version: 66.10
glider: 106
mission: 16
dive: 5
start: 3 7 112 21 14 15
data:
$ID,106
$MISSION,16
$DIVE,5
$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,21
$R_STBD_OVSHOOT,13
$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
$GPS1,070312,205227,4742.706,-12223.930,53,2.8,72,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,112.25
$_SM_ANGLEo,30.5
$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,-0.152,0.260
$KALMAN_X,363.9,248.7,56.3,-326.5,132.3
$KALMAN_Y,-639.6,-352.4,-12.4,119.5,-279.2
$MHEAD_RNG_PITCHd_Wd,311.6,2274,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.86,-171.0,0.0,0.0,0,23,0.00,0.47,-7.15,0.000,6,0.000,0.146,2666,2856,3966,0,0,0,0,0,0,28.83,25.41,25.50
$GC,24,-0.86,-171.0,103.6,0.0,1,31,2.00,2.47,0.00,0.000,4,0.210,0.054,2136,1421,3967,0,0,0,0,0,0,25.79,25.95,28.83
$GC,76,-0.86,-171.0,107.0,-12.6,11,83,0.00,2.55,0.00,0.000,6,0.000,0.070,2127,2846,3970,0,0,0,0,0,0,28.83,26.00,28.83
$GC,202,-0.86,-171.0,130.1,-21.3,36,210,0.00,1.83,0.00,0.000,4,0.000,0.071,2119,3872,3979,0,0,0,0,0,0,28.83,26.06,28.83
$GC,259,-0.86,-171.0,140.9,-18.4,47,267,0.00,1.80,0.00,0.000,6,0.000,0.052,2119,2848,3981,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,305,begin apogee
$GC,308,-0.17,0.0,149.5,-19.2,56,431,0.73,0.00,114.12,1.261,6,0.158,0.000,2335,2594,3392,0,0,0,0,0,0,25.97,28.83,23.87
$STATE,432,end apogee,CONTROL_FINISHED_OK
$STATE,432,begin climb
$GC,433,0.86,171.0,155.3,0.0,75,576,1.00,0.00,137.02,1.227,6,0.090,0.000,2665,2593,2695,0,0,0,0,0,0,24.87,28.83,23.77
$GC,695,0.86,171.0,130.1,17.1,121,703,0.00,2.35,0.00,0.000,4,0.000,0.068,2666,3879,2693,0,0,0,0,0,0,28.83,25.51,28.83
$GC,712,0.86,171.0,126.9,17.8,124,720,0.00,2.25,0.00,0.000,6,0.000,0.047,2678,2598,2693,0,0,0,0,0,0,28.83,25.58,28.83
$GC,839,0.86,171.0,103.9,17.4,149,846,0.00,2.33,0.00,0.000,4,0.000,0.067,2675,3882,2692,0,0,0,0,0,0,28.83,25.78,28.83
$GC,865,0.86,171.0,98.8,20.0,154,873,0.00,2.25,0.00,0.000,6,0.000,0.050,2680,2599,2692,0,0,0,0,0,0,28.83,25.82,28.83
$GC,992,0.86,171.0,76.9,17.7,179,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2598,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,0.86,171.0,56.4,16.6,203,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2598,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,0.86,171.0,37.2,14.2,228,1246,0.00,2.28,0.00,0.000,4,0.000,0.067,2680,3874,2691,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1249,0.86,171.0,35.5,14.7,230,1257,0.00,2.22,0.00,0.000,6,0.000,0.047,2690,2603,2690,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1316,0.86,171.0,25.4,14.3,243,1324,0.00,2.28,0.00,0.000,4,0.000,0.070,2690,3872,2691,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,1437,end climb,SURFACE_DEPTH_REACHED
$STATE,1437,begin surface coast
$FINISH,0.3,1.022474
$STATE,1452,end surface coast,CONTROL_FINISHED_OK
$STATE,1453,begin surface
$SM_CCo,1470,45.30,0.150,0,0,2168,300.00
$SM_GC,0.01,7.43,1.80,45.30,0.087,0.048,0.150,130,2849,2168,-7.01,0.68,300.00,0,0,0,0,0,0,26.13,25.53,25.86
$IRIDIUM_FIX,4751.72,-12340.51,070312,202026
$TT8_MAMPS,0.090629,0.090629
$HUMID,34.44
$INTERNAL_PRESSURE,9.1069
$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,3.4/516052/498713
$MI_ROOT,70.5/190403/56254
$MI_HOME,2.6/436550/425219
$24V_AH,23.8,4.052
$10V_AH,10.4,4.306
$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,11.150,27.325,251.150,45.300,0.000,0.000,0.000,0.000,0.000,1743.300,0.000,0.000,582.155,316.925,766.165,29.792,33.171,574.110,0.000,393.618,0.000,0.000,0.000
$DEVICE_MAMPS,209.610,146.115,1261.485,149.940,0.000,0.000,0.000,0.000,0.000,199.694,0.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,182.664,0.000,0.000,0.000,0.000,0.000,1743.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,189.803,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,6824,270
$CAP_FILE_SIZE,39061,0
$CFSIZE,260034560,250372096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070312,214040,4742.821,-12224.376,33,5.1,52,18.2