version: 66.10
glider: 162
mission: 3
dive: 2
start: 4 15 114 22 34 10
data:
$ID,162
$MISSION,3
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,1440
$T_TURN,225
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51697
$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,4212
$TGT_DEFAULT_LON,-7043
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4225.4414
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3882
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3834
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1889
$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,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-26.64114
$PRESSURE_SLOPE,0.00011560637
$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,20
$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,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.93000001
$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,0.0043479973
$SEABIRD_T_H,0.00062607677
$SEABIRD_T_I,2.4008095e-05
$SEABIRD_T_J,2.608939e-06
$SEABIRD_C_G,-9.9659681
$SEABIRD_C_H,1.1191311
$SEABIRD_C_I,-0.0011732002
$SEABIRD_C_J,0.00017434865
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,150414,222612,4742.565,-12224.788,1,0.8,35,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.0
$GPS2,150414,223332,4742.520,-12224.796,4,0.8,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.103,0.262
$KALMAN_X,-92.2,-92.2,-92.2,-93.4,-256.9
$KALMAN_Y,-144.5,-144.5,-144.5,108.9,-402.6
$MHEAD_RNG_PITCHd_Wd,5.0,2766,-15.8,-10.000
$D_GRID,150
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.93,-175.2,0.0,0.0,0,95,0.00,0.00,-67.65,0.000,6,0.000,0.000,117,1805,2602,0,0,0,0,0,0,28.83,28.83,26.20
$GC,96,-0.93,-175.2,4.8,-8.4,7,108,8.23,2.28,0.00,0.000,4,0.258,0.057,2133,385,2603,0,0,0,0,0,0,25.81,26.03,28.83
$GC,383,-0.93,-175.2,62.3,-14.7,46,395,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,1802,2605,0,0,0,0,0,0,28.83,26.13,28.83
$GC,514,-0.93,-175.2,79.3,-12.1,59,526,0.00,2.25,0.00,0.000,4,0.000,0.054,2123,390,2603,0,0,0,0,0,0,28.83,26.09,28.83
$GC,598,-0.93,-175.2,89.8,-12.6,66,611,0.00,2.17,0.00,0.000,6,0.000,0.036,2114,1813,2604,0,0,0,0,0,0,28.83,26.15,28.83
$GC,734,-0.93,-175.2,106.4,-12.6,78,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1813,2604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.93,-175.2,146.6,-12.9,98,1039,0.00,2.17,0.00,0.000,4,0.000,0.057,2103,3196,2604,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,1065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1065,begin apogee
$GC,1070,-0.23,0.0,150.6,-12.9,100,1208,0.80,0.00,133.27,0.539,6,0.142,0.000,2356,1784,1888,0,0,0,0,0,0,25.98,28.83,24.77
$STATE,1209,end apogee,CONTROL_FINISHED_OK
$STATE,1209,begin climb
$GC,1210,0.93,175.2,154.9,0.0,109,1355,1.10,2.40,130.98,0.523,4,0.096,0.057,2739,394,1172,0,0,0,0,0,0,25.21,25.12,24.69
$GC,1430,0.93,175.2,134.9,12.5,123,1442,0.00,2.25,0.00,0.000,6,0.000,0.035,2740,1798,1170,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1740,0.93,175.2,90.4,13.3,146,1752,0.00,2.17,0.00,0.000,4,0.000,0.052,2740,3189,1169,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1825,0.93,175.2,78.8,13.6,153,1838,0.00,2.22,0.00,0.000,6,0.000,0.040,2749,1803,1169,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1957,0.93,175.2,61.9,12.5,166,1969,0.00,2.22,0.00,0.000,4,0.000,0.057,2760,399,1168,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2072,0.93,175.2,44.5,15.6,178,2083,0.00,2.15,0.00,0.000,6,0.000,0.036,2760,1802,1168,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2161,0.93,175.2,32.3,13.2,191,2172,0.00,2.20,0.00,0.000,4,0.000,0.050,2759,3205,1168,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2185,0.93,175.2,28.9,14.0,194,2197,0.12,2.20,0.00,0.000,6,0.167,0.038,2739,1782,1168,0,0,0,0,0,0,25.96,26.13,28.83
$GC,2274,0.93,175.2,18.4,12.4,207,2285,0.00,2.20,0.00,0.000,4,0.000,0.056,2746,402,1168,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2394,1.04,264.5,5.8,6.6,225,2449,0.00,2.15,50.53,0.450,2,0.000,0.034,2746,1825,899,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,2449,end climb,SURFACE_DEPTH_REACHED
$STATE,2449,begin surface coast
$FINISH,-0.1,1.009263
$STATE,2500,end surface coast,CONTROL_FINISHED_OK
$STATE,2500,begin surface
$SM_CCo,2512,44.40,0.440,0,0,624,310.05
$SM_GC,0.70,7.03,0.00,44.40,0.045,0.000,0.440,111,1828,624,-7.18,0.79,310.05,0,0,0,0,0,0,25.81,28.83,25.08
$IRIDIUM_FIX,4751.72,-12340.51,150414,222240
$TT8_MAMPS,0.095872,0.095872
$HUMID,39.95
$INTERNAL_PRESSURE,8.97272
$TCM_TEMP,20.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,32
$MI_LOG,3.4/516052/498670
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.8/436550/424231
$24V_AH,24.7,0.278
$10V_AH,10.5,0.229
$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,17.275,35.525,314.775,44.400,0.000,0.000,0.000,0.000,0.000,2652.900,39.538,0.000,596.516,281.671,1716.228,30.685,30.059,781.452,0.000,463.889,0.000,0.000,0.000
$DEVICE_MAMPS,257.805,57.375,538.560,439.875,0.000,0.000,0.000,0.000,0.000,35.399,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,159.296,0.000,0.000,0.000,0.000,0.000,2652.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.986,0.000,0.000,0.000
$MEM,231788
$DATA_FILE_SIZE,6821,238
$CAP_FILE_SIZE,113286,0
$CFSIZE,260034560,257900544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150414,231738,4742.545,-12225.016,2,0.8,36,16.3