version: 66.10
glider: 107
mission: 24
dive: 4
start: 3 7 112 21 2 35
data:
$ID,107
$MISSION,24
$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,0
$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,50
$T_MISSION,70
$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,45
$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,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$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,-132931.16
$T_RSLEEP,5
$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,33
$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,-10.988563
$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_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,070312,205024,4742.955,-12224.374,12,1.1,22,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-77.5
$GPS2,070312,210154,4742.808,-12224.303,14,1.4,24,18.2
$SPEED_LIMITS,0.080,0.208
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.235
$KALMAN_X,314.8,170.4,115.4,-699.0,153.9
$KALMAN_Y,-749.1,-410.2,-229.6,640.1,-351.3
$MHEAD_RNG_PITCHd_Wd,316.5,1867,-18.2,-10.000
$D_GRID,171
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.79,-146.1,0.0,0.0,0,132,0.00,0.00,-111.68,0.000,6,0.000,0.000,144,2983,3517,0,0,0,0,0,0,28.83,28.83,26.13
$GC,134,-0.79,-146.1,2.7,-6.6,18,148,9.30,1.42,0.00,0.000,4,0.264,0.041,2307,2115,3519,0,0,0,0,0,0,25.66,25.91,28.83
$GC,218,-0.79,-146.1,19.3,-13.9,34,225,0.00,1.52,0.00,0.000,6,0.000,0.062,2302,2999,3521,0,0,0,0,0,0,28.83,25.91,28.83
$GC,284,-0.79,-146.1,28.3,-12.7,47,291,0.00,1.42,0.00,0.000,4,0.000,0.068,2296,3813,3520,0,0,0,0,0,0,28.83,25.28,28.83
$GC,451,-0.79,-146.1,54.0,-15.3,80,458,0.00,1.33,0.00,0.000,6,0.000,0.042,2296,3003,3521,0,0,0,0,0,0,28.83,26.08,28.83
$GC,578,-0.79,-146.1,72.6,-14.7,105,585,0.00,1.40,0.00,0.000,4,0.000,0.068,2292,3815,3521,0,0,0,0,0,0,28.83,26.03,28.83
$GC,609,-0.79,-146.1,77.7,-16.9,111,617,0.00,1.33,0.00,0.000,6,0.000,0.041,2295,3002,3521,0,0,0,0,0,0,28.83,26.11,28.83
$GC,736,-0.79,-146.1,97.2,-15.1,136,743,0.00,1.42,0.00,0.000,4,0.000,0.041,2295,2119,3521,0,0,0,0,0,0,28.83,26.08,28.83
$GC,768,-0.79,-146.1,101.7,-13.7,142,775,0.00,1.52,0.00,0.000,6,0.000,0.062,2291,3003,3522,0,0,0,0,0,0,28.83,26.06,28.83
$GC,895,-0.79,-146.1,119.7,-13.7,167,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,3003,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-0.79,-146.1,136.1,-12.4,192,1028,0.00,1.40,0.00,0.000,4,0.000,0.069,2284,3814,3521,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1097,-0.79,-146.1,146.2,-12.6,207,1105,0.00,1.33,0.00,0.000,6,0.000,0.042,2284,3000,3521,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,1128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1128,begin apogee
$GC,1131,-0.17,0.0,150.1,-12.1,213,1254,0.73,0.00,116.32,1.245,6,0.162,0.000,2497,3000,2921,0,0,0,0,0,0,25.94,28.83,23.78
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1255,begin climb
$GC,1256,0.79,146.1,149.5,0.0,232,1360,0.95,1.52,96.25,1.205,4,0.089,0.068,2809,3812,2323,0,0,0,0,0,0,24.77,24.63,23.80
$GC,1389,0.79,146.1,124.7,27.3,254,1397,0.00,1.45,0.00,0.000,6,0.000,0.041,2813,2965,2320,0,0,0,0,0,0,28.83,25.14,28.83
$GC,1517,0.79,146.1,91.9,23.1,279,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2965,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,0.79,146.1,62.9,22.3,304,1650,0.00,1.48,0.00,0.000,4,0.000,0.047,2820,2079,2315,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1699,0.79,146.1,50.8,20.5,315,1707,0.00,1.52,0.00,0.000,6,0.000,0.063,2820,2954,2314,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1826,0.79,146.1,22.8,22.2,340,1834,0.00,1.48,0.00,0.000,4,0.000,0.070,2820,3803,2314,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1868,0.79,146.1,12.8,25.8,348,1875,0.00,1.40,0.00,0.000,6,0.000,0.044,2825,2958,2314,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,1908,end climb,SURFACE_DEPTH_REACHED
$STATE,1908,begin surface coast
$FINISH,-0.2,1.002635
$STATE,1919,end surface coast,CONTROL_FINISHED_OK
$STATE,1919,begin surface
$SM_CCo,1935,55.92,0.139,0,0,1694,300.00
$SM_GC,0.91,7.35,0.10,55.92,0.050,0.118,0.139,149,3008,1694,-7.48,-0.48,300.00,0,0,0,0,0,0,25.22,25.94,25.72
$IRIDIUM_FIX,4751.72,-12340.51,070312,202021
$TT8_MAMPS,0.098119,0.098119
$HUMID,37.79
$INTERNAL_PRESSURE,8.93818
$TCM_TEMP,18.80
$MI_MIVER,0.2
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,27
$MI_LOG,3.4/516052/498711
$MI_ROOT,70.6/190403/56032
$MI_HOME,2.4/436550/426268
$24V_AH,23.8,2.693
$10V_AH,10.4,4.253
$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,18.325,23.050,212.575,55.925,0.000,28.050,36.665,309.481,0.000,2836.700,25.726,0.000,787.646,399.580,1255.317,126.723,32.212,733.437,0.000,519.531,0.000,0.000,0.000
$DEVICE_MAMPS,263.925,117.810,1245.420,139.230,0.000,103.000,160.000,223.000,0.000,199.660,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,241.238,0.000,0.000,0.000,0.000,0.000,2836.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.181,0.000,0.000,0.000
$MEM,323344
$DATA_FILE_SIZE,10165,358
$CAP_FILE_SIZE,54692,0
$CFSIZE,260034560,245051392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,213646,4742.865,-12224.603,31,1.1,41,18.2