version: 66.10
glider: 163
mission: 3
dive: 11
start: 4 16 114 2 35 9
data:
$ID,163
$MISSION,3
$DIVE,11
$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,-1396801.1
$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,29
$R_STBD_OVSHOOT,56
$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
$GPS1,160414,021529,4743.939,-12224.409,1,0.8,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-65.1
$GPS2,160414,023427,4744.099,-12224.157,4,0.8,38,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.207,-0.047
$KALMAN_X,1077.4,-55.4,-274.0,-615.6,384.9
$KALMAN_Y,-1840.1,-327.1,-249.0,4657.1,1.9
$MHEAD_RNG_PITCHd_Wd,241.0,465,-18.0,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.05,-105.2,0.0,0.0,0,53,0.00,0.00,-34.88,0.000,2,0.000,0.000,125,1971,1563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.05,-105.2,3.0,-9.9,3,88,9.82,2.28,-18.15,0.000,4,0.243,0.061,2508,535,2335,0,0,0,0,0,0,25.30,25.49,25.60
$GC,146,-1.05,-105.2,19.8,-21.7,15,157,0.00,2.15,0.00,0.000,6,0.000,0.036,2499,1933,2337,0,0,0,0,0,0,28.83,25.58,28.83
$GC,234,-1.05,-105.2,34.5,-14.2,28,245,0.00,2.22,0.00,0.000,4,0.000,0.051,2489,3358,2337,0,0,0,0,0,0,28.83,25.61,28.83
$GC,259,-1.05,-105.2,38.1,-13.8,31,270,0.00,2.15,0.00,0.000,6,0.000,0.031,2489,1941,2337,0,0,0,0,0,0,28.83,25.64,28.83
$GC,348,-1.05,-105.2,50.1,-14.5,44,361,0.00,2.15,0.00,0.000,4,0.000,0.050,2488,548,2337,0,0,0,0,0,0,28.83,25.68,28.83
$GC,481,-1.05,-105.2,70.7,-15.5,55,493,0.10,2.17,0.00,0.000,6,0.164,0.037,2507,1944,2337,0,0,0,0,0,0,25.62,25.74,28.83
$GC,612,-1.05,-105.2,88.6,-13.4,68,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1944,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-1.05,-105.2,107.1,-15.4,79,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1944,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1036,-1.05,-105.2,145.5,-11.7,99,1041,0.00,2.17,0.00,0.000,4,0.000,0.051,2498,3357,2337,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,1201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1201,begin apogee
$GC,1206,-0.26,0.0,166.3,-12.9,109,1297,0.85,0.00,86.03,0.623,6,0.138,0.000,2758,1799,1905,0,0,0,0,0,0,25.72,28.83,24.43
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1299,1.05,105.2,170.8,0.0,115,1387,1.25,0.00,84.43,0.604,6,0.077,0.000,3182,1798,1477,0,0,0,0,0,0,24.91,28.83,24.18
$GC,1682,1.05,105.2,139.3,9.5,141,1687,0.00,2.17,0.00,0.000,4,0.000,0.047,3182,3199,1471,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1882,1.05,105.2,120.4,9.0,153,1886,0.00,2.20,0.00,0.000,6,0.000,0.031,3193,1792,1469,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2197,1.07,120.4,92.5,7.6,177,2210,0.00,0.00,12.48,0.542,6,0.000,0.000,3193,1792,1415,0,0,0,0,0,0,28.83,28.83,25.15
$GC,2329,1.07,120.4,80.0,10.1,190,2342,0.00,2.17,0.00,0.000,4,0.000,0.047,3193,3194,1412,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2437,1.07,120.4,69.8,9.4,199,2450,0.00,2.10,0.00,0.000,6,0.000,0.031,3202,1802,1412,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2568,1.07,120.4,56.5,9.6,212,2581,0.00,2.17,0.00,0.000,4,0.000,0.055,3214,398,1412,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3258,1.35,349.0,17.3,-3.9,316,3453,0.20,2.15,177.60,0.521,6,0.071,0.035,3292,1823,551,0,0,0,0,1,0,25.73,25.83,24.33
$STATE,3492,end climb,SURFACE_DEPTH_REACHED
$STATE,3492,begin surface coast
$FINISH,0.9,1.015377
$STATE,3511,end surface coast,CONTROL_FINISHED_OK
$STATE,3511,begin surface
$SM_CCo,3589,0.00,0.000,0,0,548,333.11
$SM_GC,1.74,8.75,0.17,0.00,0.036,0.075,0.000,127,1966,548,-8.44,-1.24,333.11,0,0,0,0,0,0,25.19,25.14,28.83
$IRIDIUM_FIX,4751.72,-12340.51,160414,020228
$TT8_MAMPS,0.095123,0.095123
$HUMID,31.68
$INTERNAL_PRESSURE,8.85019
$TCM_TEMP,19.00
$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,3.4/516036/498659
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.7/436382/424778
$24V_AH,24.2,1.543
$10V_AH,10.4,0.911
$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,20.975,30.850,360.525,0.000,0.000,69.245,84.407,525.748,0.000,4798.700,39.366,0.000,1027.594,253.508,3222.689,101.348,33.255,822.607,0.000,627.686,0.000,0.000,0.000
$DEVICE_MAMPS,242.505,74.970,623.475,0.000,0.000,60.440,160.000,223.000,0.000,42.556,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,231.118,0.000,0.000,0.000,0.000,0.000,4798.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.656,0.000,0.000,0.000
$MEM,198036
$DATA_FILE_SIZE,10158,343
$CAP_FILE_SIZE,157619,0
$CFSIZE,260034560,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160414,033550,4744.187,-12224.519,2,0.8,37,16.3