version: 66.10
glider: 162
mission: 3
dive: 14
start: 4 16 114 13 34 42
data:
$ID,162
$MISSION,3
$DIVE,14
$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,-4479.4834
$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,45
$R_STBD_OVSHOOT,85
$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
$GPS1,160414,131654,4743.197,-12224.655,3,1.0,38,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-61.8
$GPS2,160414,133400,4743.378,-12224.451,4,1.1,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.030,0.263
$KALMAN_X,567.5,51.0,-520.5,-49.5,66.0
$KALMAN_Y,1286.5,436.3,-908.3,436.5,-45.1
$MHEAD_RNG_PITCHd_Wd,337.2,1153,-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,-60.55,0.000,6,0.000,0.000,116,1823,2601,0,0,0,0,0,0,28.83,28.83,25.74
$GC,83,-0.85,-175.2,4.8,-10.4,6,105,8.95,2.33,0.00,0.000,4,0.275,0.044,2157,406,2603,0,0,0,0,0,0,25.34,25.58,28.83
$GC,379,-0.85,-175.2,60.2,-14.3,46,392,0.00,2.15,0.00,0.000,6,0.000,0.030,2149,1781,2602,0,0,0,0,0,0,28.83,25.77,28.83
$GC,511,-0.85,-175.2,78.1,-13.5,59,523,0.00,2.22,0.00,0.000,4,0.000,0.052,2149,404,2601,0,0,0,0,0,0,28.83,25.77,28.83
$GC,596,-0.85,-175.2,89.7,-14.1,66,609,0.00,2.20,0.00,0.000,6,0.000,0.029,2139,1801,2602,0,0,0,0,0,0,28.83,25.82,28.83
$GC,727,-0.85,-175.2,108.8,-13.9,77,732,0.00,2.17,0.00,0.000,4,0.000,0.041,2129,3199,2602,0,0,0,0,0,0,28.83,25.82,28.83
$GC,776,-0.85,-175.2,115.2,-13.4,80,781,0.08,2.15,0.00,0.000,6,0.158,0.032,2152,1800,2601,0,0,0,0,0,0,25.70,25.82,28.83
$GC,1091,-0.85,-175.2,151.9,-12.3,101,1096,0.00,2.17,0.00,0.000,4,0.000,0.041,2144,3188,2601,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1174,-0.85,-175.2,161.2,-11.8,106,1179,0.00,2.22,0.00,0.000,6,0.000,0.032,2144,1796,2601,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,1218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1218,begin apogee
$GC,1221,-0.24,0.0,166.4,-11.2,109,1360,0.65,0.00,135.00,0.558,6,0.137,0.000,2349,1796,1889,0,0,0,0,0,0,25.73,28.83,24.34
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1362,0.85,175.2,169.7,0.0,118,1508,1.08,0.00,134.65,0.540,6,0.097,0.000,2702,1796,1172,0,0,0,0,0,0,24.73,28.83,24.22
$GC,1804,0.85,175.2,121.9,12.1,148,1809,0.00,2.20,0.00,0.000,4,0.000,0.038,2702,3188,1170,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1843,0.85,175.2,118.1,12.0,150,1855,0.00,2.22,0.00,0.000,6,0.000,0.032,2712,1801,1169,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2157,0.85,175.2,81.1,10.1,177,2170,0.00,2.25,0.00,0.000,4,0.000,0.052,2723,401,1169,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2195,0.85,175.2,76.9,11.2,180,2208,0.00,2.15,0.00,0.000,6,0.000,0.030,2722,1810,1169,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2326,0.85,175.2,63.1,10.1,193,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1811,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,0.85,175.2,51.1,10.1,205,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1811,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,0.85,175.2,34.9,10.9,227,2603,0.00,2.30,0.00,0.000,4,0.000,0.052,2733,397,1169,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2699,0.85,175.2,23.4,10.1,243,2710,0.00,2.15,0.00,0.000,6,0.000,0.031,2733,1809,1169,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2787,0.85,175.2,14.0,10.8,256,2798,0.00,2.30,0.00,0.000,4,0.000,0.051,2744,394,1168,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,0.5,1.020509
$STATE,2957,end surface coast,CONTROL_FINISHED_OK
$STATE,2958,begin surface
$SM_CCo,2975,97.05,0.457,0,0,585,320.11
$SM_GC,-0.03,7.12,2.20,97.05,0.054,0.027,0.457,104,1798,585,-7.19,-1.98,320.11,0,0,0,0,0,0,25.86,25.91,24.73
$IRIDIUM_FIX,4751.72,-12340.51,160414,131325
$TT8_MAMPS,0.113848,0.113848
$HUMID,36.92
$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,3.4/516052/498635
$MI_ROOT,70.6/190403/55927
$MI_HOME,3.0/436550/423586
$24V_AH,24.2,1.842
$10V_AH,10.4,1.263
$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,17.875,35.400,269.650,97.050,0.000,57.998,82.664,276.580,0.000,4105.800,41.116,0.000,859.516,324.417,2600.898,75.471,33.225,807.494,0.000,514.349,0.000,0.000,0.000
$DEVICE_MAMPS,274.635,52.020,557.685,456.705,0.000,58.900,160.000,223.000,0.000,41.717,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,190.376,0.000,0.000,0.000,0.000,0.000,4105.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.632,0.000,0.000,0.000
$MEM,231716
$DATA_FILE_SIZE,10149,282
$CAP_FILE_SIZE,132785,0
$CFSIZE,260034560,257339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,142648,4743.816,-12224.580,2,0.9,37,16.3