version: 66.10
glider: 163
mission: 3
dive: 6
start: 4 15 114 20 39 50
data:
$ID,163
$MISSION,3
$DIVE,6
$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,0
$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,290
$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,-1396717
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,150414,203247,4743.249,-12223.925,1,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.6
$GPS2,150414,203908,4743.248,-12223.918,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,HEADING
$TGT_LATLONG,4746.941,-12239.021
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.231,0.162
$KALMAN_X,550.7,295.5,237.0,-645.8,-0.8
$KALMAN_Y,77.4,131.0,122.2,340.3,-234.1
$MHEAD_RNG_PITCHd_Wd,288.8,20000,-15.8,-10.000
$D_GRID,150
$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,-175.9,0.0,0.0,0,57,0.00,0.00,-41.03,0.000,2,0.000,0.000,127,1810,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.01,-175.9,3.4,-7.1,6,93,10.15,2.25,-18.98,0.000,4,0.255,0.070,2541,391,2626,0,0,0,0,0,0,25.44,25.60,25.72
$GC,212,-1.01,-175.9,31.4,-16.3,35,219,0.00,2.17,0.00,0.000,6,0.000,0.037,2532,1795,2627,0,0,0,0,0,0,28.83,25.73,28.83
$GC,279,-1.01,-175.9,41.6,-14.9,48,286,0.00,2.22,0.00,0.000,4,0.000,0.050,2522,3205,2627,0,0,0,0,0,0,28.83,25.76,28.83
$GC,380,-1.01,-175.9,56.6,-13.7,64,384,0.00,2.17,0.00,0.000,6,0.000,0.033,2522,1798,2626,0,0,0,0,0,0,28.83,25.82,28.83
$GC,510,-1.01,-175.9,75.1,-14.5,77,514,0.00,2.22,0.00,0.000,4,0.000,0.056,2522,397,2627,0,0,0,0,0,0,28.83,25.83,28.83
$GC,524,-1.01,-175.9,76.7,-14.5,78,533,0.10,2.17,0.00,0.000,6,0.156,0.037,2541,1801,2627,0,0,0,0,0,0,25.67,25.76,28.83
$GC,650,-1.01,-175.9,94.1,-13.2,91,654,0.00,2.25,0.00,0.000,4,0.000,0.056,2541,391,2627,0,0,0,0,0,0,28.83,25.85,28.83
$GC,710,-1.01,-175.9,102.9,-14.5,97,714,0.00,2.20,0.00,0.000,6,0.000,0.037,2533,1809,2627,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1025,-1.01,-175.9,147.7,-13.7,118,1029,0.00,2.17,0.00,0.000,4,0.000,0.050,2523,3198,2627,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,1054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1054,begin apogee
$GC,1059,-0.25,0.0,151.6,-13.4,120,1208,0.82,0.00,139.18,0.614,6,0.122,0.000,2787,1795,1904,0,0,0,0,0,0,25.83,28.83,24.37
$STATE,1209,end apogee,CONTROL_FINISHED_OK
$STATE,1209,begin climb
$GC,1210,1.01,175.9,156.1,0.0,130,1359,1.17,2.35,136.48,0.591,4,0.067,0.057,3204,396,1189,0,0,0,0,0,0,24.89,24.72,24.30
$GC,1412,1.01,175.9,141.6,12.1,143,1421,0.00,2.22,0.00,0.000,6,0.000,0.035,3204,1800,1187,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1718,1.01,175.9,100.2,13.5,164,1722,0.00,2.20,0.00,0.000,4,0.000,0.048,3204,3195,1186,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1848,1.01,175.9,82.6,13.0,177,1852,0.00,2.17,0.00,0.000,6,0.000,0.034,3215,1793,1185,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1978,1.01,175.9,67.2,11.0,190,1982,0.00,2.22,0.00,0.000,4,0.000,0.057,3226,392,1185,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2068,1.01,175.9,56.4,12.0,199,2072,0.10,2.17,0.00,0.000,6,0.168,0.036,3197,1805,1185,0,0,0,0,0,0,25.72,25.84,28.83
$GC,2193,1.01,175.9,42.0,11.5,218,2201,0.00,2.17,0.00,0.000,4,0.000,0.047,3196,3196,1181,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2230,1.01,175.9,37.6,11.6,225,2238,0.00,2.15,0.00,0.000,6,0.000,0.034,3205,1802,1185,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2297,1.01,175.9,30.2,11.7,238,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1802,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,1.01,175.9,22.7,12.4,251,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1802,1184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,1.01,175.9,16.0,10.3,263,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1802,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,1.13,276.4,11.3,6.1,275,2569,0.00,2.28,77.35,0.523,4,0.000,0.057,3216,395,779,0,0,0,0,0,0,28.83,25.16,24.79
$STATE,2597,end climb,SURFACE_DEPTH_REACHED
$STATE,2597,begin surface coast
$FINISH,0.8,1.011282
$STATE,2622,end surface coast,CONTROL_FINISHED_OK
$STATE,2622,begin surface
$SM_CCo,2639,35.15,0.391,1,0,600,320.11
$SM_GC,1.84,8.55,2.22,35.15,0.043,0.035,0.391,127,1791,600,-8.51,-1.39,320.11,0,0,0,0,1,0,25.41,25.38,24.82
$IRIDIUM_FIX,4751.72,-12340.51,150414,202016
$TT8_MAMPS,0.095872,0.095872
$HUMID,34.24
$INTERNAL_PRESSURE,8.86972
$TCM_TEMP,18.90
$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,2.4/436382/425826
$24V_AH,24.3,0.894
$10V_AH,10.3,0.502
$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,20.900,44.200,353.000,35.150,0.000,30.351,36.779,118.907,0.000,3184.600,39.650,0.000,1421.128,421.514,1131.507,29.359,33.200,803.582,0.000,564.138,0.000,0.000,0.000
$DEVICE_MAMPS,254.745,70.380,614.295,390.915,0.000,60.440,160.000,223.000,0.000,43.487,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,200.140,0.000,0.000,0.000,0.000,0.000,3184.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.403,0.000,0.000,0.000
$MEM,197972
$DATA_FILE_SIZE,10152,299
$CAP_FILE_SIZE,48845,0
$CFSIZE,260034560,257810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,212521,4743.212,-12224.512,2,1.2,36,16.3