version: 66.10
glider: 162
mission: 3
dive: 12
start: 4 16 114 11 15 44
data:
$ID,162
$MISSION,3
$DIVE,12
$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,-4476.6216
$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,52
$R_STBD_OVSHOOT,70
$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
$GPS1,160414,105958,4742.772,-12224.635,3,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-62.4
$GPS2,160414,111502,4742.753,-12224.526,4,1.2,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.054,0.260
$KALMAN_X,508.7,58.1,-203.6,-406.6,-199.9
$KALMAN_Y,1497.6,308.0,-126.8,-1582.9,-260.1
$MHEAD_RNG_PITCHd_Wd,355.5,2309,-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,-59.72,0.000,6,0.000,0.000,118,1784,2601,0,0,0,0,0,0,28.83,28.83,25.72
$GC,83,-0.85,-175.2,5.6,-12.2,6,105,8.95,2.28,0.00,0.000,4,0.277,0.041,2142,3181,2603,0,0,0,0,0,0,25.35,25.60,28.83
$GC,138,-0.85,-175.2,26.9,-19.4,13,149,0.00,2.15,0.00,0.000,6,0.000,0.031,2142,1818,2603,0,0,0,0,0,0,28.83,25.64,28.83
$GC,226,-0.85,-175.2,38.9,-14.0,26,237,0.00,2.30,0.00,0.000,4,0.000,0.049,2142,390,2602,0,0,0,0,0,0,28.83,25.66,28.83
$GC,505,-0.85,-175.2,80.3,-14.9,55,518,0.00,2.15,0.00,0.000,6,0.000,0.030,2132,1793,2602,0,0,0,0,0,0,28.83,25.79,28.83
$GC,637,-0.85,-175.2,98.5,-13.6,68,650,0.00,2.28,0.00,0.000,4,0.000,0.050,2132,390,2601,0,0,0,0,0,0,28.83,25.77,28.83
$GC,714,-0.85,-175.2,109.4,-15.6,73,727,0.10,2.20,0.00,0.000,6,0.161,0.029,2152,1794,2601,0,0,0,0,0,0,25.69,25.84,28.83
$GC,1025,-0.85,-175.2,146.9,-11.6,94,1029,0.00,2.17,0.00,0.000,4,0.000,0.041,2144,3184,2602,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1141,-0.85,-175.2,159.3,-11.0,101,1146,0.00,2.25,0.00,0.000,6,0.000,0.032,2144,1781,2599,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1203,-0.24,0.0,166.6,-11.8,105,1342,0.65,0.00,134.93,0.558,6,0.135,0.000,2349,1780,1889,0,0,0,0,0,0,25.74,28.83,24.34
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1343,begin climb
$GC,1344,0.85,175.2,171.1,0.0,114,1490,1.08,0.00,134.43,0.542,6,0.099,0.000,2701,1780,1172,0,0,0,0,0,0,24.75,28.83,24.23
$GC,1786,0.85,175.2,126.8,11.8,144,1791,0.00,2.22,0.00,0.000,4,0.000,0.039,2701,3184,1169,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1875,0.85,175.2,116.7,12.3,149,1887,0.00,2.22,0.00,0.000,6,0.000,0.034,2711,1801,1169,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2190,0.85,175.2,81.7,10.5,176,2202,0.00,2.25,0.00,0.000,4,0.000,0.052,2722,400,1169,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2239,0.85,175.2,76.1,11.4,180,2252,0.00,2.12,0.00,0.000,6,0.000,0.030,2721,1809,1169,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2370,0.85,175.2,60.7,12.1,193,2383,0.00,2.28,0.00,0.000,4,0.000,0.052,2732,401,1168,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2442,0.85,175.2,51.8,11.4,199,2455,0.00,2.15,0.00,0.000,6,0.000,0.030,2733,1808,1169,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2602,0.85,175.2,33.0,11.9,223,2613,0.00,2.15,0.00,0.000,4,0.000,0.038,2732,3182,1168,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2671,0.85,175.2,25.0,11.3,233,2682,0.12,2.15,0.00,0.000,6,0.169,0.034,2711,1798,1168,0,0,0,0,0,0,25.72,25.84,28.83
$GC,2759,0.85,175.2,16.7,8.6,246,2770,0.00,2.25,0.00,0.000,4,0.000,0.052,2721,398,1168,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3030,1.05,339.1,4.7,3.1,288,3074,0.15,2.12,39.95,0.457,2,0.085,0.029,2775,1818,960,0,0,0,0,0,0,25.85,25.90,28.83
$STATE,3075,end climb,SURFACE_DEPTH_REACHED
$STATE,3075,begin surface coast
$FINISH,-0.6,1.009010
$STATE,3145,end surface coast,CONTROL_FINISHED_OK
$STATE,3145,begin surface
$SM_CCo,3160,63.95,0.450,0,0,583,320.11
$SM_GC,-0.32,7.22,0.00,63.95,0.050,0.000,0.450,115,1822,583,-7.18,0.62,320.11,0,0,0,0,0,0,25.62,28.83,24.77
$IRIDIUM_FIX,4751.72,-12340.51,160414,111105
$TT8_MAMPS,0.109354,0.109354
$HUMID,37.43
$INTERNAL_PRESSURE,8.91413
$TCM_TEMP,20.30
$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,3.4/516052/498640
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.9/436550/423684
$24V_AH,24.2,1.596
$10V_AH,10.4,1.084
$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,18.275,39.700,309.300,63.950,0.000,28.280,33.503,305.324,0.000,4229.000,40.085,0.000,786.393,321.430,2698.036,77.236,33.210,874.498,0.000,575.120,0.000,0.000,0.000
$DEVICE_MAMPS,276.930,52.020,558.450,449.820,0.000,58.900,160.000,223.000,0.000,41.730,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,203.869,0.000,0.000,0.000,0.000,0.000,4229.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.608,0.000,0.000,0.000
$MEM,231728
$DATA_FILE_SIZE,10139,303
$CAP_FILE_SIZE,139718,0
$CFSIZE,260034560,257429504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,121021,4742.877,-12224.700,2,0.9,36,16.3