version: 66.10
glider: 106
mission: 20
dive: 5
start: 6 12 112 21 55 47
data:
$ID,106
$MISSION,20
$DIVE,5
$N_DIVES,0
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36371.141
$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,21
$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,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
$GPS1,120612,214428,4743.279,-12224.956,11,2.3,30,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-74.7
$GPS2,120612,215506,4743.334,-12224.964,15,0.9,31,18.2
$SPEED_LIMITS,0.139,0.209
$TGT_NAME,WEST
$TGT_LATLONG,4743.700,-12225.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.043,0.258
$KALMAN_X,-95.0,-89.6,-60.0,-0.7,18.7
$KALMAN_Y,-84.9,-108.4,-156.3,1602.3,-1.8
$MHEAD_RNG_PITCHd_Wd,332.2,679,-17.4,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.60,-146.6,0.0,0.0,0,83,0.00,0.00,-65.68,0.000,2,0.000,0.000,132,2699,2816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.60,-146.6,3.0,-8.9,10,106,8.45,2.45,-6.22,0.000,4,0.247,0.063,2232,1284,3139,0,0,0,0,0,0,25.96,26.19,26.39
$GC,130,-0.60,-146.6,11.4,-12.5,18,138,0.00,2.50,0.00,0.000,6,0.000,0.065,2223,2707,3139,0,0,0,0,0,0,28.83,26.20,28.83
$GC,197,-0.60,-146.6,19.8,-12.8,31,205,0.00,2.08,0.00,0.000,4,0.000,0.080,2214,3868,3140,0,0,0,0,0,0,28.83,26.25,28.83
$GC,239,-0.60,-146.6,25.6,-13.6,39,246,0.00,2.00,0.00,0.000,6,0.000,0.054,2220,2700,3139,0,0,0,0,0,0,28.83,26.34,28.83
$GC,306,-0.60,-146.6,33.7,-11.1,52,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2700,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,371,-0.60,-146.6,40.9,-10.9,65,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2700,3141,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,414,-0.16,0.0,45.4,-11.0,73,537,0.50,0.00,115.90,0.467,6,0.136,0.000,2372,2700,2531,0,0,0,0,0,0,26.28,28.83,25.13
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,539,0.60,146.6,50.5,0.0,92,668,0.73,2.55,117.38,0.436,4,0.092,0.054,2632,1289,1928,0,0,0,0,0,0,25.54,25.35,24.97
$GC,802,0.61,163.8,33.9,9.2,139,823,0.00,2.50,12.98,0.447,6,0.000,0.066,2632,2704,1863,0,0,0,0,0,0,28.83,25.92,25.43
$GC,882,0.61,163.8,26.0,10.4,154,890,0.00,2.12,0.00,0.000,4,0.000,0.080,2632,3866,1855,0,0,0,0,0,0,28.83,25.96,28.83
$GC,919,0.61,163.8,21.4,12.8,161,927,0.00,2.03,0.00,0.000,6,0.000,0.054,2641,2703,1855,0,0,0,0,0,0,28.83,26.08,28.83
$GC,986,0.61,163.8,13.6,11.8,174,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2703,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1052,0.62,182.4,6.8,9.1,187,1072,0.00,0.00,14.18,0.448,6,0.000,0.000,2641,2703,1787,0,0,0,0,0,0,28.83,28.83,25.67
$STATE,1095,end climb,SURFACE_DEPTH_REACHED
$STATE,1095,begin surface coast
$FINISH,0.6,1.020170
$STATE,1125,end surface coast,CONTROL_FINISHED_OK
$STATE,1125,begin surface
$SM_CCo,1140,89.45,0.145,0,0,799,427.31
$SM_CCo,1231,-0.30,0.000,0,0,800,426.82
$SM_CCo,1233,0.08,1.272,0,0,799,426.82
$SM_GC,0.77,6.93,0.00,0.08,0.065,0.000,1.272,134,2703,799,-7.11,0.08,426.82,0,0,0,0,0,0,26.17,28.83,25.83
$IRIDIUM_FIX,4751.72,-12340.51,120612,212121
$TT8_MAMPS,0.08988,0.08988
$HUMID,45.11
$INTERNAL_PRESSURE,9.04831
$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,3.3/516052/498820
$MI_ROOT,70.5/190403/56249
$MI_HOME,2.9/436550/423808
$24V_AH,25.0,0.606
$10V_AH,10.4,0.552
$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,16.600,18.225,260.425,89.525,0.000,52.137,115.400,145.916,0.000,1958.000,32.544,0.000,423.011,411.970,836.351,64.743,33.200,639.070,0.000,296.961,0.000,0.000,0.000
$DEVICE_MAMPS,247.095,80.325,466.650,1272.195,0.000,103.000,160.000,223.000,0.000,8.678,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,132.452,0.000,0.000,0.000,0.000,0.000,1958.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,41.101,0.000,0.000,0.000
$MEM,323540
$DATA_FILE_SIZE,6848,201
$CAP_FILE_SIZE,35581,0
$CFSIZE,260034560,257912832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,221700,4743.562,-12224.894,12,1.9,22,18.2