version: 66.08
glider: 106
mission: 6
dive: 4
start: 8 12 110 21 48 29
data:
$ID,106
$MISSION,6
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,0
$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,40
$T_MISSION,50
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51799
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10324.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3483
$C_PITCH,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,4003
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2980
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.9062195
$PRESSURE_SLOPE,0.0001162509
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043539782
$SEABIRD_T_H,0.00064512313
$SEABIRD_T_I,2.5114456e-05
$SEABIRD_T_J,2.5805668e-06
$SEABIRD_C_G,-9.960248
$SEABIRD_C_H,1.1215916
$SEABIRD_C_I,-0.00087542483
$SEABIRD_C_J,0.00015764491
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,120810,214302,4808.077,-12223.616,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.4
$GPS2,120810,214819,4808.090,-12223.655,10,1.9,15,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,139.8,2175,-18.2,-10.000
$D_GRID,105
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.48,-146.6,0.0,0.0,0,84,0.00,0.00,-59.50,0.000,2,0.000,0.000,163,2200,3033,0,0,0,0,0,0
$GC,86,-1.48,-146.6,3.1,-3.6,9,115,9.52,2.50,-10.85,0.000,4,0.179,0.057,1773,796,3580,0,0,0,0,0,0
$GC,179,-1.48,-146.6,17.9,-9.7,25,187,0.00,2.42,0.00,0.000,6,0.000,0.031,1773,2206,3580,0,0,0,0,0,0
$GC,254,-1.48,-146.6,24.8,-9.0,34,259,0.00,2.42,0.00,0.000,4,0.000,0.043,1773,3604,3581,0,0,0,0,0,0
$GC,291,-1.48,-146.6,28.6,-10.2,37,297,0.00,2.42,0.00,0.000,6,0.000,0.031,1773,2189,3580,0,0,0,0,0,0
$GC,482,-1.48,-146.6,48.9,-10.7,55,486,0.00,2.45,0.00,0.000,4,0.000,0.049,1773,804,3581,0,0,0,0,0,0
$GC,518,-1.48,-146.6,53.2,-11.5,58,526,0.00,2.42,0.00,0.000,6,0.000,0.033,1773,2200,3581,0,0,0,0,0,0
$GC,836,-1.48,-146.6,89.6,-11.8,89,837,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,2201,3582,0,0,0,0,0,0
$STATE,978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,978,begin apogee
$GC,981,-0.36,0.0,106.1,11.3,103,1100,1.23,0.00,111.32,0.738,6,0.106,0.000,2017,2201,2979,0,0,0,0,0,0
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1103,1.48,146.6,109.2,0.0,113,1230,1.88,2.58,113.82,0.708,4,0.067,0.056,2421,804,2381,0,0,0,0,0,0
$GC,1287,1.48,146.6,91.1,13.9,129,1297,0.00,2.47,0.00,0.000,6,0.000,0.037,2421,2193,2379,0,0,0,0,0,0
$GC,1607,1.48,146.6,48.8,12.8,160,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2193,2377,0,0,0,0,0,0
$GC,1801,1.48,146.6,24.4,11.7,179,1806,0.00,2.53,0.00,0.000,4,0.000,0.058,2420,806,2377,0,0,0,0,0,0
$GC,1827,1.48,146.6,21.2,11.7,181,1835,0.00,2.47,0.00,0.000,6,0.000,0.036,2421,2204,2375,0,0,0,0,0,0
$GC,2024,1.77,377.1,6.6,-0.5,217,2148,0.25,0.00,117.47,0.688,2,0.057,0.000,2482,2203,1746,0,0,0,0,0,0
$STATE,2150,end climb,SURFACE_DEPTH_REACHED
$STATE,2150,begin surface coast
$FINISH,0.9,1.017376
$STATE,2194,end surface coast,CONTROL_FINISHED_OK
$STATE,2194,begin surface
$SM_CCo,2224,54.55,0.650,0,0,1348,400.08
$SM_GC,1.74,0.00,0.00,54.55,0.000,0.000,0.650,167,2205,1348,-8.89,0.14,400.08
$IRIDIUM_FIX,4751.72,-12056.72,120810,212125
$TT8_MAMPS,0.138565
$HUMID,58.78
$INTERNAL_PRESSURE,7.55888
$TCM_TEMP,19.90
$MI_MIVER,0.1
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun Aug 1 13:00:15 PDT 2010
$MI_BOOTCOUNT,39
$MI_LOG,1.9/475647/466530
$MI_ROOT,63.7/190403/69046
$MI_HOME,2.0/475655/466102
$24V_AH,23.7,2.030
$10V_AH,9.8,9.645
$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,23.500,24.700,342.625,54.550,0.000,0.000,0.000,0.000,0.000,0.000,15.941,0.000,1037.577,385.928,867.253,38.767,0.000,740.250,0.000,411.931,0.000,0.000,0.000
$DEVICE_MAMPS,179.010,58.140,738.225,650.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,161.518,0.000,0.000,0.000,0.000,0.000,752.340,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1439.900,0.000,0.000,0.000
$MEM,322972
$DATA_FILE_SIZE,6818,243
$CAP_FILE_SIZE,70381,0
$CFSIZE,260034560,254877696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120810,222730,4807.902,-12223.571,42,1.0,42,18.3