,336.1,16.7,108,2527,0.00,2.53,0.00,0.000,6,0.000,0.041,3017,1849,2289,0,0,0,0,0,0
$GC,2837,1.93,194.6,287.2,15.4,119,2841,0.00,2.78,0.00,0.000,4,0.000,0.080,3017,438,2288,0,0,0,0,0,0
$GC,2863,1.93,194.6,283.0,16.1,119,2871,0.00,2.53,0.00,0.000,6,0.000,0.041,3017,1844,2288,0,0,0,0,0,0
$GC,3172,1.94,203.7,238.0,14.5,130,3181,0.00,0.00,8.23,0.677,6,0.000,0.000,3017,1851,2261,0,0,0,0,0,0
$GC,3475,1.94,203.7,191.5,15.6,140,3479,0.00,2.58,0.00,0.000,4,0.000,0.054,3016,3242,2258,0,0,0,0,0,0
$GC,3501,1.94,203.7,187.4,15.7,140,3509,0.00,2.60,0.00,0.000,6,0.000,0.050,3017,1844,2258,0,0,0,0,0,0
$GC,3810,1.95,217.0,141.7,14.3,151,3829,0.00,2.72,12.98,0.694,4,0.000,0.080,3017,437,2205,0,0,0,0,0,0
$GC,3846,1.97,226.3,136.6,14.5,152,3860,0.00,2.55,9.82,0.654,6,0.000,0.041,3017,1858,2168,0,0,0,0,0,0
$GC,4167,2.00,250.6,91.4,13.7,166,4194,0.00,2.75,22.45,0.680,4,0.000,0.079,3017,438,2068,0,0,0,0,0,0
$GC,4219,2.00,250.6,83.3,16.4,170,4227,0.00,2.53,0.00,0.000,6,0.000,0.040,3017,1842,2066,0,0,0,0,0,0
$GC,4411,2.00,258.2,54.7,14.6,189,4423,0.00,0.00,7.65,0.594,6,0.000,0.000,3017,1849,2038,0,0,0,0,0,0
$GC,4607,2.07,309.9,28.7,12.3,208,4656,0.15,0.00,45.95,0.646,6,0.073,0.000,3052,1848,1827,0,0,0,0,0,0
$STATE,4778,end climb,SURFACE_DEPTH_REACHED
$STATE,4778,begin surface coast
$FINISH,0.7,1.008262
$STATE,4799,end surface coast,CONTROL_FINISHED_OK
$STATE,4799,begin surface
$SM_CCo,4820,13.45,0.222,1,0,1766,325.02
$SM_GC,1.70,0.00,0.00,13.45,0.000,0.000,0.222,410,1742,1766,-10.08,-0.25,325.02
$IRIDIUM_FIX,3327.96,-11804.20,071010,121249
$TT8_MAMPS,0.092127
$HUMID,63.11
$INTERNAL_PRESSURE,9.39714
$TCM_TEMP,20.10
$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,1.9/489287/480036
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.2/489293/468599
$24V_AH,22.6,32.620
$10V_AH,10.0,21.332
$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,28.150,47.425,461.150,13.450,0.000,46.439,82.235,215.142,0.000,5491.700,14.778,0.000,3652.098,492.504,1109.182,105.260,33.327,876.289,0.000,531.036,0.000,0.000,0.000
$DEVICE_MAMPS,210.375,86.445,869.805,221.850,0.000,103.000,160.000,223.000,0.000,15.380,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,163.353,0.000,0.000,0.000,0.000,0.000,5491.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.812,0.000,0.000,0.000
$MEM,329488
$DATA_FILE_SIZE,6812,226
$CAP_FILE_SIZE,58373,0
$CFSIZE,260165632,250224640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071010,141828,3250.728,-11847.562,9,2.1,29,13.3