version: 66.10
glider: 106
mission: 20
dive: 2
start: 6 12 112 18 34 56
data:
$ID,106
$MISSION,20
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,5
$T_BOOST,2
$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,30
$T_MISSION,35
$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,1.023
$MASS,51498
$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,47.599998
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36193.715
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,142
$PITCH_MAX,3894
$C_PITCH,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2540
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-8.0304956
$PRESSURE_SLOPE,0.0001162509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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_NOTIFYMOTORS,0.0
$GPS1,120612,182501,4742.630,-12224.850,9,1.8,27,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-74.1
$GPS2,120612,183418,4742.587,-12224.849,17,1.3,27,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.261
$KALMAN_X,-18.5,-18.5,-18.5,-46.5,-45.7
$KALMAN_Y,-75.9,-75.9,-75.9,110.1,-187.4
$MHEAD_RNG_PITCHd_Wd,346.1,2070,-17.4,-10.000
$D_GRID,180
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.60,-146.6,0.0,0.0,0,95,0.00,0.00,-76.10,0.000,6,0.000,0.000,135,2208,3138,0,0,0,0,0,0,28.83,28.83,26.59
$GC,96,-0.60,-146.6,4.0,-12.0,12,109,8.30,0.00,0.00,0.000,6,0.242,0.000,2230,2208,3139,0,0,0,0,0,0,26.10,28.83,28.83
$GC,169,-0.60,-146.6,19.4,-11.0,26,176,0.00,2.45,0.00,0.000,4,0.000,0.075,2220,3604,3139,0,0,0,0,0,0,28.83,26.34,28.83
$GC,260,-0.60,-146.6,30.3,-12.0,44,268,0.00,2.40,0.00,0.000,6,0.000,0.047,2220,2187,3138,0,0,0,0,0,0,28.83,26.50,28.83
$GC,327,-0.60,-146.6,38.0,-11.3,57,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2187,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,393,-0.60,-146.6,44.9,-10.6,70,400,0.00,2.53,0.00,0.000,4,0.000,0.077,2209,3605,3139,0,0,0,0,0,0,28.83,26.41,28.83
$GC,484,-0.60,-146.6,55.8,-11.8,88,492,0.00,2.38,0.00,0.000,6,0.000,0.048,2209,2201,3139,0,0,0,0,0,0,28.83,26.56,28.83
$GC,611,-0.60,-146.6,69.6,-10.2,113,619,0.00,2.45,0.00,0.000,4,0.000,0.076,2198,3603,3139,0,0,0,0,0,0,28.83,26.48,28.83
$GC,703,-0.60,-146.6,80.2,-11.1,131,711,0.08,2.35,0.00,0.000,6,0.142,0.048,2240,2210,3139,0,0,0,0,0,0,26.44,26.59,28.83
$STATE,819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,823,-0.16,0.0,90.3,-8.3,154,945,0.40,0.00,113.18,0.503,6,0.118,0.000,2375,2210,2530,0,0,0,0,0,0,26.48,28.83,25.27
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,947,0.60,146.6,93.7,0.0,173,1070,0.70,2.50,115.00,0.467,4,0.081,0.056,2637,793,1930,0,0,0,0,0,0,25.74,25.54,25.13
$GC,1184,0.60,146.6,77.1,11.1,215,1192,0.00,2.45,0.00,0.000,6,0.000,0.062,2637,2194,1916,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1312,0.60,146.6,62.8,10.6,240,1319,0.00,2.55,0.00,0.000,4,0.000,0.076,2637,3617,1914,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1403,0.60,146.6,52.0,12.2,258,1411,0.08,2.42,0.00,0.000,6,0.172,0.048,2626,2200,1913,0,0,0,0,0,0,26.23,26.37,28.83
$GC,1531,0.62,193.3,40.0,7.9,283,1577,0.00,2.58,37.08,0.464,4,0.000,0.076,2626,3606,1736,0,0,0,0,0,0,28.83,26.03,25.69
$GC,1586,0.62,193.3,34.9,10.2,292,1594,0.00,2.42,0.00,0.000,6,0.000,0.051,2635,2207,1732,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1654,0.63,209.9,28.3,9.2,305,1681,0.00,2.58,13.00,0.468,4,0.000,0.076,2635,3612,1669,0,0,0,0,1,0,28.83,26.06,25.10
$GC,1815,0.63,209.9,10.1,11.3,336,1823,0.00,2.42,0.00,0.000,6,0.000,0.048,2646,2192,1666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1882,0.64,227.9,4.0,9.2,349,1896,0.00,2.42,5.10,0.159,4,0.000,0.059,2656,802,1606,0,0,0,0,0,0,28.83,26.33,26.21
$STATE,1899,end climb,SURFACE_DEPTH_REACHED
$STATE,1899,begin surface coast
$FINISH,1.0,1.019285
$STATE,1929,end surface coast,CONTROL_FINISHED_OK
$STATE,1929,begin surface
$SM_CCo,1947,74.53,0.138,0,0,797,426.82
$SM_CCo,2023,-0.30,0.000,0,0,800,426.82
$SM_CCo,2025,0.00,0.000,0,0,800,426.82
$SM_GC,0.45,6.80,2.47,0.00,0.056,0.060,0.000,131,2203,800,-7.13,-0.48,426.82,0,0,0,0,0,0,26.38,26.34,28.83
$IRIDIUM_FIX,4751.72,-12340.51,120612,181834
$TT8_MAMPS,0.101115,0.101115
$HUMID,45.86
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,19.70
$MI_MIVER,0.3
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,7
$MI_LOG,3.3/516052/498823
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.7/436550/424741
$24V_AH,25.1,0.334
$10V_AH,10.5,0.322
$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,16.350,39.375,283.350,74.525,0.000,0.000,0.000,0.000,0.000,2025.200,27.829,0.000,777.267,451.758,822.363,32.572,30.059,789.363,0.000,517.610,0.000,0.000,0.000
$DEVICE_MAMPS,241.740,77.265,502.605,137.700,0.000,0.000,0.000,0.000,0.000,14.819,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,239.220,0.000,0.000,0.000,0.000,0.000,2025.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.835,0.000,0.000,0.000
$MEM,323604
$DATA_FILE_SIZE,13504,358
$CAP_FILE_SIZE,59128,0
$CFSIZE,260034560,257998848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120612,190928,4742.708,-12224.937,8,2.2,27,18.2