version: 66.10
glider: 107
mission: 28
dive: 6
start: 6 12 112 21 44 22
data:
$ID,107
$MISSION,28
$DIVE,6
$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,25
$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,-136201.84
$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,35
$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
$GPS1,120612,213336,4743.120,-12225.174,22,1.2,32,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.1
$GPS2,120612,214341,4743.149,-12225.146,11,2.0,21,18.2
$SPEED_LIMITS,0.166,0.221
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,0.265
$KALMAN_X,-351.6,-238.3,-100.5,367.1,-26.8
$KALMAN_Y,-373.8,-399.6,-269.2,2009.0,45.7
$MHEAD_RNG_PITCHd_Wd,357.9,1036,-21.2,-12.000
$D_GRID,178
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.74,-146.6,0.0,0.0,0,109,0.00,0.00,-90.55,0.000,2,0.000,0.000,164,2727,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.74,-146.6,3.7,-9.3,14,125,8.27,1.52,-3.17,0.000,4,0.239,0.077,2247,3616,3276,0,0,0,0,0,0,25.96,26.19,26.36
$GC,350,-0.74,-146.6,57.5,-18.4,61,357,0.00,1.45,0.00,0.000,6,0.000,0.039,2248,2722,3277,0,0,0,0,0,0,28.83,26.37,28.83
$GC,476,-0.74,-146.6,80.7,-18.2,86,484,0.00,1.50,0.00,0.000,4,0.000,0.060,2244,3609,3277,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,527,begin apogee
$GC,531,-0.16,0.0,90.6,-18.9,96,666,0.65,0.00,126.57,0.498,6,0.151,0.000,2441,2889,2670,0,0,0,0,0,0,26.22,28.83,24.98
$STATE,667,end apogee,CONTROL_FINISHED_OK
$STATE,667,begin climb
$GC,668,0.74,146.6,97.1,0.0,117,798,0.88,1.50,124.15,0.475,4,0.096,0.037,2743,2009,2071,0,0,0,0,0,0,25.39,25.22,24.79
$GC,928,0.76,200.1,81.3,9.1,163,981,0.00,1.52,45.17,0.473,6,0.000,0.054,2745,2899,1851,0,0,0,0,0,0,28.83,25.80,25.08
$GC,1100,0.76,200.1,61.9,13.2,195,1107,0.00,1.45,0.00,0.000,4,0.000,0.039,2749,2015,1839,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1152,0.76,200.1,54.8,14.0,205,1159,0.00,1.50,0.00,0.000,6,0.000,0.055,2749,2898,1839,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1278,0.76,200.1,36.8,13.6,230,1286,0.00,1.42,0.00,0.000,4,0.000,0.040,2756,2017,1838,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1305,0.76,202.5,33.5,11.9,235,1312,0.00,1.48,0.00,0.000,6,0.000,0.055,2756,2895,1838,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1372,0.78,246.7,26.3,9.6,248,1418,0.00,0.00,39.55,0.458,6,0.000,0.000,2756,2894,1658,0,0,0,0,0,0,28.83,28.83,25.42
$GC,1477,0.78,246.7,15.3,12.3,267,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2894,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,0.78,246.7,6.3,13.3,280,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2894,1646,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1567,end climb,SURFACE_DEPTH_REACHED
$STATE,1567,begin surface coast
$FINISH,1.4,1.018650
$STATE,1588,end surface coast,CONTROL_FINISHED_OK
$STATE,1588,begin surface
$SM_CCo,1603,79.78,0.142,0,0,757,470.24
$SM_CCo,1685,-0.40,0.000,0,0,761,470.24
$SM_CCo,1687,0.65,0.266,0,0,759,470.24
$SM_GC,1.09,7.25,0.28,0.65,0.062,0.055,0.266,163,2719,759,-7.30,0.85,470.24,0,0,0,0,0,0,25.59,26.13,25.82
$IRIDIUM_FIX,4751.72,-12056.72,120612,212111
$TT8_MAMPS,0.098119,0.098119
$HUMID,50.19
$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,3.3/516052/498823
$MI_ROOT,70.6/190403/56026
$MI_HOME,2.6/436550/425018
$24V_AH,24.8,0.658
$10V_AH,10.4,0.578
$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,17.050,14.800,335.450,80.425,0.000,59.005,115.913,135.853,0.000,2384.200,22.669,0.000,639.049,465.846,1000.635,74.518,33.191,764.515,0.000,421.778,0.000,0.000,0.000
$DEVICE_MAMPS,239.445,77.265,498.015,266.220,0.000,103.000,160.000,223.000,0.000,9.015,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,190.587,0.000,0.000,0.000,0.000,0.000,2384.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.484,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,10150,289
$CAP_FILE_SIZE,40343,0
$CFSIZE,260034560,257306624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,221330,4743.315,-12224.843,32,1.5,42,18.2