version: 66.10
glider: 106
mission: 20
dive: 4
start: 6 12 112 20 59 10
data:
$ID,106
$MISSION,20
$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,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,40
$T_MISSION,45
$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,-36369.883
$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,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,25
$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
$GPS1,120612,205424,4742.916,-12224.851,14,1.1,24,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-72.9
$GPS2,120612,205830,4742.920,-12224.844,15,1.3,25,18.2
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.022,0.279
$KALMAN_X,-63.4,-40.1,-52.3,54.5,-21.6
$KALMAN_Y,-196.2,-175.5,-161.6,1022.5,-49.3
$MHEAD_RNG_PITCHd_Wd,337.3,1458,-21.2,-12.500
$D_GRID,178
$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,-0.72,-146.6,0.0,0.0,0,95,0.00,0.00,-77.47,0.000,6,0.000,0.000,132,2710,3138,0,0,0,0,0,0,28.83,28.83,26.51
$GC,97,-0.72,-146.6,3.5,-10.1,12,111,8.25,2.45,0.00,0.000,4,0.246,0.047,2203,1274,3139,0,0,0,0,0,0,26.01,26.29,28.83
$GC,335,-0.72,-146.6,41.2,-11.6,59,343,0.00,2.45,0.00,0.000,6,0.000,0.064,2194,2690,3140,0,0,0,0,0,0,28.83,26.39,28.83
$GC,463,-0.72,-146.6,57.8,-12.4,84,470,0.00,2.38,0.00,0.000,4,0.000,0.051,2194,1281,3139,0,0,0,0,0,0,28.83,26.46,28.83
$GC,494,-0.72,-146.6,61.9,-12.6,90,501,0.00,2.50,0.00,0.000,6,0.000,0.066,2183,2722,3139,0,0,0,0,0,0,28.83,26.42,28.83
$GC,621,-0.72,-146.6,78.4,-12.8,115,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2721,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,746,-0.72,-146.6,94.1,-12.0,140,754,0.00,2.03,0.00,0.000,4,0.000,0.078,2174,3869,3139,0,0,0,0,0,0,28.83,26.49,28.83
$GC,808,-0.72,-146.6,102.1,-13.3,152,816,0.00,1.98,0.00,0.000,6,0.000,0.053,2174,2703,3139,0,0,0,0,0,0,28.83,26.56,28.83
$GC,935,-0.72,-146.6,118.6,-13.2,177,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2703,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-0.72,-146.6,134.9,-14.0,202,1068,0.00,2.08,0.00,0.000,4,0.000,0.079,2166,3872,3139,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1142,-0.72,-146.6,147.5,-15.9,218,1150,0.08,1.98,0.00,0.000,6,0.154,0.051,2189,2699,3138,0,0,0,0,0,0,26.43,26.58,28.83
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1166,-0.16,0.0,150.5,-14.0,222,1296,0.57,0.00,121.85,0.532,6,0.138,0.000,2374,2698,2533,0,0,0,0,0,0,26.44,28.83,25.12
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1298,0.72,146.6,155.6,0.0,242,1422,0.82,0.00,118.65,0.501,6,0.079,0.000,2665,2699,1940,0,0,0,0,0,0,25.55,28.83,24.91
$GC,1541,0.72,146.6,134.9,13.1,285,1548,0.00,2.17,0.00,0.000,4,0.000,0.080,2665,3877,1918,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1583,0.72,146.6,128.4,16.2,293,1590,0.00,2.05,0.00,0.000,6,0.000,0.053,2674,2698,1917,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1710,0.72,146.6,110.7,12.8,318,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2698,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1835,0.72,146.6,94.2,14.0,343,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2698,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,0.72,146.6,76.0,14.3,368,1968,0.00,2.40,0.00,0.000,4,0.000,0.055,2682,1281,1913,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2003,0.72,146.6,70.3,13.6,376,2010,0.00,2.47,0.00,0.000,6,0.000,0.067,2684,2704,1912,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2130,0.73,166.6,53.6,11.4,401,2158,0.00,2.47,13.00,0.492,4,0.000,0.056,2695,1284,1853,0,0,0,0,1,0,28.83,26.30,25.32
$GC,2227,0.73,174.1,41.7,12.1,419,2235,0.00,2.47,1.98,0.193,6,0.000,0.067,2695,2702,1826,0,0,0,0,0,0,28.83,26.33,26.18
$GC,2355,0.73,174.1,24.8,13.0,444,2363,0.00,2.40,1.42,0.208,4,0.000,0.054,2706,1282,1826,0,0,0,0,0,0,28.83,26.39,26.31
$GC,2392,0.73,174.1,20.0,12.5,451,2400,0.15,2.50,0.00,0.000,6,0.179,0.068,2669,2710,1834,0,0,0,0,0,0,26.28,26.39,28.83
$GC,2459,0.74,189.1,12.3,11.6,464,2486,0.00,2.05,15.30,0.451,4,0.000,0.080,2669,3875,1763,0,0,0,0,1,0,28.83,26.26,25.70
$GC,2516,0.74,194.1,5.5,12.2,474,2524,0.00,2.03,2.38,0.310,6,0.000,0.054,2676,2699,1743,0,0,0,0,0,0,28.83,26.34,25.63
$STATE,2537,end climb,SURFACE_DEPTH_REACHED
$STATE,2537,begin surface coast
$FINISH,0.2,1.020364
$STATE,2562,end surface coast,CONTROL_FINISHED_OK
$STATE,2562,begin surface
$SM_CCo,2578,87.10,0.145,0,0,797,426.82
$SM_CCo,2667,-0.43,0.000,0,0,801,426.58
$SM_CCo,2669,0.03,3.029,0,0,799,426.82
$SM_GC,0.21,7.00,0.00,0.03,0.067,0.000,3.029,133,2698,799,-7.12,-0.06,426.82,0,0,0,0,0,0,26.34,28.83,25.88
$IRIDIUM_FIX,4751.72,-12340.51,120612,202038
$TT8_MAMPS,0.093625,0.093625
$HUMID,46.92
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.60
$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,3.3/516052/498820
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.9/436550/423963
$24V_AH,24.9,0.549
$10V_AH,10.4,0.509
$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,16.875,40.850,274.575,87.125,0.000,0.000,0.000,0.000,0.000,2651.600,25.938,0.000,1116.912,478.614,1090.248,39.850,32.212,901.512,0.000,694.119,0.000,0.000,0.000
$DEVICE_MAMPS,245.565,79.560,531.675,3029.400,0.000,0.000,0.000,0.000,0.000,9.144,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,325.482,0.000,0.000,0.000,0.000,0.000,2651.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.256,0.000,0.000,0.000
$MEM,323616
$DATA_FILE_SIZE,20136,483
$CAP_FILE_SIZE,87323,0
$CFSIZE,260034560,257884160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120612,214428,4743.279,-12224.956,11,2.3,30,18.2