version: 66.10
glider: 107
mission: 28
dive: 3
start: 6 12 112 18 49 31
data:
$ID,107
$MISSION,28
$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,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,40
$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,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,-136104.41
$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,2525
$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,2750
$C_ROLL_CLIMB,2925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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
$GPS1,120612,184440,4742.414,-12225.095,12,2.7,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-76.8
$GPS2,120612,184852,4742.399,-12225.096,16,2.7,35,18.2
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.272
$KALMAN_X,-109.9,-90.0,-86.3,28.3,-114.3
$KALMAN_Y,-311.1,-264.1,-255.0,412.9,-326.4
$MHEAD_RNG_PITCHd_Wd,355.2,2412,-21.9,-12.500
$D_GRID,172
$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,-0.76,-146.6,0.0,0.0,0,101,0.00,0.00,-83.60,0.000,2,0.000,0.000,163,2775,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.76,-146.6,4.0,-10.6,13,123,8.57,0.00,-5.80,0.000,6,0.247,0.000,2269,2771,3276,0,0,0,0,0,0,26.01,28.83,26.47
$GC,183,-0.76,-146.6,22.3,-17.6,28,189,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2771,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,248,-0.76,-146.6,34.1,-18.2,41,255,0.00,1.45,0.00,0.000,4,0.000,0.059,2264,3630,3276,0,0,0,0,0,0,28.83,26.36,28.83
$GC,320,-0.76,-146.6,47.2,-18.5,55,327,0.00,1.45,0.00,0.000,6,0.000,0.037,2264,2724,3276,0,0,0,0,0,0,28.83,26.44,28.83
$GC,447,-0.76,-146.6,68.1,-16.3,80,454,0.00,1.35,0.00,0.000,4,0.000,0.037,2265,1866,3276,0,0,0,0,0,0,28.83,26.41,28.83
$GC,488,-0.76,-146.6,74.4,-14.7,88,496,0.00,1.45,0.00,0.000,6,0.000,0.050,2260,2744,3277,0,0,0,0,0,0,28.83,26.41,28.83
$GC,615,-0.76,-146.6,93.9,-15.3,113,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2744,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,741,-0.76,-146.6,113.8,-16.2,138,748,0.00,1.50,0.00,0.000,4,0.000,0.060,2253,3633,3276,0,0,0,0,0,0,28.83,26.33,28.83
$GC,817,-0.76,-146.6,127.3,-16.8,153,825,0.00,1.42,0.00,0.000,6,0.000,0.037,2253,2739,3276,0,0,0,0,0,0,28.83,26.52,28.83
$GC,944,-0.76,-146.6,147.8,-17.0,178,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2740,3277,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,962,-0.16,0.0,150.4,-17.2,181,1091,0.70,0.00,123.07,0.542,6,0.147,0.000,2468,2932,2673,0,0,0,0,0,0,26.31,28.83,25.02
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1093,0.76,146.6,156.9,0.0,201,1229,0.85,1.55,125.00,0.518,4,0.083,0.060,2765,3806,2069,0,0,0,0,0,0,25.47,25.31,24.85
$GC,1309,0.76,146.6,142.9,14.2,238,1317,0.00,1.45,0.00,0.000,6,0.000,0.037,2771,2936,2061,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1437,0.76,146.6,124.9,14.1,263,1443,0.00,1.50,0.00,0.000,4,0.000,0.061,2771,3803,2060,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1483,0.76,146.6,117.7,15.6,272,1490,0.00,1.42,0.00,0.000,6,0.000,0.038,2778,2923,2059,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1610,0.76,146.6,99.6,13.3,297,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2923,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1736,0.76,146.6,82.2,14.4,322,1743,0.00,1.40,0.00,0.000,4,0.000,0.038,2784,2040,2059,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1823,0.76,146.6,70.8,12.8,339,1830,0.00,1.48,0.00,0.000,6,0.000,0.053,2784,2925,2058,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1950,0.76,146.6,54.5,13.3,364,1957,0.00,1.40,0.00,0.000,4,0.000,0.038,2791,2041,2057,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2041,0.77,162.3,43.0,11.6,382,2056,0.00,1.48,10.70,0.518,6,0.000,0.054,2791,2930,2013,0,0,0,0,0,0,28.83,26.39,25.79
$GC,2176,0.77,174.6,27.1,11.8,408,2190,0.00,1.45,7.97,0.509,4,0.000,0.038,2797,2037,1959,0,0,0,0,0,0,28.83,26.27,25.77
$GC,2219,0.79,201.2,22.0,11.0,416,2246,0.00,1.48,22.58,0.487,6,0.000,0.054,2797,2924,1849,0,0,0,0,0,0,28.83,26.25,25.59
$GC,2306,0.79,201.2,10.9,13.0,432,2313,0.00,1.52,0.00,0.000,4,0.000,0.063,2797,3812,1838,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,2361,end climb,SURFACE_DEPTH_REACHED
$STATE,2361,begin surface coast
$FINISH,2.2,1.020289
$STATE,2366,end surface coast,CONTROL_FINISHED_OK
$STATE,2366,begin surface
$SM_CCo,2385,94.47,0.152,0,0,755,470.24
$SM_CCo,2481,-0.40,0.000,0,0,762,470.24
$SM_CCo,2483,0.73,0.265,0,0,756,470.24
$SM_GC,1.37,7.78,1.75,0.73,0.093,0.038,0.265,164,2746,756,-7.37,1.16,470.24,0,0,0,0,0,0,25.65,26.12,25.84
$IRIDIUM_FIX,4751.72,-12056.72,120612,181811
$TT8_MAMPS,0.098119,0.098119
$HUMID,49.37
$INTERNAL_PRESSURE,8.85029
$TCM_TEMP,19.70
$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,3.3/516052/498826
$MI_ROOT,70.6/190403/56026
$MI_HOME,2.4/436550/425965
$24V_AH,24.9,0.377
$10V_AH,10.5,0.374
$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,17.900,26.825,289.325,95.200,0.000,0.000,0.000,0.000,0.000,2466.500,37.399,0.000,1002.707,493.681,1016.031,39.841,31.288,893.509,0.000,639.617,0.000,0.000,0.000
$DEVICE_MAMPS,247.095,67.320,542.385,265.455,0.000,0.000,0.000,0.000,0.000,15.741,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,297.501,0.000,0.000,0.000,0.000,0.000,2466.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.378,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,13440,444
$CAP_FILE_SIZE,68764,0
$CFSIZE,260034560,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,193210,4742.633,-12225.069,36,3.4,55,18.2