version: 66.10
glider: 107
mission: 24
dive: 1
start: 3 7 112 18 2 42
data:
$ID,107
$MISSION,24
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$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,20
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.027
$MASS,52089
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-132720.83
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3914
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,263
$ROLL_MAX,3810
$ROLL_DEG,25
$C_ROLL_DIVE,2868
$C_ROLL_CLIMB,2868
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3925
$C_VBD,2921
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,98
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.988563
$PRESSURE_SLOPE,0.0001156423
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.35
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043459563
$SEABIRD_T_H,0.00064505072
$SEABIRD_T_I,2.5503063e-05
$SEABIRD_T_J,2.7066912e-06
$SEABIRD_C_G,-10.0667
$SEABIRD_C_H,1.1389354
$SEABIRD_C_I,-0.0022760942
$SEABIRD_C_J,0.00024535603
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,070312,175720,4743.199,-12224.216,12,0.9,22,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-75.5
$GPS2,070312,180142,4743.218,-12224.224,16,1.3,26,18.2
$SPEED_LIMITS,0.080,0.208
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.214
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,127.2,490,-18.2,-10.000
$D_GRID,174
$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,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.79,-146.1,0.0,0.0,0,138,0.00,0.00,-120.35,0.000,6,0.000,0.000,144,2882,3518,0,0,0,0,0,0,28.83,28.83,26.35
$GC,140,-0.79,-146.1,1.8,-2.4,19,154,9.32,1.48,0.00,0.000,4,0.264,0.060,2315,3750,3520,0,0,0,0,0,0,25.79,26.09,28.83
$GC,219,-0.79,-146.1,16.2,-15.3,34,226,0.00,1.45,0.00,0.000,6,0.000,0.041,2315,2862,3522,0,0,0,0,0,0,28.83,26.16,28.83
$GC,286,-0.79,-146.1,25.0,-13.6,47,293,0.00,1.52,0.00,0.000,4,0.000,0.070,2311,3744,3523,0,0,0,0,0,0,28.83,26.08,28.83
$GC,322,-0.79,-146.1,30.4,-15.4,54,330,0.00,1.45,0.00,0.000,6,0.000,0.041,2311,2862,3523,0,0,0,0,0,0,28.83,26.06,28.83
$GC,389,-0.79,-146.1,39.0,-12.3,67,396,0.00,1.52,0.00,0.000,4,0.000,0.069,2306,3745,3522,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,439,-0.17,0.0,45.4,-14.0,76,498,0.73,0.00,52.92,0.855,6,0.163,0.000,2519,2865,2917,0,0,0,0,0,0,25.96,28.83,24.53
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,500,0.79,146.1,48.0,0.0,85,565,0.93,1.50,55.28,0.822,4,0.086,0.047,2840,2000,2323,0,0,0,0,0,0,25.38,25.09,24.31
$GC,610,0.79,146.1,29.6,21.9,104,617,0.00,1.50,0.00,0.000,6,0.000,0.061,2839,2853,2317,0,0,0,0,0,0,28.83,25.51,28.83
$GC,676,0.79,146.1,14.6,23.4,117,684,0.00,1.60,0.00,0.000,4,0.000,0.068,2840,3759,2316,0,0,0,0,0,0,28.83,25.72,28.83
$GC,714,0.79,146.1,4.4,28.6,124,720,0.00,1.48,0.00,0.000,6,0.000,0.041,2845,2872,2315,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,723,end climb,SURFACE_DEPTH_REACHED
$STATE,723,begin surface coast
$FINISH,-0.1,1.007039
$STATE,734,end surface coast,CONTROL_FINISHED_OK
$STATE,734,begin surface
$SM_CCo,749,139.57,0.138,0,0,759,530.09
$SM_CCo,891,-0.45,0.000,0,0,761,530.09
$SM_CCo,893,0.43,0.444,0,0,759,530.09
$SM_GC,0.70,7.45,0.00,0.43,0.052,0.000,0.444,150,2872,759,-7.55,0.11,530.09,0,0,0,0,0,0,25.84,28.83,25.58
$IRIDIUM_FIX,4751.72,-12340.51,070312,171734
$TT8_MAMPS,0.100366,0.100366
$HUMID,36.29
$INTERNAL_PRESSURE,8.87959
$TCM_TEMP,18.80
$MI_MIVER,0.2
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,27
$MI_LOG,3.4/516052/498714
$MI_ROOT,70.6/190403/56032
$MI_HOME,2.1/436550/427257
$24V_AH,24.3,1.700
$10V_AH,10.4,3.532
$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,18.425,14.950,108.200,140.000,0.000,0.000,0.000,0.000,0.000,846.600,27.122,0.000,214.813,371.127,347.738,41.037,29.116,527.477,0.000,192.836,0.000,0.000,0.000
$DEVICE_MAMPS,263.925,69.615,854.505,444.465,0.000,0.000,0.000,0.000,0.000,208.833,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,84.189,0.000,0.000,0.000,0.000,0.000,846.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.576,0.000,0.000,0.000
$MEM,323476
$DATA_FILE_SIZE,3513,128
$CAP_FILE_SIZE,86758,0
$CFSIZE,260034560,245145600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,181820,4743.150,-12224.180,16,1.1,26,18.2