version: 66.10
glider: 107
mission: 24
dive: 5
start: 3 7 112 21 48 18
data:
$ID,107
$MISSION,24
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,45
$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,300
$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,-132932.41
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,070312,213646,4742.865,-12224.603,31,1.1,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-80.3
$GPS2,070312,214736,4742.709,-12224.604,16,1.9,26,18.2
$SPEED_LIMITS,0.096,0.220
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.065,0.268
$KALMAN_X,228.6,165.1,128.2,-990.7,84.5
$KALMAN_Y,-1384.6,-529.7,-187.2,1166.3,-343.6
$MHEAD_RNG_PITCHd_Wd,328.1,1901,-21.2,-12.000
$D_GRID,179
$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,-0.89,-146.1,0.0,0.0,0,99,0.00,0.00,-77.38,0.000,6,0.000,0.000,149,3009,3517,0,0,0,0,0,0,28.83,28.83,25.90
$GC,101,-0.89,-146.1,3.3,-8.8,13,115,9.07,0.00,0.00,0.000,6,0.263,0.000,2267,3008,3519,0,0,0,0,0,0,25.65,28.83,28.83
$GC,174,-0.89,-146.1,19.4,-16.5,27,181,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,3008,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,241,-0.89,-146.1,30.0,-16.6,40,247,0.00,1.40,0.00,0.000,4,0.000,0.067,2263,3809,3520,0,0,0,0,0,0,28.83,25.37,28.83
$GC,251,-0.89,-146.1,32.1,-17.1,42,259,0.00,1.35,0.00,0.000,6,0.000,0.041,2267,2998,3520,0,0,0,0,0,0,28.83,26.01,28.83
$GC,318,-0.89,-146.1,43.9,-17.0,55,326,0.00,1.40,0.00,0.000,4,0.000,0.067,2262,3808,3520,0,0,0,0,0,0,28.83,25.99,28.83
$GC,391,-0.89,-146.1,57.4,-17.8,69,398,0.00,1.35,0.00,0.000,6,0.000,0.041,2267,2995,3520,0,0,0,0,0,0,28.83,25.39,28.83
$GC,517,-0.89,-146.1,78.6,-16.9,94,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2995,3521,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,590,-0.17,0.0,90.0,-16.5,108,655,0.80,0.00,57.45,1.011,6,0.174,0.000,2497,2993,2917,0,0,0,0,0,0,25.90,28.83,24.30
$STATE,656,end apogee,CONTROL_FINISHED_OK
$STATE,656,begin climb
$GC,657,0.89,146.1,93.1,0.0,118,722,1.02,0.00,59.17,0.980,6,0.092,0.000,2838,2993,2322,0,0,0,0,0,0,25.11,28.83,24.06
$GC,841,0.89,146.1,53.9,25.8,152,848,0.00,1.58,0.00,0.000,4,0.000,0.047,2846,2080,2316,0,0,0,0,0,0,28.83,25.54,28.83
$GC,863,0.89,146.1,47.9,27.3,156,870,0.00,1.55,0.00,0.000,6,0.000,0.062,2846,2963,2315,0,0,0,0,0,0,28.83,25.60,28.83
$GC,990,0.89,146.1,16.0,21.5,181,997,0.00,1.50,0.00,0.000,4,0.000,0.070,2846,3814,2314,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1022,0.89,146.1,7.5,27.6,187,1029,0.00,1.45,0.00,0.000,6,0.000,0.041,2852,2956,2315,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1038,end climb,SURFACE_DEPTH_REACHED
$STATE,1038,begin surface coast
$FINISH,-0.2,1.020913
$STATE,1047,end surface coast,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$SM_CCo,1063,56.30,0.140,0,0,1693,300.00
$SM_GC,0.83,7.47,0.10,56.30,0.051,0.119,0.140,146,3003,1693,-7.49,-0.57,300.00,0,0,0,0,0,0,25.84,25.28,25.63
$IRIDIUM_FIX,4751.72,-12340.51,070312,202018
$TT8_MAMPS,0.099617,0.099617
$HUMID,36.88
$INTERNAL_PRESSURE,8.94795
$TCM_TEMP,18.90
$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,3.4/516052/498710
$MI_ROOT,70.6/190403/56032
$MI_HOME,2.4/436550/426083
$24V_AH,24.1,2.846
$10V_AH,10.4,4.370
$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,18.375,11.675,116.625,56.300,0.000,31.602,37.205,274.697,0.000,1869.400,27.497,0.000,396.980,276.063,889.445,112.561,33.196,473.683,0.000,284.570,0.000,0.000,0.000
$DEVICE_MAMPS,263.160,118.575,1010.565,139.995,0.000,103.000,160.000,223.000,0.000,188.550,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,128.728,0.000,0.000,0.000,0.000,0.000,1869.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.673,0.000,0.000,0.000
$MEM,323364
$DATA_FILE_SIZE,6848,192
$CAP_FILE_SIZE,40530,0
$CFSIZE,260034560,245039104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,220736,4742.743,-12224.768,11,1.4,21,18.2