version: 66.09
glider: 117
mission: 26
dive: 185
start: 10 6 110 2 9 28
data:
$ID,117
$MISSION,26
$DIVE,185
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,1200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,-114517.43
$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,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3062
$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
$GPS1,061010,020119,3248.679,-11852.866,9,1.7,14,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.8
$GPS2,061010,020849,3248.679,-11852.866,11,1.7,27,13.3
$SPEED_LIMITS,0.173,0.311
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.303,-0.071
$KALMAN_X,-87.4,-87.4,-87.4,469.6,-172.9
$KALMAN_Y,81.3,81.3,81.3,143.9,160.9
$MHEAD_RNG_PITCHd_Wd,89.9,15258,-14.7,-10.000
$D_GRID,90
$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,-1.40,-219.0,0.0,0.0,0,98,0.00,0.00,-81.85,0.000,2,0.000,0.000,409,1759,3259,0,0,0,0,0,0
$GC,100,-1.40,-219.0,3.4,-5.9,14,131,11.85,2.70,-13.38,0.000,4,0.196,0.085,2290,335,3940,0,0,0,0,0,0
$GC,322,-1.40,-219.0,54.4,-17.5,53,327,0.00,2.47,0.00,0.000,6,0.000,0.037,2290,1737,3943,0,0,0,0,0,0
$GC,519,-1.40,-219.0,89.3,-18.3,72,523,0.00,2.67,0.00,0.000,4,0.000,0.075,2290,345,3944,0,0,0,0,0,0
$STATE,528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,528,begin apogee
$GC,534,-0.38,0.0,91.2,17.7,73,719,1.12,0.00,176.02,0.620,6,0.110,0.000,2510,1860,3061,0,0,0,0,0,0
$STATE,720,end apogee,CONTROL_FINISHED_OK
$STATE,720,begin loiter
$GC,903,-0.26,103.2,108.0,-3.2,108,994,0.15,2.58,84.72,0.617,4,0.102,0.050,2540,3243,2641,0,0,0,0,0,0
$GC,1143,-0.26,103.2,102.2,4.4,130,1151,0.00,2.53,0.00,0.000,6,0.000,0.044,2540,1852,2637,0,0,0,0,0,0
$GC,1335,-0.26,103.2,94.8,4.3,149,1340,0.00,2.55,0.00,0.000,4,0.000,0.050,2540,3246,2637,0,0,0,0,0,0
$GC,1425,-0.26,103.2,91.3,4.0,157,1433,0.00,2.53,0.00,0.000,6,0.000,0.044,2540,1850,2636,0,0,0,0,0,0
$GC,1617,-0.26,103.2,84.7,3.4,176,1621,0.00,2.55,0.00,0.000,4,0.000,0.049,2540,3249,2635,0,0,0,0,0,0
$GC,1739,-0.26,103.2,80.8,3.1,187,1747,0.00,2.53,0.00,0.000,6,0.000,0.043,2540,1851,2635,0,0,0,0,0,0
$STATE,1919,end loiter,LOITER_COMPLETE
$STATE,1919,begin climb
$GC,1921,1.40,219.0,75.2,0.0,205,2024,1.73,0.00,98.62,0.625,6,0.080,0.000,2902,1851,2169,0,0,0,0,0,0
$GC,2205,1.50,296.4,56.2,7.6,232,2278,0.10,2.72,67.53,0.603,4,0.082,0.076,2929,444,1852,0,0,0,0,0,0
$GC,2475,1.50,296.4,26.1,12.2,276,2482,0.00,2.50,0.00,0.000,6,0.000,0.039,2929,1851,1845,0,0,0,0,0,0
$GC,2545,1.57,354.8,19.6,8.2,289,2599,0.00,0.00,50.42,0.583,6,0.000,0.000,2930,1855,1614,0,0,0,0,0,0
$GC,2662,1.64,412.3,10.7,8.2,310,2722,0.12,2.75,50.88,0.568,4,0.069,0.076,2965,443,1379,0,0,0,0,0,0
$STATE,2736,end climb,SURFACE_DEPTH_REACHED
$STATE,2736,begin surface coast
$FINISH,1.0,1.024294
$STATE,2751,end surface coast,CONTROL_FINISHED_OK
$STATE,2751,begin surface
$SM_CCo,2833,0.00,0.000,0,0,1370,414.80
$SM_GC,1.62,11.73,0.00,0.00,0.047,0.000,0.000,413,1766,1370,-10.03,0.45,414.80
$IRIDIUM_FIX,3327.96,-11804.20,061010,010135
$TT8_MAMPS,0.091378
$HUMID,60.39
$INTERNAL_PRESSURE,9.4069
$TCM_TEMP,20.70
$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,1.9/489287/480046
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469377
$24V_AH,23.0,30.199
$10V_AH,10.0,19.364
$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,26.800,36.125,528.200,0.000,0.000,30.585,31.557,236.264,0.000,3350.100,28.601,0.000,1525.645,529.923,1121.474,102.115,30.168,931.853,0.000,586.159,0.000,0.000,0.000
$DEVICE_MAMPS,195.840,84.915,625.005,0.000,0.000,103.000,160.000,223.000,0.000,15.274,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,227.447,0.000,0.000,0.000,0.000,0.000,3350.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,43.249,0.000,0.000,0.000
$MEM,329456
$DATA_FILE_SIZE,10139,326
$CAP_FILE_SIZE,51447,0
$CFSIZE,260165632,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,025728,3248.817,-11852.841,11,3.3,30,13.3