version: 66.10
glider: 163
mission: 3
dive: 13
start: 4 16 114 5 10 27
data:
$ID,163
$MISSION,3
$DIVE,13
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1396803.6
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,42
$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
$GPS1,160414,045147,4744.275,-12224.615,3,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.0
$GPS2,160414,050946,4744.598,-12224.415,5,1.0,39,16.3
$SPEED_LIMITS,0.101,0.195
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.084,-0.176
$KALMAN_X,1613.8,-105.5,290.6,-1982.0,329.0
$KALMAN_Y,-167.7,-574.8,225.9,3674.0,718.0
$MHEAD_RNG_PITCHd_Wd,189.1,1112,-19.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.13,-88.0,0.0,0.0,0,62,0.00,0.00,-45.30,0.000,2,0.000,0.000,127,1940,1780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.13,-88.0,3.4,-7.3,4,86,9.70,0.00,-10.73,0.000,6,0.242,0.000,2479,1938,2267,0,0,0,0,0,0,25.27,28.83,25.56
$GC,163,-1.13,-88.0,23.7,-17.0,18,174,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1938,2269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,251,-1.13,-88.0,37.3,-14.3,31,262,0.00,2.20,0.00,0.000,4,0.000,0.051,2485,532,2269,0,0,0,0,0,0,28.83,25.60,28.83
$GC,333,-1.13,-88.0,49.3,-14.3,43,344,0.00,2.15,0.00,0.000,6,0.000,0.036,2470,1945,2269,0,0,0,0,0,0,28.83,25.56,28.83
$GC,402,-1.13,-88.0,58.6,-13.2,50,415,0.00,2.17,0.00,0.000,4,0.000,0.050,2459,3357,2269,0,0,0,0,0,0,28.83,25.67,28.83
$GC,452,-1.13,-88.0,66.1,-15.4,54,464,0.00,2.12,0.00,0.000,6,0.000,0.031,2459,1942,2269,0,0,0,0,0,0,28.83,25.70,28.83
$GC,583,-1.13,-88.0,87.4,-16.1,67,595,0.00,2.15,0.00,0.000,4,0.000,0.050,2459,548,2269,0,0,0,0,0,0,28.83,25.72,28.83
$GC,672,-1.13,-88.0,102.9,-17.9,74,677,0.15,2.12,0.00,0.000,6,0.187,0.037,2483,1956,2269,0,0,0,0,0,0,25.60,25.73,28.83
$GC,987,-1.13,-88.0,146.1,-12.4,95,992,0.00,2.17,0.00,0.000,4,0.000,0.050,2474,3351,2269,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1087,-1.13,-88.0,159.6,-14.0,101,1092,0.00,2.20,0.00,0.000,6,0.000,0.030,2474,1939,2269,0,0,0,0,0,0,28.83,25.71,28.83
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1131,begin apogee
$GC,1134,-0.26,0.0,166.4,-14.9,104,1211,0.95,0.00,73.62,0.623,6,0.144,0.000,2762,1790,1905,0,0,0,0,0,0,25.67,28.83,24.51
$STATE,1212,end apogee,CONTROL_FINISHED_OK
$STATE,1212,begin climb
$GC,1213,1.13,88.0,170.1,0.0,109,1291,1.30,2.25,71.20,0.600,4,0.074,0.052,3218,410,1547,0,0,0,0,0,0,24.97,24.65,24.20
$GC,1334,1.15,108.0,164.0,7.2,117,1357,0.00,2.20,17.42,0.566,6,0.000,0.034,3218,1793,1465,0,0,0,0,0,0,28.83,25.00,24.41
$GC,1665,1.15,108.0,130.3,10.3,139,1669,0.00,2.17,0.00,0.000,4,0.000,0.047,3226,3205,1459,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2011,1.15,108.0,94.6,12.9,161,2024,0.00,2.20,0.00,0.000,6,0.000,0.032,3229,1798,1458,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2143,1.15,108.0,81.3,10.2,174,2156,0.00,2.17,0.00,0.000,4,0.000,0.047,3229,3207,1458,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2287,1.15,108.0,66.9,9.8,186,2300,0.00,2.20,0.00,0.000,6,0.000,0.031,3240,1794,1457,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2419,1.18,129.4,56.4,7.1,199,2445,0.00,2.25,17.27,0.537,4,0.000,0.054,3250,398,1377,0,0,0,0,0,0,28.83,25.56,24.71
$GC,3065,1.35,272.3,19.3,-0.8,294,3185,0.10,2.12,112.20,0.523,6,0.103,0.035,3292,1816,793,0,0,0,0,0,0,25.79,25.77,24.48
$STATE,3261,end climb,SURFACE_DEPTH_REACHED
$STATE,3262,begin surface coast
$FINISH,0.9,1.014869
$STATE,3288,end surface coast,CONTROL_FINISHED_OK
$STATE,3288,begin surface
$SM_CCo,3305,44.40,0.308,2,0,602,320.11
$SM_GC,2.33,8.73,0.17,44.40,0.039,0.076,0.308,126,1958,602,-8.43,-1.39,320.11,0,0,0,0,2,0,25.33,25.30,24.69
$IRIDIUM_FIX,4751.72,-12340.51,160414,050502
$TT8_MAMPS,0.095123,0.095123
$HUMID,31.84
$INTERNAL_PRESSURE,8.85996
$TCM_TEMP,19.00
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,23
$MI_LOG,3.4/516036/498654
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.7/436382/424455
$24V_AH,24.2,1.836
$10V_AH,10.3,1.110
$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,20.925,35.250,291.725,44.400,0.000,29.046,34.805,470.974,0.000,4534.900,40.351,0.000,805.844,277.471,3004.472,97.077,33.254,828.377,0.000,637.523,0.000,0.000,0.000
$DEVICE_MAMPS,241.740,75.735,622.710,308.295,0.000,60.440,160.000,223.000,0.000,43.690,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,216.637,0.000,0.000,0.000,0.000,0.000,4534.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.717,0.000,0.000,0.000
$MEM,198076
$DATA_FILE_SIZE,10146,321
$CAP_FILE_SIZE,153688,0
$CFSIZE,260034560,257413120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,060721,4744.641,-12224.520,3,1.0,38,16.3