version: 66.10
glider: 163
mission: 3
dive: 3
start: 4 15 114 19 14 44
data:
$ID,163
$MISSION,3
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$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,-7
$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,290
$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,-1396713.2
$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,2870
$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,28
$R_STBD_OVSHOOT,41
$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
$GPS1,150414,190138,4743.277,-12223.725,2,1.3,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.9
$GPS2,150414,191337,4743.287,-12223.614,4,1.2,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,HEADING
$TGT_LATLONG,4746.980,-12238.717
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.282,0.005
$KALMAN_X,440.0,215.9,210.3,-64.6,53.8
$KALMAN_Y,293.8,173.9,170.3,98.8,58.3
$MHEAD_RNG_PITCHd_Wd,254.8,20000,-15.8,-10.000
$D_GRID,40
$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,15,-1.01,-175.9,0.0,0.0,0,63,0.00,0.00,-46.38,0.000,2,0.000,0.000,132,1810,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.01,-175.9,3.4,-6.0,7,92,10.07,0.00,-15.35,0.000,6,0.256,0.000,2538,1810,2625,0,0,0,0,0,0,25.56,28.83,25.86
$GC,151,-1.01,-175.9,18.9,-18.6,23,152,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1810,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,211,-1.01,-175.9,28.3,-13.1,35,219,0.00,2.28,0.00,0.000,4,0.000,0.058,2538,390,2626,0,0,0,0,0,0,28.83,25.81,28.83
$GC,233,-1.01,-175.9,31.4,-14.2,39,240,0.00,2.17,0.00,0.000,6,0.000,0.037,2529,1793,2626,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,288,begin apogee
$GC,291,-0.25,0.0,40.2,-15.5,50,433,0.80,0.00,136.70,0.545,6,0.129,0.000,2782,1793,1905,0,0,0,0,0,0,25.75,28.83,24.53
$STATE,434,end apogee,CONTROL_FINISHED_OK
$STATE,434,begin climb
$GC,435,1.01,175.9,46.7,0.0,72,578,1.20,2.33,134.23,0.521,4,0.073,0.059,3202,385,1187,0,0,0,0,0,0,24.62,24.87,24.48
$GC,597,1.02,186.2,39.0,9.6,98,612,0.00,2.25,9.65,0.452,6,0.000,0.035,3203,1806,1144,0,0,0,0,0,0,28.83,25.09,24.65
$GC,671,1.02,186.2,30.8,11.2,112,672,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1806,1143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,731,1.02,186.2,24.0,11.2,124,739,0.00,2.20,0.00,0.000,4,0.000,0.047,3203,3195,1142,0,0,0,0,0,0,28.83,25.51,28.83
$GC,793,1.02,186.2,17.3,10.0,136,801,0.00,2.17,0.00,0.000,6,0.000,0.034,3213,1798,1141,0,0,0,0,0,0,28.83,25.65,28.83
$GC,860,1.10,250.5,12.6,7.5,149,919,0.00,2.33,49.90,0.506,4,0.000,0.060,3225,389,883,0,0,0,0,0,0,28.83,25.29,24.88
$GC,948,1.10,250.5,4.9,10.5,164,956,0.00,2.22,0.00,0.000,6,0.000,0.037,3224,1803,882,0,0,0,0,0,0,28.83,25.41,28.83
$STATE,969,end climb,SURFACE_DEPTH_REACHED
$STATE,969,begin surface coast
$FINISH,0.5,1.009739
$STATE,999,end surface coast,CONTROL_FINISHED_OK
$STATE,999,begin surface
$SM_CCo,1015,51.25,0.350,1,0,600,320.11
$SM_GC,2.07,8.50,0.00,51.25,0.043,0.000,0.350,131,1803,600,-8.51,0.08,320.11,0,0,0,0,1,0,25.53,28.83,24.89
$IRIDIUM_FIX,4751.72,-12340.51,150414,191908
$TT8_MAMPS,0.095123,0.095123
$HUMID,31.61
$INTERNAL_PRESSURE,8.89902
$TCM_TEMP,19.40
$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,3.4/516036/498672
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.3/436382/426468
$24V_AH,24.5,0.611
$10V_AH,10.5,0.362
$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,20.575,17.950,330.475,51.250,0.000,0.000,0.000,0.000,0.000,1182.000,39.256,0.000,268.551,404.688,460.473,34.593,31.294,620.474,0.000,257.679,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,59.670,545.445,349.605,0.000,0.000,0.000,0.000,0.000,44.127,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,111.853,0.000,0.000,0.000,0.000,0.000,1182.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.486,0.000,0.000,0.000
$MEM,198204
$DATA_FILE_SIZE,3496,174
$CAP_FILE_SIZE,148156,0
$CFSIZE,260034560,257802240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,193328,4743.263,-12223.752,1,1.1,36,16.3