version: 66.10
glider: 107
mission: 28
dive: 5
start: 6 12 112 20 51 42
data:
$ID,107
$MISSION,28
$DIVE,5
$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,-136200.59
$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,2500
$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,2730
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,21
$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
$GPS1,120612,204636,4742.800,-12225.212,15,1.9,25,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.2
$GPS2,120612,205101,4742.807,-12225.205,17,1.2,34,18.2
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,0.271
$KALMAN_X,-288.9,-217.9,-123.7,236.9,-52.2
$KALMAN_Y,-408.4,-405.9,-323.9,1473.1,-1.4
$MHEAD_RNG_PITCHd_Wd,356.0,1674,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-83.82,0.000,2,0.000,0.000,164,2713,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.76,-146.6,3.5,-8.3,13,124,8.25,1.42,-6.47,0.000,4,0.239,0.061,2252,1835,3276,0,0,0,0,0,0,25.94,26.20,26.36
$GC,348,-0.76,-146.6,51.7,-17.3,61,356,0.00,1.50,0.00,0.000,6,0.000,0.051,2247,2734,3276,0,0,0,0,0,0,28.83,26.32,28.83
$GC,475,-0.76,-146.6,74.4,-17.1,86,482,0.00,1.40,0.00,0.000,4,0.000,0.038,2247,1850,3277,0,0,0,0,0,0,28.83,26.39,28.83
$GC,597,-0.76,-146.6,94.1,-16.2,110,604,0.00,1.45,0.00,0.000,6,0.000,0.053,2242,2728,3277,0,0,0,0,0,0,28.83,26.39,28.83
$GC,723,-0.76,-146.6,115.7,-16.9,135,731,0.00,1.50,0.00,0.000,4,0.000,0.060,2235,3615,3277,0,0,0,0,0,0,28.83,26.41,28.83
$GC,795,-0.76,-146.6,128.8,-18.5,149,803,0.00,1.42,0.00,0.000,6,0.000,0.039,2235,2730,3277,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,911,begin apogee
$GC,914,-0.16,0.0,150.5,-18.8,172,1051,0.68,0.00,126.80,0.539,6,0.152,0.000,2439,2908,2676,0,0,0,0,1,0,26.31,28.83,24.50
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1053,0.76,146.6,157.3,0.0,193,1183,0.90,1.58,116.97,1.073,4,0.097,0.062,2742,3788,2078,0,0,0,0,1,0,25.37,24.81,24.01
$GC,1207,0.77,165.0,149.7,11.4,218,1235,0.00,1.50,20.42,0.554,6,0.000,0.038,2748,2899,1999,0,0,0,0,0,0,28.83,25.27,24.79
$GC,1354,0.79,205.6,134.0,10.2,246,1394,0.00,0.00,32.72,0.532,6,0.000,0.000,2748,2899,1830,0,0,0,0,0,0,28.83,28.83,25.11
$GC,1514,0.79,205.6,112.5,15.2,276,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2899,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,0.79,205.6,93.8,15.0,301,1647,0.00,1.42,0.00,0.000,4,0.000,0.039,2755,2016,1824,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1692,0.79,205.6,86.2,14.1,311,1699,0.00,1.48,0.00,0.000,6,0.000,0.054,2755,2894,1823,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1819,0.79,205.6,66.7,14.1,336,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2894,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,0.80,227.6,50.5,11.2,361,1966,0.00,1.45,15.95,0.512,4,0.000,0.039,2761,2013,1741,0,0,0,0,0,0,28.83,26.13,25.70
$GC,2025,0.80,235.8,41.1,12.0,376,2033,0.00,1.50,2.35,0.363,6,0.000,0.055,2761,2902,1712,0,0,0,0,0,0,28.83,26.17,25.44
$GC,2153,0.80,243.8,25.9,12.0,401,2166,0.00,0.00,7.32,0.504,6,0.000,0.000,2762,2902,1676,0,0,0,0,0,0,28.83,28.83,25.73
$GC,2226,0.80,247.2,16.9,12.3,415,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2902,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2292,0.80,247.2,7.9,13.0,428,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2902,1672,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,-0.1,1.018038
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2361,begin surface
$SM_CCo,2377,81.80,0.148,0,0,757,470.24
$SM_CCo,2461,-0.43,0.000,0,0,761,470.24
$SM_CCo,2463,0.45,0.331,0,0,759,470.24
$SM_GC,0.83,7.10,0.28,0.45,0.054,0.054,0.331,165,2726,759,-7.30,1.02,470.24,0,0,0,0,0,0,25.81,26.34,25.96
$IRIDIUM_FIX,4751.72,-12340.51,120612,202040
$TT8_MAMPS,0.098868,0.098868
$HUMID,50.15
$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,3.3/516052/498824
$MI_ROOT,70.6/190403/56026
$MI_HOME,2.6/436550/425236
$24V_AH,24.0,0.588
$10V_AH,10.5,0.528
$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,16.925,18.200,322.550,82.250,0.000,0.000,0.000,0.000,0.000,2468.700,35.465,0.000,1000.058,486.983,1003.870,38.743,33.204,886.224,0.000,636.726,0.000,0.000,0.000
$DEVICE_MAMPS,238.680,68.850,1073.295,331.245,0.000,0.000,0.000,0.000,0.000,9.580,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,295.894,0.000,0.000,0.000,0.000,0.000,2468.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.555,0.000,0.000,0.000
$MEM,323704
$DATA_FILE_SIZE,13477,442
$CAP_FILE_SIZE,67138,0
$CFSIZE,260034560,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120612,213336,4743.120,-12225.174,22,1.2,32,18.2