version: 66.10
glider: 163
mission: 3
dive: 8
start: 4 15 114 22 39 53
data:
$ID,163
$MISSION,3
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$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,65
$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,-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,310
$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,-1396719.5
$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,2868
$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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,150414,222856,4743.300,-12224.833,7,0.9,41,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.2
$GPS2,150414,223911,4743.307,-12224.822,3,1.1,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.114,0.240
$KALMAN_X,142.8,261.7,105.2,-1194.1,-361.8
$KALMAN_Y,-946.5,-60.1,-68.7,1857.3,-669.5
$MHEAD_RNG_PITCHd_Wd,9.1,1344,-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,-0.88,-175.9,0.0,0.0,0,51,0.00,0.00,-34.45,0.000,2,0.000,0.000,127,1786,1619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.88,-175.9,3.0,-8.8,3,96,10.23,2.20,-23.60,0.000,4,0.249,0.066,2580,390,2625,0,0,0,0,0,0,25.39,25.55,25.66
$GC,249,-0.88,-175.9,33.8,-13.6,31,260,0.00,2.15,0.00,0.000,6,0.000,0.037,2572,1804,2625,0,0,0,0,0,0,28.83,25.68,28.83
$GC,337,-0.88,-175.9,44.4,-10.8,44,348,0.00,2.17,0.00,0.000,4,0.000,0.048,2562,3209,2625,0,0,0,0,0,0,28.83,25.72,28.83
$GC,418,-0.88,-175.9,54.0,-12.1,54,431,0.00,2.20,0.00,0.000,6,0.000,0.033,2562,1798,2625,0,0,0,0,0,0,28.83,25.77,28.83
$GC,549,-0.88,-175.9,71.4,-14.4,67,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1798,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,669,-0.88,-175.9,85.9,-10.3,79,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1798,2625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,789,-0.88,-175.9,100.5,-12.2,91,794,0.00,2.17,0.00,0.000,4,0.000,0.056,2562,392,2625,0,0,0,0,0,0,28.83,25.81,28.83
$GC,888,-0.88,-175.9,112.6,-12.7,97,892,0.08,2.10,0.00,0.000,6,0.148,0.037,2576,1794,2625,0,0,0,0,0,0,25.75,25.84,28.83
$GC,1203,-0.88,-175.9,149.7,-10.6,118,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1793,2625,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1352,begin apogee
$GC,1354,-0.25,0.0,166.0,-10.6,128,1506,0.62,0.00,139.07,0.625,6,0.114,0.000,2782,1793,1906,0,0,0,0,0,0,25.81,28.83,24.29
$STATE,1507,end apogee,CONTROL_FINISHED_OK
$STATE,1507,begin climb
$GC,1508,0.88,175.9,170.9,0.0,138,1656,1.10,2.33,138.43,0.602,4,0.069,0.046,3155,3198,1187,0,0,0,0,0,0,24.82,24.65,24.20
$GC,1698,0.88,175.9,159.4,10.3,150,1711,0.00,2.25,0.00,0.000,6,0.000,0.034,3165,1796,1184,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2008,0.88,175.9,124.1,10.0,171,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1796,1183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,0.88,175.9,90.4,10.8,194,2326,0.00,2.17,0.00,0.000,4,0.000,0.056,3176,392,1182,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2432,0.88,175.9,77.6,11.0,204,2445,0.00,2.12,0.00,0.000,6,0.000,0.037,3172,1814,1182,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2563,0.88,175.9,64.2,10.0,217,2576,0.00,2.22,0.00,0.000,4,0.000,0.057,3187,387,1182,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2612,0.88,175.9,59.3,10.1,221,2626,0.10,2.10,0.00,0.000,6,0.143,0.036,3157,1797,1181,0,0,0,0,0,0,25.72,25.84,28.83
$GC,2746,0.88,175.9,48.0,8.5,235,2757,0.00,2.15,0.00,0.000,4,0.000,0.047,3157,3198,1181,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2790,0.88,175.9,43.7,10.3,241,2801,0.00,2.12,0.00,0.000,6,0.000,0.034,3165,1792,1181,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2878,0.88,175.9,34.9,9.7,254,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1792,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2966,0.88,175.9,26.7,9.6,267,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1792,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,0.88,175.9,18.1,9.8,280,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1792,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3141,0.88,175.9,9.7,10.2,293,3152,0.00,2.17,0.00,0.000,4,0.000,0.047,3165,3197,1181,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3204,1.02,287.7,5.7,4.8,302,3302,0.00,2.12,86.07,0.523,6,0.000,0.032,3176,1794,734,0,0,0,0,0,0,28.83,25.89,24.69
$STATE,3308,end climb,SURFACE_DEPTH_REACHED
$STATE,3308,begin surface coast
$FINISH,0.9,1.005008
$STATE,3435,end surface coast,CONTROL_FINISHED_OK
$STATE,3435,begin surface
$SM_CCo,3451,20.83,0.104,1,0,643,310.30
$SM_GC,2.51,8.38,0.00,20.83,0.041,0.000,0.104,128,1794,643,-8.49,-0.17,310.30,0,0,0,0,1,0,25.51,28.83,25.01
$IRIDIUM_FIX,4751.72,-12340.51,150414,222221
$TT8_MAMPS,0.096621,0.096621
$HUMID,32.87
$INTERNAL_PRESSURE,8.87949
$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,3.4/516036/498670
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.6/436382/425233
$24V_AH,24.2,1.138
$10V_AH,10.4,0.676
$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,20.500,34.775,363.575,20.825,0.000,30.471,35.341,176.920,0.000,4197.400,40.115,0.000,903.159,313.490,2596.755,46.924,33.213,903.585,0.000,579.401,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,65.790,625.005,104.040,0.000,60.440,160.000,223.000,0.000,42.519,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,222.896,0.000,0.000,0.000,0.000,0.000,4197.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.620,0.000,0.000,0.000
$MEM,197980
$DATA_FILE_SIZE,10117,332
$CAP_FILE_SIZE,128048,0
$CFSIZE,260034560,257667072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,233842,4743.343,-12224.872,2,0.9,36,16.3