version: 66.10
glider: 162
mission: 3
dive: 13
start: 4 16 114 12 26 8
data:
$ID,162
$MISSION,3
$DIVE,13
$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,-4477.8813
$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,44
$R_STBD_OVSHOOT,86
$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
$GPS1,160414,121021,4742.877,-12224.700,2,0.9,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-61.8
$GPS2,160414,122526,4742.982,-12224.566,4,0.9,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.037,0.262
$KALMAN_X,472.7,58.2,-424.7,-198.8,-111.9
$KALMAN_Y,1314.9,395.0,-601.6,-586.1,-271.4
$MHEAD_RNG_PITCHd_Wd,351.7,1886,-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,-59.45,0.000,6,0.000,0.000,115,1824,2601,0,0,0,0,0,0,28.83,28.83,25.72
$GC,83,-0.85,-175.2,5.9,-12.6,6,105,8.90,2.35,0.00,0.000,4,0.275,0.051,2150,407,2603,0,0,0,0,0,0,25.36,25.60,28.83
$GC,113,-0.85,-175.2,21.9,-43.3,9,124,0.00,2.10,0.00,0.000,6,0.000,0.031,2142,1775,2603,0,0,0,0,0,0,28.83,25.64,28.83
$GC,201,-0.85,-175.2,33.9,-11.9,22,212,0.00,2.25,0.00,0.000,4,0.000,0.051,2147,400,2603,0,0,0,0,0,0,28.83,25.65,28.83
$GC,219,-0.85,-175.2,36.0,-11.2,24,230,0.00,2.15,0.00,0.000,6,0.000,0.030,2132,1803,2603,0,0,0,0,0,0,28.83,25.70,28.83
$GC,307,-0.85,-175.2,48.0,-12.7,37,318,0.00,2.28,0.00,0.000,4,0.000,0.050,2132,403,2603,0,0,0,0,0,0,28.83,25.70,28.83
$GC,583,-0.85,-175.2,90.0,-15.4,62,597,0.10,2.10,0.00,0.000,6,0.162,0.029,2152,1789,2602,0,0,0,0,0,0,25.67,25.83,28.83
$GC,725,-0.85,-175.2,108.8,-12.5,74,730,0.00,2.22,0.00,0.000,4,0.000,0.050,2153,405,2600,0,0,0,0,0,0,28.83,25.82,28.83
$GC,763,-0.85,-175.2,112.6,-11.9,76,776,0.00,2.20,0.00,0.000,6,0.000,0.028,2144,1824,2602,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1073,-0.85,-175.2,152.7,-12.4,97,1078,0.00,2.10,0.00,0.000,4,0.000,0.041,2135,3177,2602,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1191,-0.24,0.0,166.9,-12.5,104,1331,0.68,0.00,134.88,0.557,6,0.136,0.000,2347,1796,1892,0,0,0,0,0,0,25.75,28.83,24.36
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1333,0.85,175.2,172.0,0.0,113,1477,1.08,2.35,134.35,0.542,4,0.099,0.037,2698,3174,1173,0,0,0,0,0,0,24.73,24.68,24.22
$GC,1530,0.85,175.2,156.9,10.6,126,1535,0.00,2.28,0.00,0.000,6,0.000,0.034,2708,1801,1171,0,0,0,0,0,0,28.83,25.07,28.83
$GC,1845,0.85,175.2,115.9,14.3,147,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1801,1170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,0.85,175.2,80.3,10.6,173,2163,0.00,2.22,0.00,0.000,4,0.000,0.053,2719,410,1170,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2224,0.85,175.2,71.8,11.2,179,2237,0.00,2.17,0.00,0.000,6,0.000,0.028,2719,1797,1169,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2356,0.85,175.2,56.0,11.5,192,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1797,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2491,0.85,175.2,41.6,11.1,210,2502,0.00,2.17,0.00,0.000,4,0.000,0.037,2719,3181,1169,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2554,0.85,175.2,34.1,10.9,219,2565,0.00,2.15,0.00,0.000,6,0.000,0.035,2729,1797,1169,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2642,0.85,175.2,24.0,11.3,232,2653,0.00,2.25,0.00,0.000,4,0.000,0.052,2739,399,1169,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2731,0.85,175.2,14.1,9.6,245,2742,0.12,2.12,0.00,0.000,6,0.164,0.030,2708,1817,1169,0,0,0,0,0,0,25.73,25.88,28.83
$GC,2819,1.04,327.5,10.0,3.5,258,2917,0.15,0.00,94.78,0.459,2,0.083,0.000,2772,1818,660,0,0,0,0,0,0,25.86,28.83,28.83
$STATE,2917,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,-0.8,1.020508
$STATE,2962,end surface coast,CONTROL_FINISHED_OK
$STATE,2962,begin surface
$SM_CCo,2978,13.95,0.420,0,0,584,320.11
$SM_GC,1.20,7.28,0.00,13.95,0.048,0.000,0.420,116,1821,584,-7.18,0.59,320.11,0,0,0,0,0,0,25.32,28.83,24.84
$IRIDIUM_FIX,4751.72,-12340.51,160414,121236
$TT8_MAMPS,0.104111,0.104111
$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,3.4/516052/498637
$MI_ROOT,70.6/190403/55927
$MI_HOME,3.0/436550/423514
$24V_AH,24.2,1.718
$10V_AH,10.4,1.173
$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,18.300,39.675,364.000,13.950,0.000,30.214,37.904,293.161,0.000,4037.800,40.965,0.000,781.570,292.522,2497.626,76.838,33.207,838.400,0.000,517.130,0.000,0.000,0.000
$DEVICE_MAMPS,274.635,52.785,556.920,419.985,0.000,58.900,160.000,223.000,0.000,41.132,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,183.515,0.000,0.000,0.000,0.000,0.000,4037.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.614,0.000,0.000,0.000
$MEM,231716
$DATA_FILE_SIZE,6849,274
$CAP_FILE_SIZE,131914,0
$CFSIZE,260034560,257388544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,131654,4743.197,-12224.655,3,1.0,38,16.3