version: 66.10
glider: 162
mission: 3
dive: 15
start: 4 16 114 14 42 56
data:
$ID,162
$MISSION,3
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51697
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4480.7402
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3882
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3834
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1889
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-26.64114
$PRESSURE_SLOPE,0.00011560637
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.93000001
$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,0.0043479973
$SEABIRD_T_H,0.00062607677
$SEABIRD_T_I,2.4008095e-05
$SEABIRD_T_J,2.608939e-06
$SEABIRD_C_G,-9.9659681
$SEABIRD_C_H,1.1191311
$SEABIRD_C_I,-0.0011732002
$SEABIRD_C_J,0.00017434865
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,160414,142648,4743.816,-12224.580,2,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-60.8
$GPS2,160414,144214,4743.996,-12224.384,4,0.8,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.087,-0.251
$KALMAN_X,728.1,29.6,-465.6,-160.2,293.7
$KALMAN_Y,1428.0,431.7,-938.4,1470.7,237.9
$MHEAD_RNG_PITCHd_Wd,182.8,2404,-13.3,-8.462
$D_GRID,165
$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,14,begin dive
$GC,15,-0.85,-175.2,0.0,0.0,0,81,0.00,0.00,-60.92,0.000,6,0.000,0.000,104,1832,2601,0,0,0,0,0,0,28.83,28.83,25.70
$GC,83,-0.85,-175.2,4.4,-9.8,6,105,8.98,2.17,0.00,0.000,4,0.275,0.035,2144,3192,2604,0,0,0,0,0,0,25.34,25.58,28.83
$GC,380,-0.85,-175.2,58.2,-13.1,47,393,0.00,2.25,0.00,0.000,6,0.000,0.031,2144,1788,2604,0,0,0,0,0,0,28.83,25.72,28.83
$GC,512,-0.85,-175.2,74.6,-11.8,60,525,0.00,2.20,0.00,0.000,4,0.000,0.050,2144,409,2603,0,0,0,0,0,0,28.83,25.75,28.83
$GC,689,-0.85,-175.2,98.8,-13.8,75,702,0.00,2.15,0.00,0.000,6,0.000,0.029,2133,1801,2603,0,0,0,0,0,0,28.83,25.81,28.83
$GC,830,-0.85,-175.2,118.3,-13.8,85,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,1804,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.85,-175.2,157.4,-12.4,105,1135,0.00,2.15,0.00,0.000,4,0.000,0.041,2124,3180,2603,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1185,-0.85,-175.2,163.6,-12.7,108,1198,0.10,2.20,0.00,0.000,6,0.148,0.032,2155,1805,2603,0,0,0,0,0,0,25.72,25.84,28.83
$STATE,1209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1209,begin apogee
$GC,1212,-0.24,0.0,167.5,-12.9,110,1353,0.60,0.00,135.62,0.558,6,0.135,0.000,2347,1805,1888,0,0,0,0,0,0,25.73,28.83,24.34
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1355,0.85,175.2,172.6,0.0,119,1499,1.08,0.00,134.95,0.543,6,0.099,0.000,2698,1805,1172,0,0,0,0,0,0,24.72,28.83,24.21
$GC,1795,0.85,175.2,131.1,11.4,149,1800,0.00,2.28,0.00,0.000,4,0.000,0.053,2709,402,1169,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1827,0.85,175.2,127.1,12.2,151,1832,0.00,2.15,0.00,0.000,6,0.000,0.029,2709,1803,1169,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2137,0.85,175.2,90.3,11.2,174,2150,0.00,2.17,0.00,0.000,4,0.000,0.039,2709,3193,1169,0,0,0,0,0,0,28.83,25.17,28.83
$GC,2210,0.85,175.2,82.2,10.6,180,2223,0.00,2.20,0.00,0.000,6,0.000,0.034,2719,1789,1168,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2341,0.85,175.2,67.6,11.2,193,2354,0.00,2.20,0.00,0.000,4,0.000,0.052,2730,412,1169,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2392,0.85,175.2,61.8,11.5,197,2405,0.00,2.17,0.00,0.000,6,0.000,0.028,2730,1806,1168,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2531,0.85,175.2,44.8,11.3,213,2542,0.00,2.28,0.00,0.000,4,0.000,0.052,2740,408,1168,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2550,0.85,175.2,42.1,12.7,215,2561,0.12,2.12,0.00,0.000,6,0.168,0.028,2709,1816,1168,0,0,0,0,0,0,25.69,25.84,28.83
$GC,2638,0.85,175.2,32.3,11.2,228,2649,0.00,2.12,0.00,0.000,4,0.000,0.037,2709,3180,1168,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2688,0.85,175.2,26.6,10.8,235,2699,0.00,2.15,0.00,0.000,6,0.000,0.034,2718,1798,1168,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2777,0.85,175.2,17.7,10.6,248,2788,0.00,2.25,0.00,0.000,4,0.000,0.052,2729,402,1168,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,3002,end climb,SURFACE_DEPTH_REACHED
$STATE,3003,begin surface coast
$FINISH,-0.5,1.020126
$STATE,3142,end surface coast,CONTROL_FINISHED_OK
$STATE,3142,begin surface
$SM_CCo,3159,101.20,0.455,0,0,583,320.11
$SM_GC,-0.55,6.97,2.17,101.20,0.047,0.028,0.455,117,1794,583,-7.17,-2.18,320.11,0,0,0,0,0,0,25.87,25.89,24.72
$IRIDIUM_FIX,4751.72,-12340.51,160414,141449
$TT8_MAMPS,0.09737,0.09737
$HUMID,36.76
$INTERNAL_PRESSURE,8.90436
$TCM_TEMP,20.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,33
$MI_LOG,3.4/516052/498632
$MI_ROOT,70.6/190403/55927
$MI_HOME,3.0/436550/423407
$24V_AH,24.2,1.971
$10V_AH,10.4,1.359
$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,17.850,39.400,270.575,101.200,0.000,29.525,36.766,323.494,0.000,4274.400,40.921,0.000,817.105,351.156,2695.139,86.487,33.272,862.592,0.000,542.685,0.000,0.000,0.000
$DEVICE_MAMPS,274.635,52.785,558.450,455.175,0.000,58.900,160.000,223.000,0.000,42.921,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,205.760,0.000,0.000,0.000,0.000,0.000,4274.410,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,43.249,0.000,0.000,0.000
$MEM,231900
$DATA_FILE_SIZE,10127,305
$CAP_FILE_SIZE,140509,0
$CFSIZE,260034560,257277952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,153811,4743.957,-12224.572,3,1.1,38,16.3