version: 66.10
glider: 106
mission: 17
dive: 2
start: 4 4 112 17 31 9
data:
$ID,106
$MISSION,17
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,20
$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,1.0233001
$MASS,51152
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,6.7479e-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,636.06287
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30208.934
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,142
$PITCH_MAX,3894
$C_PITCH,2395
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,255
$ROLL_MAX,3876
$ROLL_DEG,40
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,3393
$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,-8.2185898
$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,2.3
$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,0.0043533649
$SEABIRD_T_H,0.00064411096
$SEABIRD_T_I,2.4408262e-05
$SEABIRD_T_J,2.4167559e-06
$SEABIRD_C_G,-9.9531422
$SEABIRD_C_H,1.1184396
$SEABIRD_C_I,1.3326941e-05
$SEABIRD_C_J,0.00010342655
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,040412,171425,4743.186,-12223.759,12,1.5,30,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-74.2
$GPS2,040412,173030,4743.189,-12223.668,37,1.1,47,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.251,0.073
$KALMAN_X,39.2,39.2,39.2,-118.7,70.4
$KALMAN_Y,5.9,5.9,5.9,108.1,10.5
$MHEAD_RNG_PITCHd_Wd,268.0,1911,-17.4,-10.000
$D_GRID,160
$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,13,begin dive
$GC,14,-0.76,-146.6,0.0,0.0,0,132,0.00,0.00,-112.65,0.000,6,0.000,0.000,135,2855,3959,0,0,0,0,0,0,28.83,28.83,26.50
$GC,134,-0.76,-146.6,4.4,-13.6,18,148,8.10,2.40,0.00,0.000,4,0.245,0.049,2149,1440,3958,0,0,0,0,0,0,25.86,26.20,28.83
$GC,177,-0.76,-146.6,22.2,-26.7,26,185,0.00,2.50,0.00,0.000,6,0.000,0.065,2140,2846,3960,0,0,0,0,0,0,28.83,26.15,28.83
$GC,244,-0.76,-146.6,36.3,-22.7,39,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2846,3960,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,283,begin apogee
$GC,285,-0.17,0.0,45.3,-22.1,47,408,0.65,0.00,115.03,0.502,6,0.161,0.000,2333,2603,3387,0,0,0,0,0,0,26.08,28.83,24.93
$STATE,408,end apogee,CONTROL_FINISHED_OK
$STATE,409,begin climb
$GC,410,0.76,146.6,53.0,0.0,66,539,0.90,2.38,122.57,0.477,4,0.098,0.068,2633,3887,2785,0,0,0,0,0,0,25.48,25.32,24.81
$GC,553,0.80,176.7,47.1,8.6,89,588,0.00,2.28,25.92,0.470,6,0.000,0.047,2643,2595,2660,0,0,0,0,0,0,28.83,25.52,24.89
$GC,706,0.80,176.7,29.7,11.5,118,714,0.00,2.47,0.00,0.000,4,0.000,0.057,2654,1193,2648,0,0,0,0,0,0,28.83,25.91,28.83
$GC,723,0.80,176.7,27.5,12.4,121,731,0.00,2.55,0.00,0.000,6,0.000,0.067,2654,2601,2647,0,0,0,0,0,0,28.83,25.93,28.83
$GC,790,0.80,176.7,18.6,14.0,134,798,0.00,2.30,0.00,0.000,4,0.000,0.070,2654,3876,2648,0,0,0,0,0,0,28.83,26.02,28.83
$GC,882,0.80,176.7,4.5,14.7,152,890,0.00,2.20,0.00,0.000,6,0.000,0.047,2664,2590,2647,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,892,end climb,SURFACE_DEPTH_REACHED
$STATE,892,begin surface coast
$FINISH,0.3,1.021059
$STATE,913,end surface coast,CONTROL_FINISHED_OK
$STATE,913,begin surface
$SM_CCo,926,165.82,0.145,0,0,796,636.06
$SM_GC,0.27,6.80,0.47,165.82,0.050,0.074,0.145,136,2852,796,-7.00,-0.68,636.06,0,0,0,0,0,0,26.19,26.11,25.73
$IRIDIUM_FIX,4751.72,-12056.72,040412,171722
$TT8_MAMPS,0.094374,0.094374
$HUMID,33.18
$INTERNAL_PRESSURE,9.01901
$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,30
$MI_LOG,3.4/516052/498680
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.1/436550/427180
$24V_AH,24.8,4.458
$10V_AH,10.4,4.552
$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,16.450,19.975,263.525,165.825,0.000,137.273,375.553,0.000,0.000,2137.200,48.173,0.000,477.727,502.761,959.591,37.222,30.061,705.561,0.000,236.576,0.000,0.000,0.000
$DEVICE_MAMPS,244.800,74.205,501.840,145.350,0.000,103.000,160.000,0.000,0.000,12.177,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,103.815,0.000,0.000,0.000,0.000,0.000,2137.110,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.880,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,3496,158
$CAP_FILE_SIZE,29479,0
$CFSIZE,260034560,250847232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040412,175000,4743.193,-12223.812,12,1.4,22,18.2