version: 66.10
glider: 107
mission: 28
dive: 2
start: 6 12 112 17 57 14
data:
$ID,107
$MISSION,28
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$T_BOOST,2
$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,35
$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,30
$SPEED_FACTOR,0.80000001
$RHO,1.023
$MASS,51536
$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,24.3333
$TGT_DEFAULT_LON,-82.333298
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,6
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-136033.03
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3914
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$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,45
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3925
$C_VBD,2677
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-10.389073
$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_NOTIFYMOTORS,0.0
$GPS1,120612,175012,4742.479,-12224.989,13,1.6,23,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.3
$GPS2,120612,175636,4742.448,-12225.011,16,1.1,26,18.2
$SPEED_LIMITS,0.139,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,0.254
$KALMAN_X,-34.5,-34.5,-34.5,-47.7,-85.2
$KALMAN_Y,-126.2,-126.2,-126.2,61.0,-311.8
$MHEAD_RNG_PITCHd_Wd,355.0,2319,-18.2,-10.000
$D_GRID,176
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.65,-146.6,0.0,0.0,0,108,0.00,0.00,-89.93,0.000,2,0.000,0.000,163,2866,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.65,-146.6,5.1,-13.9,14,124,8.75,1.45,-1.50,0.000,4,0.236,0.073,2377,3757,3277,0,0,0,0,0,0,26.03,26.33,26.51
$GC,348,-0.65,-146.6,38.9,-11.0,61,355,0.00,1.40,0.00,0.000,6,0.000,0.038,2377,2874,3277,0,0,0,0,0,0,28.83,26.50,28.83
$GC,415,-0.65,-146.6,45.0,-9.1,74,422,0.00,1.48,0.00,0.000,4,0.000,0.060,2371,3750,3277,0,0,0,0,0,0,28.83,26.43,28.83
$GC,477,-0.65,-146.6,50.7,-10.3,86,484,0.00,1.40,0.00,0.000,6,0.000,0.038,2372,2870,3279,0,0,0,0,0,0,28.83,26.54,28.83
$GC,604,-0.65,-146.6,62.6,-9.5,111,611,0.00,1.38,0.00,0.000,4,0.000,0.035,2372,1982,3278,0,0,0,0,0,0,28.83,26.53,28.83
$GC,670,-0.65,-146.6,69.0,-10.1,124,677,0.00,1.45,0.00,0.000,6,0.000,0.052,2369,2861,3277,0,0,0,0,0,0,28.83,26.50,28.83
$GC,797,-0.65,-146.6,80.5,-8.1,149,804,0.00,1.48,0.00,0.000,4,0.000,0.060,2362,3743,3278,0,0,0,0,0,0,28.83,26.50,28.83
$GC,849,-0.65,-146.6,85.1,-9.2,159,856,0.00,1.40,0.00,0.000,6,0.000,0.038,2362,2866,3277,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,904,begin apogee
$GC,907,-0.16,0.0,90.1,-8.8,170,1029,0.55,0.00,113.22,0.514,6,0.114,0.000,2545,2866,2670,0,0,0,0,0,0,26.43,28.83,25.15
$STATE,1030,end apogee,CONTROL_FINISHED_OK
$STATE,1030,begin climb
$GC,1031,0.65,146.6,95.8,0.0,189,1154,0.70,1.58,117.82,0.490,4,0.047,0.057,2821,3749,2074,0,0,0,0,0,0,25.72,25.43,24.99
$GC,1379,0.65,146.6,60.0,15.4,253,1386,0.00,1.42,0.00,0.000,6,0.000,0.037,2826,2870,2064,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1506,0.65,146.6,40.8,14.7,278,1513,0.00,1.50,0.00,0.000,4,0.000,0.060,2826,3749,2063,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1552,0.65,146.6,33.7,15.9,287,1560,0.00,1.42,0.00,0.000,6,0.000,0.038,2832,2867,2063,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1619,0.65,146.6,24.4,12.2,300,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2867,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,0.65,146.6,17.1,10.2,313,1692,0.00,1.48,0.00,0.000,4,0.000,0.059,2832,3744,2062,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1717,0.65,146.6,13.5,11.5,319,1724,0.00,1.40,0.00,0.000,6,0.000,0.038,2838,2869,2061,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1784,0.65,153.6,6.6,9.7,332,1791,0.00,1.48,1.20,0.221,4,0.000,0.057,2837,3760,2046,0,0,0,0,0,0,28.83,26.40,26.25
$STATE,1824,end climb,SURFACE_DEPTH_REACHED
$STATE,1824,begin surface coast
$FINISH,2.8,1.020068
$STATE,1865,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1883,110.38,0.150,0,0,756,470.24
$SM_CCo,1995,-0.40,0.000,0,0,761,470.24
$SM_CCo,1997,0.62,0.282,0,0,758,470.24
$SM_GC,0.81,7.75,1.45,0.62,0.090,0.038,0.282,164,2865,758,-7.60,1.13,470.24,0,0,0,0,0,0,26.16,26.50,26.00
$IRIDIUM_FIX,4751.72,-12340.51,120612,171710
$TT8_MAMPS,0.098119,0.098119
$HUMID,49.01
$INTERNAL_PRESSURE,8.86982
$TCM_TEMP,19.60
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,7
$MI_LOG,3.3/516052/498827
$MI_ROOT,70.6/190403/56026
$MI_HOME,2.3/436550/426313
$24V_AH,25.0,0.291
$10V_AH,10.5,0.299
$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,17.750,23.150,232.250,111.000,0.000,0.000,0.000,0.000,0.000,1960.900,27.156,0.000,776.181,443.568,801.333,34.372,30.059,763.148,0.000,503.914,0.000,0.000,0.000
$DEVICE_MAMPS,236.385,73.440,514.080,281.520,0.000,0.000,0.000,0.000,0.000,8.915,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,232.498,0.000,0.000,0.000,0.000,0.000,1960.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.091,0.000,0.000,0.000
$MEM,323688
$DATA_FILE_SIZE,10157,348
$CAP_FILE_SIZE,56947,0
$CFSIZE,260034560,257437696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,183122,4742.458,-12225.105,12,2.9,31,18.2