version: 66.10
glider: 107
mission: 24
dive: 3
start: 3 7 112 20 14 33
data:
$ID,107
$MISSION,24
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,500
$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,-132929.81
$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,2560
$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,3000
$C_ROLL_CLIMB,2960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$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
$GPS1,070312,200910,4742.954,-12224.146,10,2.6,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-76.0
$GPS2,070312,201354,4742.897,-12224.111,14,1.2,24,18.2
$SPEED_LIMITS,0.080,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.214
$KALMAN_X,206.8,145.5,116.7,-342.5,143.1
$KALMAN_Y,-333.1,-232.5,-185.4,179.9,-230.0
$MHEAD_RNG_PITCHd_Wd,307.2,1853,-18.2,-10.000
$D_GRID,168
$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,-146.1,0.0,0.0,0,131,0.00,0.00,-111.60,0.000,6,0.000,0.000,148,3020,3517,0,0,0,0,0,0,28.83,28.83,26.27
$GC,133,-0.79,-146.1,3.4,-8.7,18,147,9.30,1.50,0.00,0.000,4,0.266,0.044,2305,2117,3519,0,0,0,0,0,0,25.75,26.03,28.83
$GC,157,-0.79,-146.1,11.8,-29.3,22,165,0.00,1.50,0.00,0.000,6,0.000,0.060,2300,2988,3521,0,0,0,0,0,0,28.83,26.01,28.83
$GC,224,-0.79,-146.1,22.3,-14.0,35,231,0.00,1.40,0.00,0.000,4,0.000,0.068,2293,3807,3521,0,0,0,0,0,0,28.83,26.04,28.83
$GC,326,-0.79,-146.1,36.9,-14.1,55,333,0.00,1.33,0.00,0.000,6,0.000,0.041,2295,2998,3521,0,0,0,0,0,0,28.83,26.11,28.83
$GC,393,-0.79,-146.1,45.9,-13.3,68,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2998,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,518,-0.79,-146.1,62.5,-13.3,93,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2997,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,644,-0.79,-146.1,79.8,-14.4,118,651,0.00,1.40,0.00,0.000,4,0.000,0.068,2291,3811,3522,0,0,0,0,0,0,28.83,26.06,28.83
$GC,696,-0.79,-146.1,87.3,-14.6,128,703,0.00,1.33,0.00,0.000,6,0.000,0.042,2295,3002,3521,0,0,0,0,0,0,28.83,26.15,28.83
$GC,823,-0.79,-146.1,105.0,-13.0,153,830,0.00,1.42,0.00,0.000,4,0.000,0.042,2295,2119,3522,0,0,0,0,0,0,28.83,26.13,28.83
$GC,860,-0.79,-146.1,109.5,-11.6,160,867,0.00,1.52,0.00,0.000,6,0.000,0.063,2290,3003,3522,0,0,0,0,0,0,28.83,26.07,28.83
$GC,986,-0.79,-146.1,124.7,-13.6,185,993,0.00,1.38,0.00,0.000,4,0.000,0.070,2284,3807,3522,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1038,-0.79,-146.1,132.2,-14.8,195,1045,0.00,1.33,0.00,0.000,6,0.000,0.043,2284,2997,3522,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1165,-0.79,-146.1,149.7,-13.3,220,1172,0.00,1.40,0.00,0.000,4,0.000,0.070,2278,3807,3522,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1180,-0.17,0.0,150.8,-11.5,222,1302,0.75,0.00,116.93,1.267,6,0.169,0.000,2500,2958,2921,0,0,0,0,0,0,25.94,28.83,23.77
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1305,0.79,146.1,151.8,0.0,241,1415,0.93,1.55,103.47,1.215,4,0.086,0.070,2809,3810,2324,0,0,0,0,0,0,24.79,24.58,23.79
$GC,1470,0.79,146.1,119.7,27.7,269,1477,0.00,1.42,0.00,0.000,6,0.000,0.042,2813,2970,2319,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1597,0.79,146.1,88.5,24.1,294,1604,0.00,1.50,0.00,0.000,4,0.000,0.047,2820,2080,2316,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1638,0.79,146.1,78.9,22.5,302,1646,0.00,1.55,0.00,0.000,6,0.000,0.063,2820,2959,2315,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1765,0.79,146.1,48.2,24.1,327,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2959,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,0.79,146.1,19.5,21.3,352,1898,0.00,1.48,0.00,0.000,4,0.000,0.070,2820,3805,2314,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,1957,end climb,SURFACE_DEPTH_REACHED
$STATE,1957,begin surface coast
$FINISH,0.9,1.021843
$STATE,1962,end surface coast,CONTROL_FINISHED_OK
$STATE,1962,begin surface
$SM_CCo,1979,130.82,0.138,0,0,877,500.17
$SM_GC,0.67,7.32,1.38,130.82,0.049,0.042,0.138,144,2986,877,-7.50,0.65,500.17,0,0,0,0,0,0,25.97,26.00,25.63
$IRIDIUM_FIX,4751.72,-12340.51,070312,202028
$TT8_MAMPS,0.098868,0.098868
$HUMID,37.24
$INTERNAL_PRESSURE,8.86982
$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,3.4/516052/498711
$MI_ROOT,70.6/190403/56032
$MI_HOME,2.3/436550/426570
$24V_AH,23.8,2.438
$10V_AH,10.4,4.080
$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,18.300,25.775,220.400,130.825,0.000,0.000,0.000,0.000,0.000,2104.400,25.464,0.000,804.372,484.634,838.310,38.728,31.290,823.922,0.000,529.642,0.000,0.000,0.000
$DEVICE_MAMPS,266.220,70.380,1266.840,138.465,0.000,0.000,0.000,0.000,0.000,206.150,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,246.641,0.000,0.000,0.000,0.000,0.000,2104.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.415,0.000,0.000,0.000
$MEM,323352
$DATA_FILE_SIZE,10106,366
$CAP_FILE_SIZE,76885,0
$CFSIZE,260034560,245055488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,205024,4742.955,-12224.374,12,1.1,22,18.2