version: 66.10
glider: 162
mission: 3
dive: 3
start: 4 15 114 23 51 36
data:
$ID,162
$MISSION,3
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$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,65
$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,-4266.1636
$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,21
$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,45
$R_STBD_OVSHOOT,65
$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,0
$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
$GPS1,150414,233936,4742.590,-12224.886,1,1.4,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-62.5
$GPS2,150414,235056,4742.599,-12224.831,4,1.0,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.079,0.253
$KALMAN_X,-219.3,-212.9,-196.2,207.1,-211.2
$KALMAN_Y,-374.0,-362.1,-331.2,878.6,-363.8
$MHEAD_RNG_PITCHd_Wd,1.1,2628,-13.3,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.85,-175.2,0.0,0.0,0,70,0.00,0.00,-56.55,0.000,2,0.000,0.000,111,1830,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.85,-175.2,3.8,-11.0,10,89,8.48,2.30,-3.30,0.000,4,0.261,0.068,2154,406,2604,0,0,0,0,0,0,25.66,25.91,26.02
$GC,312,-0.85,-175.2,43.2,-15.5,58,320,0.00,2.17,0.00,0.000,6,0.000,0.034,2146,1787,2604,0,0,0,0,0,0,28.83,26.04,28.83
$GC,378,-0.85,-175.2,51.7,-12.1,70,383,0.00,2.28,0.00,0.000,4,0.000,0.053,2147,404,2604,0,0,0,0,0,0,28.83,26.03,28.83
$GC,608,-0.85,-175.2,84.0,-13.6,93,613,0.00,2.20,0.00,0.000,6,0.000,0.033,2137,1805,2603,0,0,0,0,0,0,28.83,26.09,28.83
$GC,738,-0.85,-175.2,98.2,-12.1,106,743,0.00,2.28,0.00,0.000,4,0.000,0.052,2136,411,2603,0,0,0,0,0,0,28.83,26.10,28.83
$GC,803,-0.85,-175.2,107.3,-15.3,111,808,0.10,2.17,0.00,0.000,6,0.158,0.033,2157,1805,2602,0,0,0,0,0,0,25.94,26.09,28.83
$GC,1114,-0.85,-175.2,145.1,-12.1,132,1118,0.00,2.22,0.00,0.000,4,0.000,0.050,2149,3197,2602,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1218,-0.85,-175.2,157.0,-11.3,139,1223,0.00,2.20,0.00,0.000,6,0.000,0.035,2149,1801,2602,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1295,-0.24,0.0,165.6,-11.6,144,1434,0.62,0.00,134.18,0.553,6,0.135,0.000,2351,1800,1889,0,0,0,0,0,0,25.97,28.83,24.65
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1435,0.85,175.2,170.2,0.0,153,1572,1.05,0.00,133.30,0.535,6,0.099,0.000,2699,1800,1173,0,0,0,0,0,0,25.05,28.83,24.55
$GC,1863,0.85,175.2,128.8,11.6,182,1868,0.00,2.28,0.00,0.000,4,0.000,0.046,2699,3199,1169,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1894,0.85,175.2,125.3,11.5,184,1898,0.00,2.22,0.00,0.000,6,0.000,0.036,2709,1804,1169,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2204,0.85,175.2,84.3,11.9,209,2208,0.00,2.28,0.00,0.000,4,0.000,0.054,2720,406,1168,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2258,0.85,175.2,78.5,11.8,214,2266,0.00,2.17,0.00,0.000,6,0.000,0.032,2720,1802,1168,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2383,0.85,175.2,63.4,11.6,227,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1805,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,0.85,175.2,50.0,11.1,239,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1805,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,0.85,175.2,43.6,11.1,251,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1805,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,0.85,175.2,37.0,10.2,263,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1805,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,0.85,175.2,31.2,9.7,275,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1805,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,0.85,175.2,25.4,9.1,287,2751,0.00,2.30,0.00,0.000,4,0.000,0.054,2731,403,1168,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2784,0.85,175.2,21.3,9.9,295,2792,0.00,2.17,0.00,0.000,6,0.000,0.032,2731,1802,1168,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2850,0.85,175.2,15.3,9.6,308,2857,0.00,2.20,0.00,0.000,4,0.000,0.045,2730,3192,1168,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2876,0.85,175.2,12.5,9.9,313,2884,0.08,2.20,0.00,0.000,6,0.147,0.037,2715,1804,1168,0,0,0,0,0,0,25.96,26.07,28.83
$GC,2942,1.00,297.6,8.8,4.5,326,3016,0.12,0.00,71.68,0.457,2,0.093,0.000,2762,1803,784,0,0,0,0,0,0,26.08,28.83,28.83
$STATE,3017,end climb,SURFACE_DEPTH_REACHED
$STATE,3017,begin surface coast
$FINISH,0.9,1.020187
$STATE,3039,end surface coast,CONTROL_FINISHED_OK
$STATE,3040,begin surface
$SM_CCo,3051,28.45,0.436,0,0,624,310.05
$SM_GC,0.01,7.50,0.00,28.45,0.075,0.000,0.436,124,1804,624,-7.17,0.08,310.05,0,0,0,0,0,0,25.58,28.83,24.99
$IRIDIUM_FIX,4751.72,-12340.51,150414,232301
$TT8_MAMPS,0.050932,0.050932
$HUMID,39.68
$INTERNAL_PRESSURE,8.93366
$TCM_TEMP,20.20
$24V_AH,24.5,0.403
$10V_AH,10.6,0.291
$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,17.950,35.650,339.150,28.450,0.000,0.000,0.000,0.000,0.000,0.000,39.538,0.000,1885.454,407.739,832.822,22.752,31.288,780.015,0.000,620.548,0.000,0.000,0.000
$DEVICE_MAMPS,260.865,68.085,553.095,436.050,0.000,0.000,0.000,0.000,0.000,0.000,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,231.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,231752
$DATA_FILE_SIZE,10123,344
$CAP_FILE_SIZE,88358,0
$CFSIZE,260034560,257875968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,004347,4742.743,-12225.093,2,1.0,36,16.3