version: 66.10
glider: 163
mission: 3
dive: 15
start: 4 16 114 7 40 6
data:
$ID,163
$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,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,200
$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,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,-1396806.1
$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,34
$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
$GPS1,160414,072115,4744.611,-12224.492,3,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.0
$GPS2,160414,073924,4744.743,-12224.479,4,1.0,39,16.3
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.001,-0.278
$KALMAN_X,1834.2,-50.5,498.1,-2542.6,-13.7
$KALMAN_Y,787.6,-37.8,753.1,1937.3,568.0
$MHEAD_RNG_PITCHd_Wd,163.5,1376,-12.5,-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,-195.4,0.0,0.0,0,61,0.00,0.00,-45.38,0.000,2,0.000,0.000,126,1943,1793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.88,-195.4,3.5,-7.0,4,96,10.00,2.20,-19.15,0.000,4,0.240,0.063,2563,544,2703,0,0,0,0,0,0,25.27,25.46,25.56
$GC,123,-0.88,-195.4,15.3,-17.7,11,134,0.00,2.15,0.00,0.000,6,0.000,0.036,2554,1954,2704,0,0,0,0,0,0,28.83,25.51,28.83
$GC,212,-0.88,-195.4,30.5,-15.2,24,223,0.00,2.17,0.00,0.000,4,0.000,0.050,2544,3348,2703,0,0,0,0,0,0,28.83,25.56,28.83
$GC,237,-0.88,-195.4,34.2,-14.5,27,248,0.00,2.12,0.00,0.000,6,0.000,0.030,2544,1948,2704,0,0,0,0,0,0,28.83,25.58,28.83
$GC,325,-0.88,-195.4,46.9,-13.8,40,336,0.00,2.20,0.00,0.000,4,0.000,0.051,2544,539,2703,0,0,0,0,0,0,28.83,25.63,28.83
$GC,381,-0.88,-195.4,55.0,-15.4,46,395,0.12,2.22,0.00,0.000,6,0.170,0.037,2562,1955,2703,0,0,0,0,0,0,25.56,25.65,28.83
$GC,513,-0.88,-195.4,73.0,-13.2,59,526,0.00,2.20,0.00,0.000,4,0.000,0.051,2563,544,2704,0,0,0,0,0,0,28.83,25.68,28.83
$GC,563,-0.88,-195.4,79.7,-13.5,63,575,0.00,2.12,0.00,0.000,6,0.000,0.037,2554,1950,2703,0,0,0,0,0,0,28.83,25.72,28.83
$GC,694,-0.88,-195.4,97.4,-13.9,76,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1950,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.88,-195.4,115.1,-13.3,85,823,0.00,2.17,0.00,0.000,4,0.000,0.051,2554,546,2703,0,0,0,0,0,0,28.83,25.75,28.83
$GC,840,-0.88,-195.4,117.1,-13.1,86,853,0.00,2.17,0.00,0.000,6,0.000,0.036,2545,1945,2703,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1150,-0.88,-195.4,158.0,-13.6,107,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1945,2703,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1209,begin apogee
$GC,1212,-0.26,0.0,166.2,-13.8,111,1379,0.68,0.00,154.68,0.615,6,0.122,0.000,2759,1793,1904,0,0,0,0,0,0,25.72,28.83,24.17
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1381,0.88,195.4,173.7,0.0,122,1544,1.12,2.35,153.43,0.596,4,0.074,0.045,3133,3198,1107,0,0,0,0,0,0,24.70,24.53,24.08
$GC,1597,0.88,195.4,159.2,10.6,136,1602,0.00,2.22,0.00,0.000,6,0.000,0.031,3144,1808,1105,0,0,0,0,0,0,28.83,24.44,28.83
$GC,1913,0.88,195.4,124.1,11.2,157,1917,0.00,2.20,0.00,0.000,4,0.000,0.054,3156,399,1105,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1951,0.88,195.4,120.1,11.8,159,1963,0.00,2.17,0.00,0.000,6,0.000,0.034,3155,1797,1105,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2261,0.88,195.4,81.2,12.1,185,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1797,1104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,0.88,195.4,68.2,11.5,197,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1797,1104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,0.88,195.4,55.3,10.3,209,2513,0.00,2.20,0.00,0.000,4,0.000,0.055,3166,393,1107,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2562,0.88,195.4,48.3,10.9,215,2573,0.12,2.12,0.00,0.000,6,0.164,0.035,3136,1806,1103,0,0,0,0,0,0,25.67,25.77,28.83
$GC,2651,0.88,195.4,39.4,9.8,228,2662,0.00,2.15,0.00,0.000,4,0.000,0.047,3136,3201,1103,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2670,0.88,195.4,37.6,9.7,230,2681,0.00,2.12,0.00,0.000,6,0.000,0.033,3144,1796,1103,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2758,0.88,195.4,29.2,9.1,243,2769,0.00,2.20,0.00,0.000,4,0.000,0.053,3156,386,1103,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2833,0.88,195.4,21.9,9.4,254,2844,0.00,2.12,0.00,0.000,6,0.000,0.035,3156,1798,1103,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2922,0.91,219.5,14.7,7.8,267,2944,0.00,0.00,19.27,0.517,6,0.000,0.000,3156,1798,1011,0,0,0,0,0,0,28.83,28.83,25.16
$GC,3021,1.05,330.5,9.8,5.2,281,3130,0.00,0.00,95.88,0.496,2,0.000,0.000,3156,1798,592,0,0,0,0,2,0,28.83,28.83,24.56
$STATE,3130,end climb,SURFACE_DEPTH_REACHED
$STATE,3130,begin surface coast
$FINISH,0.9,1.015302
$STATE,3182,end surface coast,CONTROL_FINISHED_OK
$STATE,3182,begin surface
$SM_CCo,3259,0.00,0.000,0,0,589,322.81
$SM_GC,1.77,8.38,0.22,0.00,0.037,0.061,0.000,124,1991,589,-8.45,-0.93,322.81,0,0,0,0,0,0,25.23,25.24,28.83
$IRIDIUM_FIX,4751.72,-12340.51,160414,060604
$TT8_MAMPS,0.095872,0.095872
$HUMID,31.37
$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,3.4/516036/498649
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.7/436382/424391
$24V_AH,24.1,2.148
$10V_AH,10.3,1.304
$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,20.425,44.075,423.250,0.000,0.000,33.814,48.200,468.390,0.000,4440.900,40.615,0.000,878.778,311.133,2808.547,100.574,33.255,928.203,0.000,534.333,0.000,0.000,0.000
$DEVICE_MAMPS,240.210,68.850,615.060,0.000,0.000,60.440,160.000,223.000,0.000,42.757,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,199.563,0.000,0.000,0.000,0.000,0.000,4440.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.789,0.000,0.000,0.000
$MEM,198124
$DATA_FILE_SIZE,10158,299
$CAP_FILE_SIZE,149228,0
$CFSIZE,260034560,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,083518,4744.179,-12224.489,3,0.9,38,16.3