version: 66.10
glider: 106
mission: 16
dive: 3
start: 3 7 112 19 55 6
data:
$ID,106
$MISSION,16
$DIVE,3
$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,40
$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,175
$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,300
$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,-29386.082
$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,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,29
$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,-8.6425571
$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
$GPS1,070312,194922,4742.942,-12223.817,10,1.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-77.4
$GPS2,070312,195427,4742.938,-12223.773,17,3.1,36,18.2
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.235,0.188
$KALMAN_X,43.8,55.3,42.2,395.7,42.5
$KALMAN_Y,29.6,27.4,29.8,-545.8,18.3
$MHEAD_RNG_PITCHd_Wd,290.4,2079,-19.6,-12.500
$D_GRID,155
$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,-0.86,-171.0,0.0,0.0,0,113,0.00,0.00,-93.62,0.000,6,0.000,0.000,130,2843,3958,0,0,0,0,0,0,28.83,28.83,26.33
$GC,114,-0.86,-171.0,4.9,-17.6,15,128,8.02,2.40,0.00,0.000,4,0.244,0.051,2117,1445,3959,0,0,0,0,0,0,25.80,26.06,28.83
$GC,222,-0.86,-171.0,37.4,-19.7,36,230,0.00,2.50,0.00,0.000,6,0.000,0.067,2107,2839,3962,0,0,0,0,0,0,28.83,25.97,28.83
$GC,289,-0.86,-171.0,52.8,-24.4,49,297,0.00,2.40,0.00,0.000,4,0.000,0.051,2107,1449,3961,0,0,0,0,0,0,28.83,26.12,28.83
$GC,326,-0.86,-171.0,60.9,-21.2,56,334,0.00,2.53,0.00,0.000,6,0.000,0.068,2097,2855,3961,0,0,0,0,0,0,28.83,26.08,28.83
$GC,453,-0.86,-171.0,91.0,-23.3,81,460,0.00,1.80,0.00,0.000,4,0.000,0.070,2089,3870,3961,0,0,0,0,0,0,28.83,26.15,28.83
$GC,499,-0.86,-171.0,103.0,-26.3,90,508,0.00,1.75,0.00,0.000,6,0.000,0.051,2089,2860,3961,0,0,0,0,0,0,28.83,26.21,28.83
$GC,627,-0.86,-171.0,134.0,-23.8,115,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2860,3962,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,696,begin apogee
$GC,699,-0.17,0.0,150.2,-22.2,129,816,0.82,0.00,109.50,1.275,6,0.164,0.000,2333,2586,3393,0,0,0,0,0,0,26.01,28.83,23.84
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,818,0.86,171.0,155.0,0.0,147,967,1.00,2.62,137.48,1.242,4,0.091,0.057,2675,1196,2694,0,0,0,0,0,0,24.89,24.72,23.79
$GC,1187,0.86,171.0,109.4,15.1,214,1195,0.00,2.55,0.00,0.000,6,0.000,0.067,2675,2600,2688,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1314,0.86,171.0,89.2,15.8,239,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2600,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1439,0.86,171.0,68.6,15.4,264,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2600,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,0.86,171.0,49.6,15.9,288,1567,0.00,2.30,0.00,0.000,4,0.000,0.068,2675,3881,2688,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1570,0.86,171.0,47.7,17.4,290,1579,0.00,2.20,0.00,0.000,6,0.000,0.049,2680,2606,2688,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1698,0.86,171.0,27.4,14.9,315,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2606,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,0.88,182.0,18.6,12.0,328,1772,0.00,2.30,3.75,0.543,4,0.000,0.068,2680,3884,2646,0,0,0,0,0,0,28.83,25.51,25.39
$STATE,1860,end climb,SURFACE_DEPTH_REACHED
$STATE,1860,begin surface coast
$FINISH,1.5,1.021743
$STATE,1866,end surface coast,CONTROL_FINISHED_OK
$STATE,1866,begin surface
$SM_CCo,1884,41.45,0.153,0,0,2169,300.00
$SM_GC,1.62,7.50,1.80,41.45,0.096,0.047,0.153,125,2839,2169,-7.01,0.51,300.00,0,0,0,0,0,0,26.14,26.06,25.88
$IRIDIUM_FIX,4751.72,-12340.51,070312,191941
$TT8_MAMPS,0.095123,0.095123
$HUMID,34.48
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,18.90
$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,3.4/516052/498714
$MI_ROOT,70.5/190403/56254
$MI_HOME,2.4/436550/425932
$24V_AH,23.8,3.642
$10V_AH,10.3,4.035
$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,17.350,27.625,250.725,41.450,0.000,0.000,0.000,0.000,0.000,2018.500,37.812,0.000,761.725,382.321,822.953,25.577,31.292,705.533,0.000,504.069,0.000,0.000,0.000
$DEVICE_MAMPS,244.035,69.615,1275.255,153.000,0.000,0.000,0.000,0.000,0.000,199.917,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,235.542,0.000,0.000,0.000,0.000,0.000,2018.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,186.139,0.000,0.000,0.000
$MEM,323324
$DATA_FILE_SIZE,10128,348
$CAP_FILE_SIZE,75477,0
$CFSIZE,260034560,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,195427,4742.938,-12223.773,181,99.0,181,18.2