version: 66.10
glider: 107
mission: 25
dive: 4
start: 4 5 112 20 52 35
data:
$ID,107
$MISSION,25
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,25
$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,1.027
$MASS,52089
$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,47.716
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-133730.67
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3914
$C_PITCH,2560
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,3000
$C_ROLL_CLIMB,2960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3925
$C_VBD,2921
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-10.862628
$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
$GPS1,050412,204454,4742.622,-12224.047,12,1.1,22,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-77.4
$GPS2,050412,205154,4742.569,-12224.060,13,1.8,23,18.2
$SPEED_LIMITS,0.139,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.045,0.256
$KALMAN_X,-21.9,7.9,12.5,-335.0,7.6
$KALMAN_Y,-623.0,-387.9,-349.4,506.0,-182.6
$MHEAD_RNG_PITCHd_Wd,331.8,2400,-18.2,-10.000
$D_GRID,139
$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,14,begin dive
$GC,15,-0.79,-146.1,0.0,0.0,0,133,0.00,0.00,-111.62,0.000,6,0.000,0.000,148,3005,3518,0,0,0,0,0,0,28.83,28.83,26.29
$GC,135,-0.79,-146.1,2.6,-5.6,18,149,9.25,1.45,0.00,0.000,4,0.265,0.039,2303,2111,3519,0,0,0,0,0,0,25.70,26.07,28.83
$GC,339,-0.79,-146.1,40.2,-16.0,58,346,0.00,1.52,0.00,0.000,6,0.000,0.063,2298,3001,3522,0,0,0,0,0,0,28.83,26.13,28.83
$GC,465,-0.79,-146.1,58.8,-13.3,83,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,3001,3522,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,478,-0.17,0.0,60.3,-13.7,85,568,0.68,0.00,76.57,0.712,6,0.165,0.000,2496,2958,2918,0,0,0,0,1,0,26.02,28.83,24.44
$STATE,569,end apogee,CONTROL_FINISHED_OK
$STATE,569,begin climb
$GC,571,0.79,146.1,64.2,0.0,99,706,0.93,1.50,124.15,0.487,4,0.096,0.046,2811,2089,2315,0,0,0,0,0,0,25.28,25.15,24.68
$GC,815,0.79,146.1,25.0,17.0,142,823,0.00,1.52,0.00,0.000,6,0.000,0.062,2810,2959,2309,0,0,0,0,0,0,28.83,25.67,28.83
$GC,882,0.79,146.1,11.9,18.6,155,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2959,2308,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,931,end climb,SURFACE_DEPTH_REACHED
$STATE,931,begin surface coast
$FINISH,-0.2,1.021748
$STATE,947,end surface coast,CONTROL_FINISHED_OK
$STATE,947,begin surface
$SM_CCo,962,124.55,0.147,0,0,877,500.17
$SM_GC,0.51,7.30,0.10,124.55,0.048,0.119,0.147,143,3014,877,-7.50,-0.34,500.17,0,0,0,0,0,0,25.92,25.89,25.58
$IRIDIUM_FIX,4751.72,-12340.51,050412,202058
$TT8_MAMPS,0.099617,0.099617
$HUMID,36.49
$INTERNAL_PRESSURE,8.88935
$TCM_TEMP,18.90
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,32
$MI_LOG,3.4/516052/498656
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.3/436550/426726
$24V_AH,24.4,3.397
$10V_AH,10.4,4.873
$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,18.150,6.150,200.725,124.550,0.000,30.125,36.688,156.520,0.000,1588.000,23.987,0.000,301.344,407.584,655.897,70.849,32.212,602.276,0.000,250.627,0.000,0.000,0.000
$DEVICE_MAMPS,265.455,141.525,712.215,146.880,0.000,103.000,160.000,223.000,0.000,14.255,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,110.549,0.000,0.000,0.000,0.000,0.000,1588.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.625,0.000,0.000,0.000
$MEM,323620
$DATA_FILE_SIZE,3513,168
$CAP_FILE_SIZE,27703,0
$CFSIZE,260034560,245080064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050412,211124,4742.571,-12224.208,13,1.6,23,18.2