version: 66.09
glider: 117
mission: 26
dive: 198
start: 10 7 110 14 31 14
data:
$ID,117
$MISSION,26
$DIVE,198
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,-114690.76
$T_RSLEEP,5
$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,30
$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
$GPS1,071010,141828,3250.728,-11847.562,9,2.1,29,13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-68.9
$GPS2,071010,143031,3250.863,-11847.535,12,1.5,17,13.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.260,-0.140
$KALMAN_X,-12657.1,-158.5,-442.2,21766.5,71.4
$KALMAN_Y,8498.5,160.1,-177.3,-4048.3,6.6
$MHEAD_RNG_PITCHd_Wd,105.1,7415,-15.7,-10.000
$D_GRID,45
$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,-1.45,-194.6,0.0,0.0,0,73,0.00,0.00,-58.22,0.000,2,0.000,0.000,410,1741,3073,0,0,0,0,0,0
$GC,75,-1.45,-194.6,3.0,-3.9,5,114,12.15,2.70,-18.33,0.000,4,0.209,0.089,2278,349,3888,0,0,0,0,0,0
$STATE,240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,240,begin apogee
$GC,246,-0.38,0.0,45.3,22.0,21,410,1.23,0.00,155.02,0.607,6,0.122,0.000,2510,1865,3090,0,0,0,0,0,0
$STATE,410,end apogee,CONTROL_FINISHED_OK
$STATE,410,begin climb
$GC,412,1.45,194.6,55.9,0.0,36,577,1.95,2.55,155.82,0.582,4,0.076,0.051,2912,3249,2297,0,0,0,0,0,0
$GC,629,1.52,257.9,45.3,7.8,56,688,0.00,2.55,53.85,0.563,6,0.000,0.046,2912,1859,2038,0,0,0,0,0,0
$GC,879,1.53,264.9,24.6,9.8,80,892,0.00,2.72,6.70,0.472,4,0.000,0.078,2912,434,2009,0,0,0,0,0,0
$GC,950,1.53,264.9,17.3,10.5,86,957,0.00,2.53,0.00,0.000,6,0.000,0.037,2912,1853,2008,0,0,0,0,0,0
$GC,1141,1.68,388.1,4.9,5.7,105,1175,0.25,0.00,32.17,0.554,2,0.048,0.000,2977,1858,1862,0,0,0,0,0,0
$STATE,1176,end climb,SURFACE_DEPTH_REACHED
$STATE,1176,begin surface coast
$FINISH,0.8,1.017790
$STATE,1202,end surface coast,CONTROL_FINISHED_OK
$STATE,1202,begin surface
$SM_CCo,1222,12.25,0.073,0,0,1765,325.02
$SM_GC,1.79,0.00,0.00,12.25,0.000,0.000,0.073,413,1740,1765,-10.06,-0.28,325.02
$IRIDIUM_FIX,3327.96,-11804.20,071010,141439
$TT8_MAMPS,0.090629
$HUMID,57.71
$INTERNAL_PRESSURE,9.45573
$TCM_TEMP,21.10
$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,1.9/489287/480035
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.2/489293/468576
$24V_AH,23.6,32.725
$10V_AH,10.0,21.375
$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,27.300,15.975,403.575,12.250,0.000,51.144,82.346,384.995,0.000,2053.800,17.881,0.000,505.923,410.110,954.005,86.824,33.328,636.091,0.000,267.803,0.000,0.000,0.000
$DEVICE_MAMPS,208.845,88.740,607.410,72.675,0.000,103.000,160.000,223.000,0.000,15.277,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,78.020,0.000,0.000,0.000,0.000,0.000,2053.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,43.102,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,3497,111
$CAP_FILE_SIZE,35168,0
$CFSIZE,260165632,250224640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,145220,3251.023,-11847.499,13,1.8,13,13.3