version: 66.10
glider: 163
mission: 3
dive: 16
start: 4 16 114 9 0 35
data:
$ID,163
$MISSION,3
$DIVE,16
$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,-1396807.4
$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,68
$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
$GPS1,160414,083518,4744.179,-12224.489,3,0.9,38,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.2
$GPS2,160414,085953,4744.342,-12224.354,4,0.9,39,16.3
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.008,-0.180
$KALMAN_X,2071.0,-2.7,351.4,-2529.4,-148.7
$KALMAN_Y,794.8,305.1,756.4,841.0,67.0
$MHEAD_RNG_PITCHd_Wd,166.2,658,-21.7,-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,-1.20,-74.6,0.0,0.0,0,61,0.00,0.00,-45.25,0.000,2,0.000,0.000,124,1995,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.21,-79.0,3.7,-8.1,4,85,9.82,2.12,-7.85,0.000,4,0.249,0.061,2444,3335,2231,0,0,0,0,0,0,25.27,25.46,25.56
$GC,99,-1.21,-79.0,12.6,-21.3,8,110,0.00,2.12,0.00,0.000,6,0.000,0.031,2445,1944,2233,0,0,0,0,0,0,28.83,25.49,28.83
$GC,188,-1.21,-79.0,27.0,-15.4,21,199,0.00,2.17,0.00,0.000,4,0.000,0.048,2434,3325,2233,0,0,0,0,0,0,28.83,25.43,28.83
$GC,226,-1.21,-79.0,32.8,-15.4,26,237,0.00,2.12,0.00,0.000,6,0.000,0.031,2434,1940,2233,0,0,0,0,0,0,28.83,25.58,28.83
$GC,314,-1.21,-79.0,47.1,-16.4,39,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1940,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,393,-1.21,-79.0,60.0,-15.8,47,406,0.00,2.17,0.00,0.000,4,0.000,0.049,2434,527,2232,0,0,0,0,0,0,28.83,25.65,28.83
$GC,430,-1.21,-79.0,65.9,-15.6,50,443,0.10,2.12,0.00,0.000,6,0.184,0.036,2452,1930,2232,0,0,0,0,0,0,25.55,25.67,28.83
$GC,562,-1.21,-79.0,85.0,-14.5,63,575,0.00,2.17,0.00,0.000,4,0.000,0.048,2443,3347,2232,0,0,0,0,0,0,28.83,25.71,28.83
$GC,601,-1.21,-79.0,90.7,-15.0,66,614,0.00,2.17,0.00,0.000,6,0.000,0.030,2443,1950,2232,0,0,0,0,0,0,28.83,25.73,28.83
$GC,732,-1.21,-79.0,109.2,-14.1,77,737,0.00,2.15,0.00,0.000,4,0.000,0.050,2432,3347,2232,0,0,0,0,0,0,28.83,25.74,28.83
$GC,821,-1.21,-79.0,120.8,-13.9,82,833,0.00,2.15,0.00,0.000,6,0.000,0.028,2433,1954,2232,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,1130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1130,begin apogee
$GC,1133,-0.26,0.0,166.7,-16.0,103,1209,1.10,0.00,66.07,0.620,6,0.151,0.000,2761,1791,1905,0,0,0,0,0,0,25.67,28.83,24.56
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1211,1.21,79.0,170.7,0.0,108,1285,1.38,2.33,64.72,0.601,4,0.074,0.044,3233,3194,1581,0,0,0,0,0,0,25.06,24.70,24.23
$GC,1505,1.21,79.0,149.2,9.6,126,1510,0.00,2.20,0.00,0.000,6,0.000,0.030,3243,1795,1576,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1820,1.21,79.0,120.9,8.9,147,1825,0.00,2.17,0.00,0.000,4,0.000,0.053,3254,398,1575,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1992,1.21,82.6,106.2,8.2,157,2004,0.00,2.17,0.00,0.000,6,0.000,0.034,3254,1806,1575,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2302,1.23,94.3,79.6,7.6,186,2327,0.00,2.12,12.50,0.534,4,0.000,0.044,3254,3194,1519,0,0,0,0,0,0,28.83,25.61,25.16
$GC,2331,1.25,113.1,78.0,7.0,188,2357,0.00,2.17,16.42,0.535,6,0.000,0.031,3264,1795,1442,0,0,0,0,0,0,28.83,25.65,24.96
$GC,2475,1.25,113.1,63.8,10.2,202,2488,0.00,2.17,0.00,0.000,4,0.000,0.046,3264,3201,1440,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2644,1.25,113.1,45.8,9.3,219,2655,0.00,2.12,0.00,0.000,6,0.000,0.031,3275,1794,1439,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2732,1.25,113.1,37.6,9.7,232,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1794,1439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,1.25,113.1,29.2,9.3,245,2831,0.00,2.20,0.00,0.000,4,0.000,0.051,3286,392,1439,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2971,1.26,118.2,14.6,8.1,268,2983,0.12,2.12,4.82,0.402,6,0.181,0.034,3258,1807,1423,0,0,0,0,0,0,25.62,25.75,25.24
$GC,3061,1.38,220.9,10.8,0.6,281,3148,0.10,2.30,81.07,0.522,4,0.103,0.051,3309,389,1003,0,0,0,0,0,0,25.72,24.98,24.60
$GC,3206,1.44,264.4,6.5,5.1,298,3250,0.00,2.17,34.97,0.501,6,0.000,0.034,3309,1806,827,0,0,0,0,0,0,28.83,25.22,24.56
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3263,begin surface coast
$FINISH,0.8,1.010603
$STATE,3314,end surface coast,CONTROL_FINISHED_OK
$STATE,3314,begin surface
$SM_CCo,3332,60.45,0.362,2,0,601,320.60
$SM_GC,1.89,8.95,0.20,60.45,0.047,0.071,0.362,131,1964,601,-8.43,-1.24,320.60,0,0,0,0,2,0,25.27,25.25,24.58
$IRIDIUM_FIX,4751.72,-12340.51,160414,080808
$TT8_MAMPS,0.096621,0.096621
$HUMID,30.74
$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,3.4/516036/498646
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.7/436382/424473
$24V_AH,24.2,2.302
$10V_AH,10.3,1.412
$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,21.575,48.200,280.600,60.450,0.000,94.934,95.656,607.062,0.000,4957.500,40.727,0.000,995.220,320.915,3201.559,109.887,33.291,900.484,0.000,602.153,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,71.145,620.415,361.845,0.000,60.440,160.000,223.000,0.000,43.073,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,209.497,0.000,0.000,0.000,0.000,0.000,4957.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.764,0.000,0.000,0.000
$MEM,198036
$DATA_FILE_SIZE,10142,312
$CAP_FILE_SIZE,159560,0
$CFSIZE,260034560,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,095811,4743.800,-12224.403,3,0.9,37,16.3