version: 66.10
glider: 106
mission: 16
dive: 4
start: 3 7 112 20 53 7
data:
$ID,106
$MISSION,16
$DIVE,4
$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,-29570.99
$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,25
$R_STBD_OVSHOOT,15
$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
$GPS1,070312,195427,4742.938,-12223.773,181,99.0,181,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-79.5
$GPS2,070312,205227,4742.706,-12223.930,53,2.8,72,18.2
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,0.243
$KALMAN_X,152.4,142.4,76.4,-28.2,59.5
$KALMAN_Y,-273.5,-236.5,-76.3,-288.3,-81.6
$MHEAD_RNG_PITCHd_Wd,305.7,2274,-19.6,-12.500
$D_GRID,149
$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,-171.0,0.0,0.0,0,80,0.00,0.00,-62.10,0.000,6,0.000,0.000,124,2839,3959,0,0,0,0,0,0,28.83,28.83,26.18
$GC,81,-0.86,-171.0,4.7,-16.8,10,96,8.23,2.45,0.00,0.000,4,0.249,0.048,2116,1436,3960,0,0,0,0,0,0,25.66,25.93,28.83
$GC,100,-0.86,-171.0,15.5,-42.8,13,108,0.00,2.55,0.00,0.000,6,0.000,0.066,2106,2850,3960,0,0,0,0,0,0,28.83,25.94,28.83
$GC,167,-0.86,-171.0,33.7,-23.4,26,174,0.00,1.85,0.00,0.000,4,0.000,0.071,2099,3879,3961,0,0,0,0,0,0,28.83,25.98,28.83
$GC,209,-0.86,-171.0,44.5,-26.5,34,216,0.00,1.77,0.00,0.000,6,0.000,0.051,2099,2863,3961,0,0,0,0,0,0,28.83,26.04,28.83
$GC,335,-0.86,-171.0,75.3,-23.8,59,343,0.00,2.47,0.00,0.000,4,0.000,0.054,2098,1440,3961,0,0,0,0,0,0,28.83,26.06,28.83
$GC,362,-0.86,-171.0,81.4,-22.4,64,370,0.00,2.53,0.00,0.000,6,0.000,0.068,2088,2845,3961,0,0,0,0,0,0,28.83,26.04,28.83
$GC,489,-0.86,-171.0,111.7,-23.5,89,497,0.12,1.83,0.00,0.000,4,0.210,0.073,2107,3872,3961,0,0,0,0,0,0,25.93,26.10,28.83
$GC,531,-0.86,-171.0,122.0,-25.9,97,539,0.00,1.77,0.00,0.000,6,0.000,0.050,2108,2842,3961,0,0,0,0,0,0,28.83,26.16,28.83
$GC,658,-0.86,-171.0,137.1,-0.0,122,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2842,3962,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,742,end dive,NO_VERTICAL_VELOCITY
$STATE,742,begin apogee
$GC,745,-0.17,0.0,137.0,0.0,139,817,0.70,0.00,66.47,1.252,6,0.126,0.000,2332,2599,3392,0,0,0,0,0,0,26.07,28.83,24.00
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,819,0.86,171.0,137.1,0.0,150,903,1.08,0.00,74.97,1.218,6,0.119,0.000,2666,2599,2694,0,0,0,0,0,0,24.94,28.83,23.86
$STATE,976,end climb,NO_VERTICAL_VELOCITY
$STATE,976,begin surface
$IRIDIUM_FIX,4751.72,-12340.51,070312,202026
$TT8_MAMPS,0.098868,0.098868
$HUMID,32.39
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,18.70
$24V_AH,23.9,3.866
$10V_AH,10.3,4.198
$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,10.125,17.650,141.450,0.000,0.000,61.152,71.722,628.813,0.000,2588.600,73.956,0.000,417.679,210.163,1507.518,61.147,32.203,397.175,0.000,264.718,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,72.675,1251.540,0.000,0.000,103.000,160.000,223.000,0.000,181.724,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,119.763,0.000,0.000,0.000,0.000,0.000,2588.540,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,187.055,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,3521,178
$CAP_FILE_SIZE,45605,0
$CFSIZE,260034560,250535936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,205227,4742.706,-12223.930,53,2.8,72,18.2