version: 66.10
glider: 107
mission: 28
dive: 4
start: 6 12 112 19 52 53
data:
$ID,107
$MISSION,28
$DIVE,4
$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,-136171.55
$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,2800
$C_ROLL_CLIMB,2925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,40
$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
$GPS1,120612,194754,4742.613,-12225.105,10,1.2,20,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.1
$GPS2,120612,195213,4742.620,-12225.116,10,1.5,21,18.2
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,0.274
$KALMAN_X,-178.9,-138.0,-117.6,149.5,-76.6
$KALMAN_Y,-353.7,-313.6,-298.8,949.0,-157.2
$MHEAD_RNG_PITCHd_Wd,352.9,2006,-21.9,-12.500
$D_GRID,186
$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,-146.6,0.0,0.0,0,95,0.00,0.00,-77.38,0.000,2,0.000,0.000,162,2818,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.76,-146.6,3.4,-7.7,12,124,8.32,1.45,-9.70,0.000,4,0.236,0.060,2273,1917,3276,0,0,0,0,0,0,25.96,26.25,26.40
$GC,348,-0.76,-146.6,46.8,-15.2,61,355,0.00,1.42,0.00,0.000,6,0.000,0.052,2268,2781,3276,0,0,0,0,0,0,28.83,26.34,28.83
$GC,475,-0.76,-146.6,67.0,-16.0,86,482,0.00,1.35,0.00,0.000,4,0.000,0.037,2268,1920,3276,0,0,0,0,0,0,28.83,26.39,28.83
$GC,707,-0.76,-146.6,100.2,-13.2,132,714,0.00,1.45,0.00,0.000,6,0.000,0.053,2262,2798,3276,0,0,0,0,0,0,28.83,26.39,28.83
$GC,834,-0.76,-146.6,119.2,-15.8,157,841,0.00,1.48,0.00,0.000,4,0.000,0.061,2256,3675,3276,0,0,0,0,0,0,28.83,26.39,28.83
$GC,880,-0.76,-146.6,126.9,-16.3,166,888,0.00,1.40,0.00,0.000,6,0.000,0.039,2255,2806,3276,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1007,-0.76,-146.6,147.9,-16.6,191,1014,0.00,1.40,0.00,0.000,4,0.000,0.037,2255,1914,3276,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1022,begin apogee
$GC,1027,-0.16,0.0,150.7,-16.0,194,1150,0.70,0.00,111.95,1.096,6,0.141,0.000,2466,2924,2677,0,0,0,0,1,0,26.29,28.83,24.11
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1152,0.76,146.6,155.6,0.0,213,1288,0.88,1.60,127.12,0.523,4,0.080,0.060,2765,3809,2069,0,0,0,0,0,0,24.92,25.20,24.79
$GC,1368,0.76,146.6,142.6,15.5,250,1376,0.00,1.45,0.00,0.000,6,0.000,0.038,2771,2928,2062,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1496,0.76,146.6,124.9,13.5,275,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2927,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,0.76,146.6,108.0,13.7,300,1629,0.00,1.42,0.00,0.000,4,0.000,0.039,2778,2040,2059,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1734,0.76,146.6,93.5,12.8,322,1741,0.00,1.48,0.00,0.000,6,0.000,0.054,2778,2922,2058,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1860,0.76,146.6,76.4,13.7,347,1868,0.00,1.50,0.00,0.000,4,0.000,0.063,2778,3803,2058,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1872,0.76,146.6,74.9,13.5,349,1879,0.00,1.42,0.00,0.000,6,0.000,0.040,2785,2923,2058,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2000,0.77,151.3,58.2,12.2,374,2006,0.00,1.40,0.00,0.000,4,0.000,0.040,2792,2040,2057,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2010,0.77,162.3,56.8,11.9,376,2025,0.00,1.48,10.48,0.526,6,0.000,0.054,2791,2922,2010,0,0,0,0,0,0,28.83,26.31,25.70
$GC,2145,0.77,169.8,39.9,12.1,402,2153,0.00,1.45,1.77,0.219,4,0.000,0.040,2798,2032,1981,0,0,0,0,0,0,28.83,26.29,26.03
$GC,2263,0.79,210.0,27.2,10.2,425,2308,0.00,1.50,38.08,0.480,6,0.000,0.055,2798,2931,1812,0,0,0,0,0,0,28.83,26.32,25.53
$GC,2368,0.79,210.0,12.9,14.3,444,2375,0.00,1.52,0.00,0.000,4,0.000,0.063,2798,3812,1803,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2399,0.79,210.0,8.2,14.6,450,2407,0.00,1.45,0.00,0.000,6,0.000,0.039,2804,2921,1803,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,2440,end climb,SURFACE_DEPTH_REACHED
$STATE,2440,begin surface coast
$FINISH,0.9,1.018456
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2460,begin surface
$SM_CCo,2476,92.32,0.151,0,0,755,470.24
$SM_CCo,2571,-0.35,0.000,0,0,761,470.24
$SM_CCo,2573,0.00,0.000,0,0,762,470.24
$SM_GC,1.53,7.47,0.17,0.00,0.070,0.066,0.000,163,2805,762,-7.38,1.22,470.24,0,0,0,0,0,0,25.78,26.15,28.83
$IRIDIUM_FIX,4751.72,-12056.72,120612,191922
$TT8_MAMPS,0.098868,0.098868
$HUMID,50.00
$INTERNAL_PRESSURE,8.84052
$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,3.3/516052/498825
$MI_ROOT,70.6/190403/56026
$MI_HOME,2.5/436550/425587
$24V_AH,24.1,0.486
$10V_AH,10.5,0.455
$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,17.375,29.500,289.400,92.325,0.000,0.000,0.000,0.000,0.000,2552.600,22.191,0.000,1061.048,486.116,1036.900,41.775,32.210,894.726,0.000,665.181,0.000,0.000,0.000
$DEVICE_MAMPS,236.385,65.790,1096.245,150.705,0.000,0.000,0.000,0.000,0.000,16.288,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,310.160,0.000,0.000,0.000,0.000,0.000,2552.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.458,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,13447,462
$CAP_FILE_SIZE,76228,0
$CFSIZE,260034560,257339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120612,203652,4742.780,-12225.218,38,1.6,48,18.2