version: 66.10
glider: 107
mission: 25
dive: 3
start: 4 5 112 20 26 34
data:
$ID,107
$MISSION,25
$DIVE,3
$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,-133729.33
$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,35
$R_STBD_OVSHOOT,17
$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
$GPS1,050412,202100,4742.666,-12223.903,13,1.2,23,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-77.1
$GPS2,050412,202555,4742.615,-12223.888,13,1.7,30,18.2
$SPEED_LIMITS,0.139,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.065,0.252
$KALMAN_X,43.1,38.4,37.5,-243.9,26.4
$KALMAN_Y,-450.5,-307.8,-293.1,287.2,-189.4
$MHEAD_RNG_PITCHd_Wd,327.2,2441,-18.2,-10.000
$D_GRID,135
$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,-0.79,-146.1,0.0,0.0,0,134,0.00,0.00,-112.45,0.000,6,0.000,0.000,147,3005,3517,0,0,0,0,0,0,28.83,28.83,26.32
$GC,136,-0.79,-146.1,2.5,-5.3,18,150,9.27,1.45,0.00,0.000,4,0.267,0.038,2305,2105,3518,0,0,0,0,0,0,25.78,26.19,28.83
$GC,275,-0.79,-146.1,27.5,-12.8,45,282,0.00,1.52,0.00,0.000,6,0.000,0.063,2300,2992,3521,0,0,0,0,0,0,28.83,26.16,28.83
$GC,342,-0.79,-146.1,37.2,-15.2,58,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2992,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,408,-0.79,-146.1,46.9,-14.3,71,415,0.00,1.40,0.00,0.000,4,0.000,0.070,2294,3814,3521,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,503,-0.17,0.0,60.2,-14.4,89,593,0.70,0.00,76.43,0.712,6,0.168,0.000,2501,2957,2917,0,0,0,0,1,0,26.06,28.83,24.47
$STATE,594,end apogee,CONTROL_FINISHED_OK
$STATE,594,begin climb
$GC,595,0.79,146.1,62.8,0.0,103,725,0.90,1.58,123.28,0.487,4,0.091,0.070,2805,3812,2319,0,0,0,0,0,0,25.32,25.15,24.68
$GC,779,0.79,146.1,29.5,23.9,134,787,0.00,1.42,0.00,0.000,6,0.000,0.041,2811,2961,2310,0,0,0,0,0,0,28.83,25.58,28.83
$GC,846,0.79,146.1,15.1,22.3,147,853,0.00,1.50,0.00,0.000,4,0.000,0.070,2811,3809,2308,0,0,0,0,0,0,28.83,25.71,28.83
$GC,868,0.79,146.1,10.2,22.2,151,875,0.00,1.40,0.00,0.000,6,0.000,0.042,2815,2966,2308,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,903,end climb,SURFACE_DEPTH_REACHED
$STATE,903,begin surface coast
$FINISH,-0.2,1.021058
$STATE,918,end surface coast,CONTROL_FINISHED_OK
$STATE,918,begin surface
$SM_CCo,934,125.47,0.145,0,0,879,500.17
$SM_GC,0.57,7.32,0.08,125.47,0.049,0.124,0.145,149,3004,879,-7.49,-0.62,500.17,0,0,0,0,0,0,25.88,25.84,25.56
$IRIDIUM_FIX,4751.72,-12340.51,050412,202031
$TT8_MAMPS,0.098119,0.098119
$HUMID,35.94
$INTERNAL_PRESSURE,8.88935
$TCM_TEMP,19.00
$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,2.2/436550/426859
$24V_AH,24.5,3.340
$10V_AH,10.4,4.838
$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,18.200,11.750,199.700,125.475,0.000,0.000,0.000,0.000,0.000,1067.200,31.430,0.000,274.211,415.433,407.996,24.189,31.296,606.401,0.000,239.546,0.000,0.000,0.000
$DEVICE_MAMPS,266.985,123.930,712.215,145.350,0.000,0.000,0.000,0.000,0.000,14.104,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,105.546,0.000,0.000,0.000,0.000,0.000,1067.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.698,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,3499,161
$CAP_FILE_SIZE,43592,0
$CFSIZE,260034560,245092352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050412,204454,4742.622,-12224.047,12,1.1,22,18.2