version: 66.10
glider: 106
mission: 20
dive: 1
start: 6 12 112 17 55 45
data:
$ID,106
$MISSION,20
$DIVE,1
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,20
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36162.434
$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,2445
$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,2065
$C_ROLL_CLIMB,2065
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,120612,174812,4742.704,-12224.781,10,1.1,20,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.5
$GPS2,120612,175500,4742.655,-12224.766,14,1.2,24,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,0.258
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,333.2,1958,-17.4,-10.000
$D_GRID,181
$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,-146.6,0.0,0.0,0,100,0.00,0.00,-78.40,0.000,6,0.000,0.000,133,2071,3138,0,0,0,0,0,0,28.83,28.83,26.69
$GC,102,-0.60,-146.6,4.3,-11.3,13,116,8.38,2.40,0.00,0.000,4,0.242,0.047,2252,651,3137,0,0,0,0,0,0,26.14,26.46,28.83
$GC,141,-0.60,-146.6,15.0,-15.2,20,148,0.00,2.45,0.00,0.000,6,0.000,0.061,2243,2058,3138,0,0,0,0,0,0,28.83,26.44,28.83
$GC,208,-0.60,-146.6,21.0,-9.5,33,215,0.00,2.47,0.00,0.000,4,0.000,0.076,2232,3477,3138,0,0,0,0,0,0,28.83,26.43,28.83
$GC,344,-0.60,-146.6,35.6,-10.1,60,352,0.00,2.38,0.00,0.000,6,0.000,0.047,2232,2068,3138,0,0,0,0,0,0,28.83,26.58,28.83
$GC,411,-0.60,-146.6,41.7,-8.7,73,419,0.00,2.45,0.00,0.000,4,0.000,0.074,2221,3476,3138,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,452,-0.16,0.0,45.5,-10.3,80,568,0.52,0.00,110.55,0.468,6,0.125,0.000,2392,2052,2533,0,0,0,0,0,0,26.46,28.83,25.39
$STATE,569,end apogee,CONTROL_FINISHED_OK
$STATE,569,begin climb
$GC,570,0.60,146.6,48.7,0.0,98,693,0.68,2.50,111.62,0.438,4,0.077,0.057,2648,652,1930,0,0,0,0,0,0,25.82,25.66,25.24
$GC,732,0.60,146.6,38.5,11.0,125,740,0.00,2.53,0.00,0.000,6,0.000,0.060,2649,2071,1923,0,0,0,0,0,0,28.83,25.91,28.83
$GC,799,0.60,146.6,30.6,11.8,138,807,0.00,2.50,0.00,0.000,4,0.000,0.075,2649,3478,1921,0,0,0,0,0,0,28.83,26.09,28.83
$GC,916,0.60,146.6,16.8,12.0,161,924,0.00,2.42,0.00,0.000,6,0.000,0.048,2660,2028,1919,0,0,0,0,0,0,28.83,26.34,28.83
$GC,983,0.61,156.6,9.9,9.5,174,991,0.00,2.58,2.25,0.279,4,0.000,0.073,2660,3481,1896,0,0,0,0,0,0,28.83,26.34,25.68
$STATE,1050,end climb,SURFACE_DEPTH_REACHED
$STATE,1050,begin surface coast
$FINISH,0.2,1.016913
$STATE,1075,end surface coast,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$SM_CCo,1093,98.88,0.135,0,0,798,426.82
$SM_CCo,1194,-0.22,0.000,0,0,801,426.82
$SM_CCo,1196,0.20,0.567,0,0,797,426.82
$SM_GC,0.75,6.70,2.42,0.20,0.047,0.047,0.567,128,2069,797,-7.17,0.85,426.82,0,0,0,0,0,0,26.47,26.46,26.16
$IRIDIUM_FIX,4751.72,-12340.51,120612,171707
$TT8_MAMPS,0.093625,0.093625
$HUMID,42.47
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,20.20
$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,3.3/516052/498824
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.6/436550/425017
$24V_AH,25.2,0.250
$10V_AH,10.6,0.255
$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,16.275,29.525,224.425,99.075,0.000,0.000,0.000,0.000,0.000,1170.100,25.103,0.000,359.634,398.426,470.589,31.284,29.116,608.727,0.000,283.078,0.000,0.000,0.000
$DEVICE_MAMPS,241.740,76.500,468.180,566.865,0.000,0.000,0.000,0.000,0.000,8.680,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,126.111,0.000,0.000,0.000,0.000,0.000,1170.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.578,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,6847,192
$CAP_FILE_SIZE,74977,0
$CFSIZE,260034560,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,181618,4742.676,-12224.840,9,1.2,19,18.2