version: 66.10
glider: 106
mission: 17
dive: 4
start: 4 4 112 19 18 16
data:
$ID,106
$MISSION,17
$DIVE,4
$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,-30303.307
$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,25
$R_STBD_OVSHOOT,14
$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
$GPS1,040412,191019,4743.019,-12223.853,11,1.7,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-79.7
$GPS2,040412,191736,4742.948,-12223.827,16,1.7,26,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,0.193
$KALMAN_X,194.2,103.4,97.6,-589.4,59.1
$KALMAN_Y,-295.4,-170.0,-137.9,290.6,-93.2
$MHEAD_RNG_PITCHd_Wd,299.4,2019,-17.4,-10.000
$D_GRID,159
$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,15,-0.76,-146.6,0.0,0.0,0,89,0.00,0.00,-71.43,0.000,2,0.000,0.000,127,2850,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.76,-146.6,3.8,-12.1,11,104,8.12,2.45,-0.40,0.000,4,0.243,0.063,2155,1441,3960,0,0,0,0,0,0,25.75,26.06,26.29
$GC,204,-0.76,-146.6,35.0,-16.5,33,211,0.00,2.50,0.00,0.000,6,0.000,0.064,2146,2855,3960,0,0,0,0,0,0,28.83,26.09,28.83
$GC,270,-0.76,-146.6,48.7,-21.9,46,278,0.00,2.42,0.00,0.000,4,0.000,0.050,2146,1449,3960,0,0,0,0,0,0,28.83,26.15,28.83
$GC,332,-0.76,-146.6,60.6,-18.2,58,340,0.00,2.50,0.00,0.000,6,0.000,0.067,2136,2847,3960,0,0,0,0,0,0,28.83,26.15,28.83
$GC,459,-0.76,-146.6,84.2,-19.3,83,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2851,3960,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,491,-0.17,0.0,90.1,-19.7,89,562,0.65,0.00,62.20,0.917,6,0.157,0.000,2331,2589,3391,0,0,0,0,1,0,26.09,28.83,24.37
$STATE,563,end apogee,CONTROL_FINISHED_OK
$STATE,563,begin climb
$GC,564,0.76,146.6,94.3,0.0,100,701,0.93,2.53,128.48,0.506,4,0.096,0.055,2648,1203,2787,0,0,0,0,0,0,25.31,25.22,24.72
$GC,730,0.76,146.6,84.6,11.7,127,738,0.00,2.58,0.00,0.000,6,0.000,0.064,2648,2606,2783,0,0,0,0,0,0,28.83,25.46,28.83
$GC,857,0.76,146.6,68.9,12.8,152,864,0.00,2.53,0.00,0.000,4,0.000,0.055,2660,1191,2780,0,0,0,0,0,0,28.83,25.18,28.83
$GC,868,0.76,146.6,67.3,12.6,154,876,0.00,2.55,0.00,0.000,6,0.000,0.067,2660,2598,2780,0,0,0,0,0,0,28.83,25.86,28.83
$GC,995,0.76,146.6,49.9,12.3,179,1003,0.00,2.28,0.00,0.000,4,0.000,0.068,2660,3871,2781,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1052,0.76,146.6,42.7,12.5,190,1060,0.00,2.17,0.00,0.000,6,0.000,0.047,2669,2605,2780,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1179,0.76,146.6,29.1,10.4,215,1186,0.00,2.25,0.00,0.000,4,0.000,0.068,2669,3869,2779,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1220,0.76,146.6,24.0,12.8,223,1228,0.12,2.17,0.00,0.000,6,0.198,0.048,2645,2596,2780,0,0,0,0,0,0,25.95,26.22,28.83
$GC,1287,0.78,163.2,17.6,9.2,236,1302,0.00,0.00,12.23,0.521,6,0.000,0.000,2645,2596,2722,0,0,0,0,0,0,28.83,28.83,25.56
$GC,1361,0.78,163.2,9.9,11.6,250,1369,0.00,2.45,0.00,0.000,4,0.000,0.056,2653,1190,2712,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,1427,end climb,SURFACE_DEPTH_REACHED
$STATE,1427,begin surface coast
$FINISH,0.1,1.021846
$STATE,1452,end surface coast,CONTROL_FINISHED_OK
$STATE,1452,begin surface
$SM_CCo,1469,64.85,0.150,0,0,1961,350.04
$SM_GC,0.06,6.78,3.00,64.85,0.050,0.064,0.150,131,2849,1961,-7.01,-0.68,350.04,0,0,0,0,0,0,26.20,26.15,25.88
$IRIDIUM_FIX,4751.72,-12340.51,040412,181800
$TT8_MAMPS,0.094374,0.094374
$HUMID,34.44
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,18.70
$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,2.3/436550/426717
$24V_AH,24.4,4.645
$10V_AH,10.4,4.692
$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,16.600,34.825,202.900,64.850,0.000,29.629,37.593,168.399,0.000,2058.300,27.384,0.000,576.919,358.760,900.593,41.126,32.211,621.298,0.000,392.102,0.000,0.000,0.000
$DEVICE_MAMPS,243.270,68.085,917.235,149.940,0.000,103.000,160.000,223.000,0.000,12.261,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,180.932,0.000,0.000,0.000,0.000,0.000,2058.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,42.283,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,6846,268
$CAP_FILE_SIZE,40486,0
$CFSIZE,260034560,250822656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040412,194430,4742.943,-12224.086,13,1.7,23,18.2