version: 66.10
glider: 162
mission: 3
dive: 6
start: 4 16 114 4 3 35
data:
$ID,162
$MISSION,3
$DIVE,6
$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,-4468.6382
$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,37
$R_STBD_OVSHOOT,53
$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
$GPS1,160414,034126,4743.841,-12224.512,3,0.8,38,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-63.5
$GPS2,160414,040253,4744.108,-12224.293,4,0.9,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.132,-0.230
$KALMAN_X,372.4,-106.5,-14.0,-8.1,455.3
$KALMAN_Y,-472.1,-501.5,-23.0,3594.0,269.9
$MHEAD_RNG_PITCHd_Wd,193.7,2620,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-175.2,0.0,0.0,0,71,0.00,0.00,-54.00,0.000,2,0.000,0.000,123,1820,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.85,-175.2,3.2,-9.3,8,93,8.73,2.25,-3.95,0.000,4,0.272,0.060,2146,3189,2605,0,0,0,0,0,0,25.45,25.69,25.77
$GC,138,-0.85,-175.2,22.6,-15.5,20,146,0.00,2.22,0.00,0.000,6,0.000,0.034,2146,1794,2605,0,0,0,0,0,0,28.83,25.75,28.83
$GC,205,-0.85,-175.2,32.4,-13.7,33,212,0.00,2.28,0.00,0.000,4,0.000,0.050,2146,402,2604,0,0,0,0,0,0,28.83,25.75,28.83
$GC,282,-0.85,-175.2,43.3,-15.5,48,289,0.00,2.20,0.00,0.000,6,0.000,0.031,2136,1800,2604,0,0,0,0,0,0,28.83,25.82,28.83
$GC,353,-0.85,-175.2,53.2,-13.5,60,357,0.00,2.25,0.00,0.000,4,0.000,0.047,2126,3194,2604,0,0,0,0,0,0,28.83,25.81,28.83
$GC,378,-0.85,-175.2,55.8,-13.2,62,387,0.10,2.22,0.00,0.000,6,0.161,0.032,2155,1789,2605,0,0,0,0,0,0,25.67,25.83,28.83
$GC,503,-0.85,-175.2,71.9,-12.5,75,507,0.00,2.28,0.00,0.000,4,0.000,0.044,2147,3192,2605,0,0,0,0,0,0,28.83,25.84,28.83
$GC,538,-0.85,-175.2,75.6,-12.2,78,546,0.00,2.20,0.00,0.000,6,0.000,0.031,2147,1805,2605,0,0,0,0,0,0,28.83,25.87,28.83
$GC,663,-0.85,-175.2,91.8,-12.4,91,667,0.00,2.25,0.00,0.000,4,0.000,0.043,2139,3193,2604,0,0,0,0,0,0,28.83,25.88,28.83
$GC,713,-0.85,-175.2,97.6,-12.0,96,717,0.00,2.22,0.00,0.000,6,0.000,0.031,2138,1792,2604,0,0,0,0,0,0,28.83,25.89,28.83
$GC,849,-0.85,-175.2,113.6,-12.4,106,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,1792,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1148,-0.85,-175.2,152.2,-12.4,126,1152,0.00,2.25,0.00,0.000,4,0.000,0.041,2129,3192,2603,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1203,-0.85,-175.2,157.8,-12.3,129,1212,0.08,2.20,0.00,0.000,6,0.159,0.031,2152,1799,2601,0,0,0,0,0,0,25.75,25.91,28.83
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1270,-0.24,0.0,166.3,-11.3,134,1410,0.62,0.00,135.43,0.552,6,0.140,0.000,2351,1798,1888,0,0,0,0,0,0,25.79,28.83,24.43
$STATE,1411,end apogee,CONTROL_FINISHED_OK
$STATE,1411,begin climb
$GC,1412,0.85,175.2,170.1,0.0,143,1553,1.08,2.38,133.65,0.536,4,0.100,0.050,2714,399,1173,0,0,0,0,0,0,24.83,24.77,24.32
$GC,1581,0.85,175.2,156.8,10.1,155,1585,0.00,2.28,0.00,0.000,6,0.000,0.028,2713,1799,1172,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1897,0.85,175.2,119.4,11.5,176,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1803,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,0.85,175.2,83.3,11.6,201,2206,0.00,2.25,0.00,0.000,4,0.000,0.041,2714,3201,1168,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2246,0.85,175.2,78.3,12.4,205,2255,0.00,2.22,0.00,0.000,6,0.000,0.034,2723,1803,1168,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2372,0.85,175.2,63.8,10.9,218,2375,0.00,2.25,0.00,0.000,4,0.000,0.052,2735,396,1169,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2487,0.85,175.2,47.9,14.8,230,2495,0.00,2.20,0.00,0.000,6,0.000,0.030,2735,1805,1168,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2554,0.85,175.2,38.0,14.7,243,2561,0.00,2.20,0.00,0.000,4,0.000,0.041,2735,3188,1168,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2636,0.85,175.2,24.7,17.1,259,2644,0.08,2.22,0.00,0.000,6,0.155,0.034,2720,1788,1168,0,0,0,0,0,0,25.77,25.91,28.83
$GC,2703,0.85,175.2,15.7,11.2,272,2711,0.00,2.25,0.00,0.000,4,0.000,0.039,2719,3191,1168,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2845,1.03,323.1,6.5,3.6,300,2907,0.08,2.20,56.70,0.454,2,0.072,0.034,2780,1804,867,0,0,0,0,0,0,25.89,25.91,28.83
$STATE,2907,end climb,SURFACE_DEPTH_REACHED
$STATE,2908,begin surface coast
$FINISH,-0.1,1.020346
$STATE,2951,end surface coast,CONTROL_FINISHED_OK
$STATE,2951,begin surface
$SM_CCo,2966,40.72,0.442,0,0,624,310.05
$SM_GC,-0.22,7.18,0.00,40.72,0.042,0.000,0.442,114,1804,624,-7.19,0.11,310.05,0,0,0,0,0,0,25.53,28.83,24.85
$IRIDIUM_FIX,4751.72,-12340.51,160414,030331
$TT8_MAMPS,0.095872,0.095872
$HUMID,39.21
$INTERNAL_PRESSURE,8.91413
$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,33
$MI_LOG,3.4/516052/498655
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.9/436550/423896
$24V_AH,24.3,0.792
$10V_AH,10.4,0.518
$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,17.925,49.275,325.775,40.725,0.000,57.604,75.290,636.693,0.000,4412.800,40.150,0.000,1755.463,421.844,1921.254,78.493,33.211,797.231,0.000,561.091,0.000,0.000,0.000
$DEVICE_MAMPS,272.340,60.435,551.565,442.170,0.000,58.900,160.000,223.000,0.000,41.341,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,213.581,0.000,0.000,0.000,0.000,0.000,4412.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.342,0.000,0.000,0.000
$MEM,231720
$DATA_FILE_SIZE,10167,318
$CAP_FILE_SIZE,82684,0
$CFSIZE,260034560,257757184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,045436,4744.012,-12224.568,4,0.9,38,16.3