version: 66.10
glider: 163
mission: 3
dive: 2
start: 4 15 114 17 47 51
data:
$ID,163
$MISSION,3
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,3
$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,50
$T_MISSION,80
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51722
$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,1942
$TGT_DEFAULT_LON,11848
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1396595.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1906
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-20.808033
$PRESSURE_SLOPE,0.00011605668
$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,15
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$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,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,150414,173207,4742.924,-12224.123,1,1.2,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.1
$GPS2,150414,174645,4743.002,-12224.048,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.213,0.185
$KALMAN_X,67.1,67.1,67.1,67.1,109.0
$KALMAN_Y,105.1,105.1,105.1,-113.4,170.8
$MHEAD_RNG_PITCHd_Wd,294.8,1933,-15.8,-10.000
$D_GRID,51
$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,14,-1.01,-175.9,0.0,0.0,0,63,0.00,0.00,-46.55,0.000,2,0.000,0.000,132,1794,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.01,-175.9,3.2,-6.4,7,98,10.12,2.17,-15.77,0.000,4,0.259,0.071,2532,401,2625,0,0,0,0,0,0,25.63,25.83,25.98
$GC,312,-1.01,-175.9,47.2,-16.3,55,320,0.00,2.12,0.00,0.000,6,0.000,0.037,2524,1783,2626,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,337,begin apogee
$GC,340,-0.25,0.0,51.9,-18.1,59,482,0.80,0.00,135.68,0.558,6,0.132,0.000,2776,1784,1905,0,0,0,0,0,0,25.86,28.83,24.65
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,484,1.01,175.9,58.0,0.0,73,625,1.17,2.28,133.85,0.532,4,0.075,0.049,3183,3204,1187,0,0,0,0,0,0,25.09,25.00,24.59
$GC,654,1.02,188.4,48.9,9.5,90,669,0.00,2.22,10.98,0.472,6,0.000,0.034,3194,1799,1136,0,0,0,0,0,0,28.83,25.28,24.79
$GC,728,1.02,188.4,40.4,12.4,104,736,0.00,2.25,0.00,0.000,4,0.000,0.047,3193,3202,1134,0,0,0,0,0,0,28.83,25.48,28.83
$GC,770,1.02,188.4,35.0,13.4,112,778,0.00,2.17,0.00,0.000,6,0.000,0.034,3204,1805,1134,0,0,0,0,0,0,28.83,25.62,28.83
$GC,837,1.02,188.4,26.9,11.2,125,845,0.00,2.28,0.00,0.000,4,0.000,0.058,3215,389,1134,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1013,1.13,276.8,8.1,6.6,160,1086,0.00,2.17,67.00,0.512,6,0.000,0.037,3215,1805,778,0,0,0,0,0,0,28.83,25.89,24.93
$STATE,1099,end climb,SURFACE_DEPTH_REACHED
$STATE,1099,begin surface coast
$FINISH,0.4,1.019770
$STATE,1139,end surface coast,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$SM_CCo,1154,32.97,0.259,1,0,600,320.11
$SM_GC,1.36,8.40,0.00,32.97,0.039,0.000,0.259,132,1808,600,-8.47,0.23,320.11,0,0,0,0,1,0,25.58,28.83,25.06
$IRIDIUM_FIX,4751.72,-12340.51,150414,171753
$TT8_MAMPS,0.095872,0.095872
$HUMID,33.46
$INTERNAL_PRESSURE,8.90879
$TCM_TEMP,19.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,22
$MI_LOG,3.4/516036/498681
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.2/436382/426875
$24V_AH,24.6,0.384
$10V_AH,10.5,0.255
$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,20.500,17.675,347.500,32.975,0.000,0.000,0.000,0.000,0.000,1327.200,39.433,0.000,357.669,389.032,509.830,32.809,30.061,624.849,0.000,304.302,0.000,0.000,0.000
$DEVICE_MAMPS,258.570,71.145,557.685,259.335,0.000,0.000,0.000,0.000,0.000,36.475,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,118.951,0.000,0.000,0.000,0.000,0.000,1327.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.281,0.000,0.000,0.000
$MEM,198196
$DATA_FILE_SIZE,3492,182
$CAP_FILE_SIZE,90165,0
$CFSIZE,260034560,257892352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,180835,4743.109,-12224.171,1,0.9,35,16.3