version: 66.10
glider: 162
mission: 3
dive: 9
start: 4 16 114 7 32 56
data:
$ID,162
$MISSION,3
$DIVE,9
$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,-4472.8472
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,160414,071352,4744.285,-12224.563,3,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-62.1
$GPS2,160414,073214,4744.435,-12224.567,4,1.0,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.022,-0.264
$KALMAN_X,462.8,33.8,528.1,-1117.1,-70.8
$KALMAN_Y,1266.9,-271.1,755.5,1455.4,505.2
$MHEAD_RNG_PITCHd_Wd,159.0,3213,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.85,-175.2,0.0,0.0,0,81,0.00,0.00,-59.12,0.000,6,0.000,0.000,118,1804,2604,0,0,0,0,0,0,28.83,28.83,25.74
$GC,83,-0.85,-175.2,5.4,-11.9,6,94,8.95,0.00,0.00,0.000,6,0.278,0.000,2151,1804,2603,0,0,0,0,0,0,25.36,28.83,28.83
$GC,172,-0.85,-175.2,33.4,-15.2,19,182,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1804,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,259,-0.85,-175.2,44.8,-13.1,32,270,0.00,2.30,0.00,0.000,4,0.000,0.052,2151,403,2606,0,0,0,0,0,0,28.83,25.70,28.83
$GC,304,-0.85,-175.2,50.7,-14.7,38,318,0.00,2.25,0.00,0.000,6,0.000,0.030,2143,1819,2605,0,0,0,0,0,0,28.83,25.77,28.83
$GC,436,-0.85,-175.2,68.4,-13.6,51,449,0.00,2.15,0.00,0.000,4,0.000,0.041,2132,3194,2604,0,0,0,0,0,0,28.83,25.67,28.83
$GC,452,-0.85,-175.2,69.4,-13.1,52,465,0.00,2.22,0.00,0.000,6,0.000,0.033,2132,1808,2605,0,0,0,0,0,0,28.83,25.80,28.83
$GC,583,-0.85,-175.2,87.5,-12.9,65,596,0.00,2.25,0.00,0.000,4,0.000,0.051,2133,399,2605,0,0,0,0,0,0,28.83,25.81,28.83
$GC,692,-0.85,-175.2,103.8,-15.6,74,697,0.15,2.22,0.00,0.000,6,0.174,0.029,2165,1803,2605,0,0,0,0,0,0,25.69,25.84,28.83
$GC,1007,-0.85,-175.2,138.8,-10.6,95,1012,0.00,2.17,0.00,0.000,4,0.000,0.042,2157,3194,2605,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1090,-0.85,-175.2,147.9,-11.1,100,1095,0.00,2.25,0.00,0.000,6,0.000,0.032,2156,1796,2605,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1257,-0.24,0.0,166.0,-10.4,111,1398,0.62,0.00,135.62,0.557,6,0.136,0.000,2354,1795,1889,0,0,0,0,0,0,25.75,28.83,24.34
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1400,0.85,175.2,169.8,0.0,120,1545,1.05,2.42,133.68,0.542,4,0.098,0.052,2710,404,1172,0,0,0,0,0,0,24.76,24.20,24.26
$GC,1598,0.85,175.2,153.8,10.5,133,1602,0.00,2.28,0.00,0.000,6,0.000,0.028,2709,1800,1171,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1913,0.85,175.2,114.9,12.0,154,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1804,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,0.85,175.2,78.4,11.8,180,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1804,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,0.85,175.2,65.5,10.9,192,2350,0.00,2.28,0.00,0.000,4,0.000,0.053,2721,399,1169,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2435,0.85,175.2,54.0,11.9,200,2448,0.00,2.20,0.00,0.000,6,0.000,0.029,2720,1813,1168,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2590,0.85,175.2,37.0,10.1,222,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1813,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2678,0.85,175.2,27.7,10.5,235,2689,0.00,2.30,0.00,0.000,4,0.000,0.052,2732,394,1168,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2709,0.85,175.2,23.8,12.4,239,2720,0.00,2.15,0.00,0.000,6,0.000,0.030,2732,1804,1168,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2797,0.85,175.2,15.1,9.5,252,2808,0.00,2.17,0.00,0.000,4,0.000,0.040,2732,3189,1168,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2822,0.85,175.2,12.6,9.7,255,2834,0.12,2.17,0.00,0.000,6,0.168,0.034,2710,1791,1169,0,0,0,0,0,0,25.75,25.89,28.83
$GC,2911,0.94,250.1,8.1,6.0,268,2976,0.00,2.35,56.70,0.457,4,0.000,0.053,2719,398,868,0,0,0,0,0,0,28.83,25.36,24.98
$STATE,2983,end climb,SURFACE_DEPTH_REACHED
$STATE,2983,begin surface coast
$FINISH,1.4,1.020230
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3014,41.85,0.442,0,0,625,310.05
$SM_GC,-0.27,7.32,2.25,41.85,0.068,0.029,0.442,123,1780,625,-7.17,-1.70,310.05,0,0,0,0,0,0,25.47,25.48,24.79
$IRIDIUM_FIX,4751.72,-12340.51,160414,070729
$TT8_MAMPS,0.09737,0.09737
$HUMID,37.75
$INTERNAL_PRESSURE,8.90436
$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,3.4/516052/498647
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.9/436550/423976
$24V_AH,24.2,1.173
$10V_AH,10.5,0.786
$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,18.225,40.400,326.000,41.850,0.000,33.561,45.856,465.134,0.000,4263.200,40.903,0.000,822.742,296.667,2698.385,85.735,33.207,839.825,0.000,518.648,0.000,0.000,0.000
$DEVICE_MAMPS,277.695,52.785,556.920,442.170,0.000,58.900,160.000,223.000,0.000,41.816,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,185.899,0.000,0.000,0.000,0.000,0.000,4263.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.529,0.000,0.000,0.000
$MEM,231696
$DATA_FILE_SIZE,10123,277
$CAP_FILE_SIZE,139157,0
$CFSIZE,260034560,257576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,082446,4743.956,-12224.701,3,0.9,38,16.3