version: 66.10
glider: 106
mission: 17
dive: 3
start: 4 4 112 18 42 21
data:
$ID,106
$MISSION,17
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,35
$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,350
$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,-30302.049
$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,28
$R_STBD_OVSHOOT,16
$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
$GPS1,040412,183706,4743.068,-12223.623,11,1.7,21,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-73.5
$GPS2,040412,184142,4743.034,-12223.596,12,1.8,22,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.213,0.152
$KALMAN_X,170.3,96.9,95.4,-274.5,83.7
$KALMAN_Y,-145.8,-63.4,-61.9,118.2,-62.1
$MHEAD_RNG_PITCHd_Wd,287.3,2140,-17.4,-10.000
$D_GRID,154
$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,15,-0.76,-146.6,0.0,0.0,0,139,0.00,0.00,-118.47,0.000,6,0.000,0.000,136,2852,3958,0,0,0,0,0,0,28.83,28.83,26.46
$GC,140,-0.76,-146.6,4.2,-13.9,19,154,8.07,0.00,0.00,0.000,6,0.243,0.000,2140,2852,3959,0,0,0,0,0,0,25.82,28.83,28.83
$GC,214,-0.76,-146.6,29.3,-22.8,33,221,0.00,2.42,0.00,0.000,4,0.000,0.053,2140,1450,3958,0,0,0,0,0,0,28.83,26.17,28.83
$GC,316,-0.76,-146.6,49.8,-19.9,53,323,0.00,2.47,0.00,0.000,6,0.000,0.066,2131,2840,3963,0,0,0,0,0,0,28.83,26.18,28.83
$GC,442,-0.76,-146.6,75.5,-20.5,78,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2840,3960,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,514,-0.17,0.0,90.7,-20.8,92,592,0.68,0.00,69.43,0.855,6,0.158,0.000,2337,2596,3392,0,0,0,0,1,0,26.09,28.83,24.39
$STATE,593,end apogee,CONTROL_FINISHED_OK
$STATE,593,begin climb
$GC,594,0.76,146.6,95.2,0.0,104,729,0.90,0.00,130.40,0.502,6,0.095,0.000,2635,2596,2790,0,0,0,0,0,0,25.29,28.83,24.74
$GC,848,0.76,146.6,77.6,10.3,149,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2596,2777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,0.76,146.6,65.9,10.5,173,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2596,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1088,0.76,146.6,52.1,11.8,197,1096,0.00,2.28,0.00,0.000,4,0.000,0.069,2635,3870,2775,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1135,0.76,146.6,46.3,12.3,206,1143,0.00,2.17,0.00,0.000,6,0.000,0.047,2644,2600,2773,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1262,0.76,146.6,32.3,11.2,231,1270,0.00,2.28,0.00,0.000,4,0.000,0.070,2645,3903,2775,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1324,0.76,146.6,24.5,12.6,243,1331,0.00,2.22,0.00,0.000,6,0.000,0.047,2655,2599,2774,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1391,0.76,146.6,16.9,11.5,256,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2599,2774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1456,0.76,146.6,9.8,10.8,269,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2599,2774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1516,0.76,146.6,3.4,12.2,281,1524,0.00,2.45,0.00,0.000,4,0.000,0.059,2666,1192,2773,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,1526,end climb,SURFACE_DEPTH_REACHED
$STATE,1526,begin surface coast
$FINISH,-0.3,1.021354
$STATE,1547,end surface coast,CONTROL_FINISHED_OK
$STATE,1547,begin surface
$SM_CCo,1564,70.20,0.151,0,0,1961,350.04
$SM_GC,0.51,6.85,2.97,70.20,0.055,0.067,0.151,127,2850,1961,-7.02,-0.54,350.04,0,0,0,0,0,0,26.33,26.24,25.94
$IRIDIUM_FIX,4751.72,-12340.51,040412,181823
$TT8_MAMPS,0.095123,0.095123
$HUMID,34.40
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,18.80
$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,3.4/516052/498679
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.2/436550/426924
$24V_AH,24.4,4.585
$10V_AH,10.4,4.648
$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,16.500,19.700,199.825,70.200,0.000,0.000,0.000,0.000,0.000,1684.500,22.710,0.000,624.485,376.279,664.459,21.189,31.299,651.672,0.000,417.753,0.000,0.000,0.000
$DEVICE_MAMPS,242.505,69.615,854.505,151.470,0.000,0.000,0.000,0.000,0.000,13.045,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,193.802,0.000,0.000,0.000,0.000,0.000,1684.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.226,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,6842,287
$CAP_FILE_SIZE,65378,0
$CFSIZE,260034560,250830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040412,191019,4743.019,-12223.853,11,1.7,28,18.2