version: 66.09
glider: 117
mission: 26
dive: 188
start: 10 6 110 6 18 40
data:
$ID,117
$MISSION,26
$DIVE,188
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,2400
$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,-114521.22
$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,24
$R_STBD_OVSHOOT,41
$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
$GPS1,061010,060720,3249.240,-11852.365,12,1.7,13,13.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.5
$GPS2,061010,061758,3249.205,-11852.384,13,4.2,32,13.3
$SPEED_LIMITS,0.318,0.377
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.377,-0.015
$KALMAN_X,-1538.7,-666.5,-164.8,3330.6,-210.1
$KALMAN_Y,975.2,467.0,137.4,-217.0,84.8
$MHEAD_RNG_PITCHd_Wd,79.0,14453,-24.2,-18.333
$D_GRID,330
$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,-2.13,-219.0,0.0,0.0,0,125,0.00,0.00,-108.62,0.000,2,0.000,0.000,413,1738,3244,0,0,0,0,0,0
$GC,127,-2.13,-219.0,3.2,-5.8,10,161,11.20,2.58,-13.62,0.000,4,0.204,0.058,2128,3143,3941,0,0,0,0,0,0
$GC,400,-2.13,-219.0,87.2,-26.9,35,408,0.00,2.53,0.00,0.000,6,0.000,0.046,2128,1761,3945,0,0,0,0,0,0
$GC,599,-2.13,-219.0,143.0,-28.0,45,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,1761,3946,0,0,0,0,0,0
$GC,902,-2.13,-219.0,226.9,-27.3,55,906,0.00,2.72,0.00,0.000,4,0.000,0.076,2128,333,3946,0,0,0,0,0,0
$GC,923,-2.13,-219.0,232.8,-28.6,55,927,0.00,2.50,0.00,0.000,6,0.000,0.038,2128,1737,3946,0,0,0,0,0,0
$GC,1237,-2.13,-219.0,317.5,-27.1,66,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,1739,3946,0,0,0,0,0,0
$STATE,1296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1296,begin apogee
$GC,1300,-0.38,0.0,333.8,26.8,68,1487,2.08,0.00,180.45,0.808,6,0.140,0.000,2512,1865,3092,0,0,0,0,0,0
$STATE,1487,end apogee,CONTROL_FINISHED_OK
$STATE,1487,begin loiter
$GC,1787,-0.34,33.2,348.6,-1.9,84,1823,0.00,2.55,29.50,0.789,4,0.000,0.051,2512,3252,2955,0,0,0,0,0,0
$GC,2064,-0.34,33.2,346.5,1.4,92,2068,0.00,2.55,0.00,0.000,6,0.000,0.044,2512,1852,2953,0,0,0,0,0,0
$GC,2378,-0.34,33.2,343.3,0.9,103,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1851,2952,0,0,0,0,0,0
$GC,2681,-0.34,33.2,341.7,0.4,113,2685,0.00,2.67,0.00,0.000,4,0.000,0.073,2512,441,2950,0,0,0,0,0,0
$GC,2868,-0.34,33.2,341.0,0.4,118,2876,0.00,2.50,0.00,0.000,6,0.000,0.039,2512,1860,2950,0,0,0,0,0,0
$GC,3177,-0.34,33.2,339.7,0.6,129,3181,0.00,2.50,0.00,0.000,4,0.000,0.051,2512,3230,2949,0,0,0,0,0,0
$GC,3338,-0.34,33.2,338.2,1.1,134,3341,0.00,2.45,0.00,0.000,6,0.000,0.045,2512,1847,2949,0,0,0,0,0,0
$GC,3667,-0.34,33.2,334.2,1.3,145,3671,0.00,2.65,0.00,0.000,4,0.000,0.073,2512,447,2947,0,0,0,0,0,0
$STATE,3884,end loiter,LOITER_COMPLETE
$STATE,3884,begin climb
$GC,3886,2.13,219.0,330.8,0.0,151,4056,2.55,2.47,159.88,0.832,6,0.071,0.040,3065,1853,2197,0,0,0,0,0,0
$GC,4381,2.13,219.0,248.1,20.4,168,4385,0.00,2.70,0.00,0.000,4,0.000,0.076,3064,448,2186,0,0,0,0,0,0
$GC,4509,2.57,575.2,220.5,21.6,172,4822,0.38,2.47,299.62,0.708,6,0.047,0.040,3154,1840,745,0,0,0,0,0,0
$STATE,5097,end climb,SURFACE_DEPTH_REACHED
$STATE,5097,begin surface coast
$FINISH,0.6,1.014469
$STATE,5107,end surface coast,CONTROL_FINISHED_OK
$STATE,5107,begin surface
$SM_CCo,5188,0.00,0.000,0,0,734,578.17
$SM_GC,1.41,12.40,0.00,0.00,0.040,0.000,0.000,412,1746,734,-10.03,-0.11,578.17
$IRIDIUM_FIX,3327.96,-11804.20,061010,040434
$TT8_MAMPS,0.090629
$HUMID,63.46
$INTERNAL_PRESSURE,9.31901
$TCM_TEMP,19.70
$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,1.9/489287/480044
$MI_ROOT,63.3/190403/69972
$MI_HOME,4.1/489293/469239
$24V_AH,23.2,30.735
$10V_AH,10.0,19.660
$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,28.600,36.225,669.450,0.000,0.000,23.503,35.744,403.311,0.000,5892.100,34.453,0.000,3621.751,630.717,1433.073,136.267,33.304,1144.350,0.000,744.662,0.000,0.000,0.000
$DEVICE_MAMPS,204.255,82.620,832.320,0.000,0.000,103.000,160.000,223.000,0.000,15.264,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,150.228,0.000,0.000,0.000,0.000,0.000,5892.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.647,0.000,0.000,0.000
$MEM,329468
$DATA_FILE_SIZE,6840,208
$CAP_FILE_SIZE,62659,1
$CFSIZE,260165632,250658816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,074601,3248.977,-11852.017,35,1.5,37,13.3