version: 66.10
glider: 106
mission: 16
dive: 1
start: 3 7 112 17 57 11
data:
$ID,106
$MISSION,16
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,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,500
$N_FILEKB,6
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29219.84
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,142
$PITCH_MAX,3894
$C_PITCH,2405
$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,2940
$C_ROLL_CLIMB,2760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,21
$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,-8.6425571
$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_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,070312,174642,4743.138,-12224.184,8,1.4,18,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-74.0
$GPS2,070312,175611,4743.188,-12224.209,20,1.5,31,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.209
$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,125.0,434,-17.4,-10.000
$D_GRID,174
$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,13,-0.76,-146.6,0.0,0.0,0,138,0.00,0.00,-117.15,0.000,6,0.000,0.000,127,2946,3955,0,0,0,0,0,0,28.83,28.83,26.46
$GC,140,-0.76,-146.6,4.3,-14.5,19,154,8.25,1.62,0.00,0.000,4,0.246,0.060,2152,3875,3956,0,0,0,0,0,0,25.83,26.19,28.83
$GC,163,-0.76,-146.6,17.2,-45.2,23,171,0.00,1.60,0.00,0.000,6,0.000,0.050,2151,2942,3957,0,0,0,0,0,0,28.83,26.22,28.83
$GC,230,-0.76,-146.6,34.1,-20.9,36,238,0.00,1.67,0.00,0.000,4,0.000,0.074,2144,3870,3957,0,0,0,0,0,0,28.83,26.18,28.83
$GC,257,-0.76,-146.6,39.8,-22.5,41,264,0.00,1.60,0.00,0.000,6,0.000,0.053,2144,2937,3957,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,283,begin apogee
$GC,285,-0.17,0.0,45.4,-20.4,46,344,0.65,0.00,50.35,0.851,6,0.155,0.000,2339,2753,3390,0,0,0,0,0,0,26.01,28.83,24.63
$STATE,344,end apogee,CONTROL_FINISHED_OK
$STATE,344,begin climb
$GC,345,0.76,146.6,49.5,0.0,55,410,0.90,2.55,55.28,0.823,4,0.097,0.057,2653,1352,2790,0,0,0,0,0,0,25.48,25.16,24.40
$GC,460,0.76,146.6,39.9,11.8,75,468,0.00,2.55,0.00,0.000,6,0.000,0.070,2653,2753,2787,0,0,0,0,0,0,28.83,25.59,28.83
$GC,526,0.76,146.6,31.3,12.9,88,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2753,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,586,0.76,146.6,24.4,10.7,100,594,0.00,2.03,0.00,0.000,4,0.000,0.070,2653,3876,2784,0,0,0,0,0,0,28.83,25.91,28.83
$GC,613,0.76,146.6,21.0,12.5,105,621,0.00,1.92,0.00,0.000,6,0.000,0.048,2662,2758,2785,0,0,0,0,0,0,28.83,25.98,28.83
$GC,680,0.76,146.6,13.0,12.7,118,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2758,2784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,0.76,146.6,5.3,11.7,130,748,0.00,2.00,0.00,0.000,4,0.000,0.070,2662,3872,2785,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,761,end climb,SURFACE_DEPTH_REACHED
$STATE,761,begin surface coast
$FINISH,2.2,1.022348
$STATE,766,end surface coast,CONTROL_FINISHED_OK
$STATE,766,begin surface
$SM_CCo,784,128.15,0.148,0,0,1352,500.17
$SM_GC,0.10,7.70,1.62,128.15,0.113,0.047,0.148,136,2937,1352,-7.03,0.82,500.17,0,0,0,0,0,0,26.08,25.41,25.70
$IRIDIUM_FIX,4751.72,-12340.51,070312,171756
$TT8_MAMPS,0.09737,0.09737
$HUMID,33.69
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.70
$MI_MIVER,0.2
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,25
$MI_LOG,3.4/516052/498717
$MI_ROOT,70.5/190403/56254
$MI_HOME,2.1/436550/427166
$24V_AH,24.4,2.961
$10V_AH,10.2,3.540
$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,17.500,19.500,105.625,128.150,0.000,0.000,0.000,0.000,0.000,934.700,31.725,0.000,225.195,363.866,376.441,31.225,29.116,527.542,0.000,202.718,0.000,0.000,0.000
$DEVICE_MAMPS,245.565,74.205,851.445,148.410,0.000,0.000,0.000,0.000,0.000,191.263,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,89.795,0.000,0.000,0.000,0.000,0.000,934.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.955,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,3510,135
$CAP_FILE_SIZE,64072,0
$CFSIZE,260034560,250896384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,181300,4743.129,-12224.142,10,1.7,20,18.2