version: 66.10
glider: 106
mission: 16
dive: 2
start: 3 7 112 18 39 21
data:
$ID,106
$MISSION,16
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29279.639
$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,26
$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,-8.6425571
$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
$GPS1,070312,183348,4743.167,-12224.176,11,1.2,21,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-69.2
$GPS2,070312,183843,4743.176,-12224.184,20,1.2,31,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.175
$KALMAN_X,-19.9,-19.9,-19.9,92.9,-61.3
$KALMAN_Y,31.7,31.7,31.7,-118.9,97.8
$MHEAD_RNG_PITCHd_Wd,127.4,399,-22.1,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.85,-94.2,0.0,0.0,0,111,0.00,0.00,-92.12,0.000,6,0.000,0.000,135,2937,3777,0,0,0,0,0,0,28.83,28.83,26.35
$GC,113,-0.88,-119.3,2.6,-8.2,15,127,8.02,1.62,-1.92,0.000,4,0.246,0.081,2105,3889,3882,0,0,0,0,0,0,25.82,26.11,26.32
$GC,136,-0.88,-119.3,12.8,-36.0,19,144,0.00,1.62,0.00,0.000,6,0.000,0.050,2106,2940,3883,0,0,0,0,0,0,28.83,26.15,28.83
$GC,203,-0.88,-119.3,31.5,-27.0,32,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2941,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,264,-0.88,-119.3,46.1,-23.9,44,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2940,3884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,389,-0.88,-119.3,76.6,-22.6,69,397,0.00,2.45,0.00,0.000,4,0.000,0.054,2106,1526,3884,0,0,0,0,0,0,28.83,26.18,28.83
$GC,471,-0.88,-119.3,93.4,-19.7,85,479,0.00,2.53,0.00,0.000,6,0.000,0.068,2096,2942,3884,0,0,0,0,0,0,28.83,25.58,28.83
$GC,598,-0.88,-119.3,121.2,-21.4,110,606,0.00,2.45,0.00,0.000,4,0.000,0.051,2096,1526,3884,0,0,0,0,0,0,28.83,26.22,28.83
$GC,635,-0.88,-119.3,128.7,-18.7,117,643,0.10,2.53,0.00,0.000,6,0.180,0.068,2113,2940,3884,0,0,0,0,0,0,26.01,26.19,28.83
$STATE,746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,746,begin apogee
$GC,749,-0.17,0.0,150.5,-19.7,139,853,0.77,0.00,94.68,1.282,6,0.163,0.000,2344,2754,3393,0,0,0,0,0,0,26.04,28.83,23.89
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,854,0.88,119.3,155.6,0.0,155,959,1.02,2.15,96.18,1.251,4,0.086,0.068,2685,3890,2905,0,0,0,0,0,0,25.00,24.82,23.84
$GC,1023,0.88,119.3,143.8,16.0,184,1031,0.00,1.98,0.00,0.000,6,0.000,0.047,2694,2762,2904,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1150,0.88,119.3,126.4,14.1,209,1157,0.00,2.47,0.00,0.000,4,0.000,0.057,2705,1347,2901,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1186,0.88,119.3,121.1,13.9,216,1194,0.00,2.55,0.00,0.000,6,0.000,0.069,2705,2754,2900,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1314,0.88,119.3,104.2,13.0,241,1321,0.00,2.45,0.00,0.000,4,0.000,0.056,2716,1353,2900,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1545,0.88,119.3,73.9,12.0,287,1553,0.00,2.50,0.00,0.000,6,0.000,0.065,2716,2756,2899,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1672,0.88,119.3,58.2,12.0,312,1680,0.00,2.42,0.00,0.000,4,0.000,0.055,2727,1340,2899,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1844,0.90,131.8,40.3,9.1,346,1853,0.10,2.55,4.12,0.629,6,0.201,0.066,2700,2755,2853,0,0,0,0,0,0,26.01,26.18,25.33
$GC,1972,0.90,131.8,25.9,12.4,371,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2754,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2032,0.91,142.9,20.1,9.2,383,2040,0.00,0.00,4.10,0.584,6,0.000,0.000,2700,2754,2807,0,0,0,0,0,0,28.83,28.83,25.39
$GC,2099,0.93,158.0,13.7,8.9,396,2114,0.00,2.45,5.50,0.620,4,0.000,0.054,2710,1359,2742,0,0,0,0,0,0,28.83,26.09,25.39
$GC,2173,0.93,158.0,6.2,11.5,410,2181,0.00,2.55,0.00,0.000,6,0.000,0.067,2702,2761,2741,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,2199,end climb,SURFACE_DEPTH_REACHED
$STATE,2199,begin surface coast
$FINISH,-0.6,1.021774
$STATE,2219,end surface coast,CONTROL_FINISHED_OK
$STATE,2219,begin surface
$SM_CCo,2235,123.55,0.146,0,0,1349,500.17
$SM_GC,-0.04,7.00,0.35,123.55,0.054,0.083,0.146,131,2952,1349,-7.04,-0.31,500.17,0,0,0,0,0,0,25.51,26.15,25.75
$IRIDIUM_FIX,4751.72,-12340.51,070312,181811
$TT8_MAMPS,0.094374,0.094374
$HUMID,34.24
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,18.80
$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,3.4/516052/498716
$MI_ROOT,70.5/190403/56254
$MI_HOME,2.3/436550/426512
$24V_AH,23.8,3.285
$10V_AH,10.3,3.780
$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,17.025,37.950,204.575,123.550,0.000,0.000,0.000,0.000,0.000,2364.610,31.858,0.000,960.734,452.468,974.891,32.924,30.057,819.224,0.000,604.297,0.000,0.000,0.000
$DEVICE_MAMPS,246.330,83.385,1282.140,146.115,0.000,0.000,0.000,0.000,0.000,205.034,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,284.997,0.000,0.000,0.000,0.000,0.000,2364.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.381,0.000,0.000,0.000
$MEM,323328
$DATA_FILE_SIZE,13478,419
$CAP_FILE_SIZE,75325,0
$CFSIZE,260034560,250793984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,191928,4742.984,-12223.944,11,5.4,30,18.2