version: 66.10
glider: 163
mission: 3
dive: 10
start: 4 16 114 1 20 12
data:
$ID,163
$MISSION,3
$DIVE,10
$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,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,-1396799.9
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,39
$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
$GPS1,160414,005929,4743.559,-12224.503,2,1.0,36,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-63.8
$GPS2,160414,011930,4743.667,-12224.126,4,1.0,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.112,0.234
$KALMAN_X,570.3,102.3,-288.2,-217.8,-18.5
$KALMAN_Y,-1755.1,-241.0,-294.5,3728.8,-288.9
$MHEAD_RNG_PITCHd_Wd,318.1,774,-13.8,-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,14,-0.91,-166.4,0.0,0.0,0,51,0.00,0.00,-35.03,0.000,2,0.000,0.000,130,1954,1530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-0.92,-175.9,3.2,-7.3,5,94,9.75,2.25,-26.73,0.000,4,0.238,0.067,2543,530,2625,0,0,0,0,0,0,25.42,25.59,25.70
$GC,382,-0.92,-175.9,55.6,-14.0,65,391,0.00,2.20,0.00,0.000,6,0.000,0.036,2540,1944,2626,0,0,0,0,0,0,28.83,25.75,28.83
$GC,508,-0.92,-175.9,76.9,-18.3,78,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1947,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,628,-0.92,-175.9,96.2,-14.5,90,632,0.00,2.22,0.00,0.000,4,0.000,0.051,2540,548,2626,0,0,0,0,0,0,28.83,25.79,28.83
$GC,652,-0.92,-175.9,99.0,-14.0,92,661,0.00,2.17,0.00,0.000,6,0.000,0.037,2530,1951,2626,0,0,0,0,0,0,28.83,25.80,28.83
$GC,778,-0.92,-175.9,116.1,-12.4,101,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1951,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1078,-0.92,-175.9,155.9,-12.9,121,1082,0.00,2.20,0.00,0.000,4,0.000,0.051,2520,3350,2629,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1127,-0.92,-175.9,162.5,-14.4,124,1132,0.08,2.17,0.00,0.000,6,0.148,0.031,2543,1943,2626,0,0,0,0,0,0,25.74,25.84,28.83
$STATE,1152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1152,begin apogee
$GC,1155,-0.26,0.0,166.6,-14.2,126,1300,0.68,0.00,140.25,0.621,6,0.123,0.000,2760,1794,1905,0,0,0,0,0,0,25.75,28.83,24.23
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1300,begin climb
$GC,1301,0.92,175.9,173.1,0.0,135,1451,1.15,2.35,138.20,0.598,4,0.074,0.047,3144,3194,1186,0,0,0,0,0,0,24.70,24.59,24.13
$GC,1495,0.92,175.9,160.4,10.4,148,1499,0.00,2.22,0.00,0.000,6,0.000,0.032,3155,1798,1184,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1810,0.92,175.9,129.3,9.9,169,1814,0.00,2.22,0.00,0.000,4,0.000,0.047,3155,3199,1182,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1890,0.92,175.9,121.3,10.9,174,1894,0.00,2.17,0.00,0.000,6,0.000,0.031,3165,1799,1181,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2201,0.92,175.9,88.2,8.6,199,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1799,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,0.92,175.9,76.2,11.4,211,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1798,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,0.92,175.9,62.8,11.0,223,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1799,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2561,0.92,175.9,51.9,9.0,235,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1799,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,0.92,175.9,39.3,10.4,257,2688,0.00,2.22,0.00,0.000,4,0.000,0.055,3176,395,1181,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2797,0.92,175.9,27.0,10.6,280,2805,0.00,2.17,0.00,0.000,6,0.000,0.035,3176,1803,1180,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2864,0.92,175.9,20.6,8.5,293,2872,0.00,2.28,0.00,0.000,4,0.000,0.055,3187,384,1180,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2891,0.93,181.9,18.4,8.3,298,2900,0.10,2.17,4.97,0.409,6,0.135,0.035,3156,1800,1168,0,0,0,0,0,0,25.74,25.84,25.32
$GC,2959,1.04,272.7,13.8,5.3,311,3040,0.00,2.28,71.43,0.525,4,0.000,0.047,3155,3195,792,0,0,0,0,0,0,28.83,25.13,24.73
$GC,3059,1.04,272.7,6.4,9.3,327,3067,0.00,2.22,0.00,0.000,6,0.000,0.033,3163,1796,791,0,0,0,0,0,0,28.83,25.24,28.83
$STATE,3125,end climb,SURFACE_DEPTH_REACHED
$STATE,3125,begin surface coast
$FINISH,0.9,1.020187
$STATE,3205,end surface coast,CONTROL_FINISHED_OK
$STATE,3206,begin surface
$SM_CCo,3221,38.00,0.403,1,0,599,320.11
$SM_GC,1.60,8.32,0.22,38.00,0.041,0.062,0.403,126,1967,599,-8.44,-1.24,320.11,0,0,0,0,1,0,25.53,25.54,24.86
$IRIDIUM_FIX,4751.72,-12340.51,160414,010148
$TT8_MAMPS,0.096621,0.096621
$HUMID,32.94
$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,23
$MI_LOG,3.4/516036/498661
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.7/436382/424710
$24V_AH,24.1,1.391
$10V_AH,10.4,0.807
$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,20.075,35.975,354.850,38.000,0.000,0.000,0.000,0.000,0.000,3363.800,39.386,0.000,1881.476,434.624,995.797,22.236,33.207,817.589,0.000,600.983,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,73.440,621.180,403.155,0.000,0.000,0.000,0.000,0.000,41.954,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,239.454,0.000,0.000,0.000,0.000,0.000,3363.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.442,0.000,0.000,0.000
$MEM,198112
$DATA_FILE_SIZE,10160,356
$CAP_FILE_SIZE,92135,0
$CFSIZE,260034560,257626112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,021529,4743.939,-12224.409,1,0.8,36,16.3