version: 66.10
glider: 163
mission: 3
dive: 7
start: 4 15 114 21 33 12
data:
$ID,163
$MISSION,3
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,3
$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,720
$T_TURN,540
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51722
$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,1942
$TGT_DEFAULT_LON,11848
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$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,-1396718.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2868
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1906
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-20.808033
$PRESSURE_SLOPE,0.00011605668
$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,15
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$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,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,150414,212521,4743.212,-12224.512,2,1.2,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.5
$GPS2,150414,213230,4743.198,-12224.529,3,1.2,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.036,0.263
$KALMAN_X,513.0,309.3,190.6,-1337.1,-130.0
$KALMAN_Y,-320.1,37.4,32.9,830.6,-560.6
$MHEAD_RNG_PITCHd_Wd,351.5,1485,-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,13,begin dive
$GC,14,-0.88,-175.9,0.0,0.0,0,61,0.00,0.00,-45.25,0.000,2,0.000,0.000,126,1797,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.88,-175.9,3.7,-7.1,4,96,10.48,2.30,-14.57,0.000,4,0.256,0.071,2579,386,2626,0,0,0,0,0,0,25.40,25.57,25.69
$GC,349,-0.88,-175.9,47.9,-13.4,47,360,0.00,2.15,0.00,0.000,6,0.000,0.037,2571,1806,2627,0,0,0,0,0,0,28.83,25.76,28.83
$GC,428,-0.88,-175.9,57.1,-11.3,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1806,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,548,-0.88,-175.9,71.3,-12.4,67,561,0.00,2.20,0.00,0.000,4,0.000,0.056,2571,398,2627,0,0,0,0,0,0,28.83,25.80,28.83
$GC,587,-0.88,-175.9,76.7,-14.2,70,600,0.00,2.20,0.00,0.000,6,0.000,0.037,2561,1803,2627,0,0,0,0,0,0,28.83,25.84,28.83
$GC,719,-0.88,-175.9,94.4,-12.8,83,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1803,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-0.88,-175.9,109.2,-11.5,93,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1803,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1144,-0.88,-175.9,145.6,-11.9,113,1148,0.00,2.12,0.00,0.000,4,0.000,0.051,2551,3199,2627,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1182,-0.88,-175.9,149.4,-12.3,115,1195,0.08,2.15,0.00,0.000,6,0.133,0.033,2576,1800,2627,0,0,0,0,0,0,25.82,25.91,28.83
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1328,-0.25,0.0,166.3,-9.9,125,1480,0.62,0.00,139.85,0.627,6,0.114,0.000,2783,1799,1904,0,0,0,0,0,0,25.84,28.83,24.31
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1482,0.88,175.9,171.5,0.0,135,1631,1.10,2.38,138.07,0.604,4,0.069,0.057,3167,398,1187,0,0,0,0,0,0,24.85,24.66,24.22
$GC,1650,0.88,175.9,162.8,9.2,146,1655,0.00,2.28,0.00,0.000,6,0.000,0.035,3164,1806,1186,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1966,0.88,175.9,124.6,12.5,167,1971,0.00,2.15,0.00,0.000,4,0.000,0.048,3166,3203,1183,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1999,0.88,175.9,120.6,12.7,169,2004,0.00,2.17,0.00,0.000,6,0.000,0.033,3177,1801,1182,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2309,0.88,175.9,83.6,12.4,194,2322,0.00,2.17,0.00,0.000,4,0.000,0.048,3177,3210,1182,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2346,0.88,175.9,79.0,12.2,197,2360,0.10,2.12,0.00,0.000,6,0.178,0.034,3159,1802,1182,0,0,0,0,0,0,25.70,25.83,28.83
$GC,2478,0.88,175.9,65.5,9.6,210,2491,0.00,2.17,0.00,0.000,4,0.000,0.056,3168,395,1182,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2529,0.88,175.9,60.3,10.6,214,2542,0.00,2.17,0.00,0.000,6,0.000,0.036,3168,1804,1182,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2667,0.88,175.9,45.4,10.2,230,2678,0.00,2.22,0.00,0.000,4,0.000,0.056,3179,388,1182,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2730,0.88,175.9,38.7,10.9,239,2741,0.00,2.12,0.00,0.000,6,0.000,0.037,3179,1803,1182,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2818,0.88,175.9,30.3,9.4,252,2829,0.00,2.22,0.00,0.000,4,0.000,0.057,3190,384,1182,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2881,0.88,175.9,23.2,11.7,261,2893,0.15,2.15,0.00,0.000,6,0.157,0.036,3152,1815,1181,0,0,0,0,0,0,25.75,25.86,28.83
$GC,2970,0.88,176.4,14.8,8.4,274,2981,0.00,2.12,0.00,0.000,4,0.000,0.048,3152,3197,1182,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3089,1.07,331.2,7.2,3.4,292,3177,0.15,2.12,82.57,0.526,2,0.080,0.033,3222,1787,751,0,0,0,0,0,0,25.90,25.90,28.83
$STATE,3178,end climb,SURFACE_DEPTH_REACHED
$STATE,3178,begin surface coast
$FINISH,0.9,1.014005
$STATE,3235,end surface coast,CONTROL_FINISHED_OK
$STATE,3235,begin surface
$SM_CCo,3252,29.95,0.239,1,0,641,310.05
$SM_GC,1.45,8.62,0.00,29.95,0.046,0.000,0.239,127,1787,641,-8.51,-0.37,310.05,0,0,0,0,1,0,25.38,28.83,24.89
$IRIDIUM_FIX,4751.72,-12340.51,150414,212117
$TT8_MAMPS,0.096621,0.096621
$HUMID,33.18
$INTERNAL_PRESSURE,8.88926
$TCM_TEMP,18.80
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,22
$MI_LOG,3.4/516036/498671
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.5/436382/425442
$24V_AH,24.2,1.013
$10V_AH,10.4,0.584
$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,21.300,43.725,360.500,29.950,0.000,31.722,35.481,140.605,0.000,3810.900,39.975,0.000,860.897,330.693,2396.077,46.479,33.200,883.418,0.000,524.391,0.000,0.000,0.000
$DEVICE_MAMPS,256.275,71.145,626.535,239.445,0.000,60.440,160.000,223.000,0.000,43.133,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,207.332,0.000,0.000,0.000,0.000,0.000,3810.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.566,0.000,0.000,0.000
$MEM,197920
$DATA_FILE_SIZE,10143,309
$CAP_FILE_SIZE,121348,0
$CFSIZE,260034560,257712128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,222856,4743.300,-12224.833,7,0.9,41,16.3