version: 66.10
glider: 162
mission: 3
dive: 11
start: 4 16 114 10 6 51
data:
$ID,162
$MISSION,3
$DIVE,11
$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,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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4475.3633
$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,51
$R_STBD_OVSHOOT,67
$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
$GPS1,160414,094300,4743.445,-12224.604,3,0.9,38,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-61.5
$GPS2,160414,100609,4743.466,-12224.499,5,0.8,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.077,-0.254
$KALMAN_X,511.5,67.3,113.3,-703.1,-298.5
$KALMAN_Y,1502.4,148.7,347.4,-581.7,-148.5
$MHEAD_RNG_PITCHd_Wd,146.9,1418,-13.4,-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,-175.1,0.0,0.0,0,81,0.00,0.00,-60.50,0.000,6,0.000,0.000,117,1774,2598,0,0,0,0,0,0,28.83,28.83,25.76
$GC,83,-0.85,-175.1,4.8,-10.3,6,105,8.80,2.28,0.00,0.000,4,0.272,0.039,2143,3178,2600,0,0,0,0,0,0,25.39,25.63,28.83
$GC,207,-0.85,-175.1,34.1,-12.2,24,218,0.00,2.12,0.00,0.000,6,0.000,0.031,2143,1815,2601,0,0,0,0,0,0,28.83,25.72,28.83
$GC,295,-0.85,-175.1,45.6,-13.5,37,306,0.00,2.28,0.00,0.000,4,0.000,0.049,2142,400,2600,0,0,0,0,0,0,28.83,25.72,28.83
$GC,339,-0.85,-175.1,51.6,-14.4,42,351,0.00,2.10,0.00,0.000,6,0.000,0.029,2133,1783,2599,0,0,0,0,0,0,28.83,25.78,28.83
$GC,470,-0.85,-175.1,69.0,-13.3,55,482,0.00,2.20,0.00,0.000,4,0.000,0.041,2123,3200,2599,0,0,0,0,0,0,28.83,25.78,28.83
$GC,520,-0.85,-175.1,75.5,-13.4,59,534,0.10,2.25,0.00,0.000,6,0.155,0.031,2153,1795,2599,0,0,0,0,0,0,25.67,25.81,28.83
$GC,652,-0.85,-175.1,92.7,-12.2,72,665,0.00,2.20,0.00,0.000,4,0.000,0.040,2145,3192,2599,0,0,0,0,0,0,28.83,25.82,28.83
$GC,725,-0.85,-175.1,101.7,-12.6,78,729,0.00,2.17,0.00,0.000,6,0.000,0.032,2145,1790,2599,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1040,-0.85,-175.1,141.5,-12.2,99,1045,0.00,2.20,0.00,0.000,4,0.000,0.051,2145,403,2599,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1073,-0.85,-175.1,145.6,-12.5,101,1078,0.00,2.20,0.00,0.000,6,0.000,0.028,2135,1805,2598,0,0,0,0,0,0,28.83,25.87,28.83
$STATE,1237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1240,-0.24,0.0,166.3,-11.4,112,1379,0.68,0.00,134.27,0.555,6,0.139,0.000,2347,1807,1889,0,0,0,0,0,0,25.75,28.83,24.37
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1381,0.85,175.1,170.4,0.0,121,1527,1.08,0.00,133.18,0.540,6,0.099,0.000,2700,1810,1175,0,0,0,0,0,0,24.76,28.83,24.24
$GC,1823,0.85,175.1,125.2,12.8,151,1828,0.00,2.28,0.00,0.000,4,0.000,0.051,2711,406,1171,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1905,0.85,175.1,114.3,13.3,156,1910,0.00,2.17,0.00,0.000,6,0.000,0.029,2711,1808,1170,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2215,0.85,175.1,77.7,12.4,183,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1808,1171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,0.85,175.1,65.3,9.7,195,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1807,1170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2455,0.85,175.1,51.9,12.1,207,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1812,1170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,0.85,175.1,35.4,10.6,229,2612,0.00,2.28,0.00,0.000,4,0.000,0.051,2722,401,1170,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2645,0.85,175.1,30.2,11.0,235,2656,0.00,2.12,0.00,0.000,6,0.000,0.030,2722,1806,1170,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2733,0.85,175.1,20.3,10.7,248,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1806,1170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,0.85,175.1,11.3,9.4,261,2832,0.00,2.15,0.00,0.000,4,0.000,0.037,2721,3184,1170,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2847,0.85,175.1,8.5,11.2,264,2858,0.00,2.15,0.00,0.000,6,0.000,0.034,2732,1788,1170,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2935,1.02,309.9,4.1,4.0,277,2968,0.00,0.00,31.50,0.453,2,0.000,0.000,2731,1788,1009,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2968,end climb,SURFACE_DEPTH_REACHED
$STATE,2968,begin surface coast
$FINISH,-0.5,1.020183
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3045,begin surface
$SM_CCo,3061,72.43,0.452,0,0,583,320.11
$SM_GC,-0.52,7.03,0.00,72.43,0.045,0.000,0.452,118,1788,583,-7.17,-0.37,320.11,0,0,0,0,0,0,25.67,28.83,24.74
$IRIDIUM_FIX,4751.72,-12340.51,160414,101008
$TT8_MAMPS,0.096621,0.096621
$HUMID,36.69
$INTERNAL_PRESSURE,8.8946
$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,3.4/516052/498642
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.9/436550/423864
$24V_AH,24.2,1.470
$10V_AH,10.4,0.990
$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,17.675,35.150,298.950,72.425,0.000,67.739,78.520,608.647,0.000,4620.500,40.113,0.000,875.165,301.097,3010.817,91.015,33.214,829.152,0.000,525.745,0.000,0.000,0.000
$DEVICE_MAMPS,272.340,51.255,555.390,452.115,0.000,58.900,160.000,223.000,0.000,41.467,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,196.658,0.000,0.000,0.000,0.000,0.000,4620.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.567,0.000,0.000,0.000
$MEM,231668
$DATA_FILE_SIZE,10127,292
$CAP_FILE_SIZE,145489,0
$CFSIZE,260034560,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,105958,4742.772,-12224.635,3,0.9,37,16.3