version: 66.10
glider: 163
mission: 3
dive: 5
start: 4 15 114 20 12 44
data:
$ID,163
$MISSION,3
$DIVE,5
$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,-1396715.8
$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,2870
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,150414,200518,4743.237,-12223.808,2,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.3
$GPS2,150414,201135,4743.235,-12223.778,4,1.0,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.191,0.207
$KALMAN_X,552.5,276.7,234.2,-453.2,57.3
$KALMAN_Y,195.0,142.7,135.5,175.9,-0.7
$MHEAD_RNG_PITCHd_Wd,301.0,1678,-15.8,-10.000
$D_GRID,48
$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,-1.01,-175.9,0.0,0.0,0,57,0.00,0.00,-40.45,0.000,2,0.000,0.000,124,1823,1758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.01,-175.9,3.3,-7.3,6,93,10.20,2.30,-19.75,0.000,4,0.256,0.071,2539,387,2626,0,0,0,0,0,0,25.46,25.54,25.77
$GC,241,-1.01,-175.9,35.6,-16.8,41,250,0.00,2.20,0.00,0.000,6,0.000,0.038,2531,1796,2626,0,0,0,0,0,0,28.83,25.77,28.83
$GC,308,-1.01,-175.9,46.4,-16.3,54,316,0.00,2.22,0.00,0.000,4,0.000,0.051,2520,3205,2626,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,319,begin apogee
$GC,323,-0.25,0.0,48.2,-15.7,56,466,0.82,0.00,136.85,0.539,6,0.130,0.000,2779,1797,1905,0,0,0,0,0,0,25.72,28.83,24.50
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,468,1.01,175.9,53.4,0.0,72,616,1.23,2.33,135.10,0.522,4,0.073,0.047,3198,3198,1187,0,0,0,0,0,0,24.92,24.82,24.42
$GC,635,1.01,181.0,43.1,9.8,94,650,0.00,2.22,5.25,0.386,6,0.000,0.033,3209,1799,1167,0,0,0,0,0,0,28.83,25.08,24.63
$GC,709,1.01,181.0,35.4,11.0,108,716,0.00,2.28,0.00,0.000,4,0.000,0.048,3209,3206,1165,0,0,0,0,0,0,28.83,25.32,28.83
$GC,780,1.01,181.0,27.0,11.9,122,788,0.00,2.20,0.00,0.000,6,0.000,0.034,3219,1800,1162,0,0,0,0,0,0,28.83,25.53,28.83
$GC,847,1.01,181.0,19.0,11.0,135,855,0.00,2.28,0.00,0.000,4,0.000,0.057,3230,384,1162,0,0,0,0,0,0,28.83,25.57,28.83
$GC,919,1.07,227.5,11.7,8.2,149,960,0.00,2.20,36.95,0.504,6,0.000,0.037,3230,1807,978,0,0,0,0,0,0,28.83,25.67,24.93
$GC,1019,1.07,232.2,3.3,9.8,167,1028,0.00,0.00,4.65,0.365,6,0.000,0.000,3230,1807,958,0,0,0,0,0,0,28.83,28.83,25.03
$STATE,1030,end climb,SURFACE_DEPTH_REACHED
$STATE,1030,begin surface coast
$FINISH,0.6,1.010996
$STATE,1061,end surface coast,CONTROL_FINISHED_OK
$STATE,1061,begin surface
$SM_CCo,1076,69.65,0.388,1,0,600,320.11
$SM_GC,1.40,8.55,0.00,69.65,0.046,0.000,0.388,127,1808,600,-8.51,0.23,320.11,0,0,0,0,1,0,25.56,28.83,24.77
$IRIDIUM_FIX,4751.72,-12056.72,150414,202054
$TT8_MAMPS,0.095872,0.095872
$HUMID,32.51
$INTERNAL_PRESSURE,8.87949
$TCM_TEMP,19.10
$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,3.4/516036/498671
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.4/436382/425922
$24V_AH,24.4,0.783
$10V_AH,10.5,0.441
$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,20.800,22.425,318.800,69.650,0.000,33.805,38.694,115.010,0.000,1676.400,39.825,0.000,306.761,407.893,747.188,41.345,33.198,645.154,0.000,288.553,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,71.145,539.325,387.855,0.000,60.440,160.000,223.000,0.000,42.768,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,113.868,0.000,0.000,0.000,0.000,0.000,1676.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.515,0.000,0.000,0.000
$MEM,198128
$DATA_FILE_SIZE,3517,175
$CAP_FILE_SIZE,30931,0
$CFSIZE,260034560,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,203247,4743.249,-12223.925,1,1.1,36,16.3