version: 66.10
glider: 163
mission: 3
dive: 17
start: 4 16 114 10 17 25
data:
$ID,163
$MISSION,3
$DIVE,17
$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,200
$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,-1396808.6
$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,34
$R_STBD_OVSHOOT,53
$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
$GPS1,160414,095811,4743.800,-12224.403,3,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.4
$GPS2,160414,101643,4743.860,-12224.305,5,0.8,39,16.3
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.023,-0.277
$KALMAN_X,2369.9,58.5,62.3,-2539.4,-65.7
$KALMAN_Y,711.2,554.6,424.3,116.1,-311.4
$MHEAD_RNG_PITCHd_Wd,168.4,2162,-12.5,-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,-0.88,-195.4,0.0,0.0,0,61,0.00,0.00,-44.92,0.000,2,0.000,0.000,131,1967,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.88,-195.4,3.7,-9.0,4,96,10.15,2.20,-16.73,0.000,4,0.243,0.062,2555,3336,2707,0,0,0,0,0,0,25.27,25.44,25.55
$GC,104,-0.88,-195.4,12.5,-18.9,8,115,0.00,2.12,0.00,0.000,6,0.000,0.031,2555,1951,2706,0,0,0,0,0,0,28.83,25.47,28.83
$GC,192,-0.88,-195.4,24.8,-13.0,21,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1951,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,280,-0.88,-195.4,36.1,-13.4,34,291,0.00,2.20,0.00,0.000,4,0.000,0.052,2554,545,2705,0,0,0,0,0,0,28.83,25.59,28.83
$GC,368,-0.88,-195.4,49.1,-14.8,47,379,0.00,2.12,0.00,0.000,6,0.000,0.037,2547,1933,2705,0,0,0,0,0,0,28.83,25.57,28.83
$GC,437,-0.88,-195.4,59.5,-15.1,54,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1933,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,558,-0.88,-195.4,76.8,-14.9,66,570,0.00,2.17,0.00,0.000,4,0.000,0.050,2536,3351,2705,0,0,0,0,0,0,28.83,25.58,28.83
$GC,597,-0.88,-195.4,82.2,-14.2,69,610,0.12,2.20,0.00,0.000,6,0.151,0.030,2567,1941,2705,0,0,0,0,0,0,25.63,25.71,28.83
$GC,729,-0.88,-195.4,99.4,-12.9,82,741,0.00,2.15,0.00,0.000,4,0.000,0.052,2567,551,2705,0,0,0,0,0,0,28.83,25.72,28.83
$GC,783,-0.88,-195.4,106.3,-12.6,86,788,0.00,2.10,0.00,0.000,6,0.000,0.036,2561,1954,2705,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1098,-0.88,-195.4,143.6,-12.6,107,1102,0.00,2.20,0.00,0.000,4,0.000,0.051,2560,540,2705,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1181,-0.88,-195.4,154.0,-13.1,112,1186,0.00,2.20,0.00,0.000,6,0.000,0.035,2551,1955,2704,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1273,-0.26,0.0,165.6,-12.7,118,1440,0.65,0.00,154.62,0.617,6,0.119,0.000,2758,1791,1903,0,0,0,0,0,0,25.63,28.83,24.13
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1442,0.88,195.4,172.6,0.0,129,1605,1.10,0.00,154.15,0.595,6,0.076,0.000,3130,1790,1108,0,0,0,0,0,0,24.68,28.83,24.05
$GC,1901,0.88,195.4,136.2,9.9,160,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1791,1105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,0.88,195.4,107.1,8.9,180,2206,0.00,2.17,0.00,0.000,4,0.000,0.054,3141,392,1104,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2249,0.88,195.4,102.6,9.2,183,2254,0.00,2.15,0.00,0.000,6,0.000,0.035,3141,1805,1104,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2559,0.88,195.4,72.5,10.5,213,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1805,1104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2679,0.88,195.4,60.1,10.5,225,2692,0.00,2.12,0.00,0.000,4,0.000,0.047,3140,3195,1103,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2741,0.88,195.4,53.3,11.2,230,2753,0.00,2.08,0.00,0.000,6,0.000,0.032,3152,1806,1103,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2897,0.88,195.4,38.2,8.9,253,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1802,1103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,0.88,195.4,30.2,8.8,266,2996,0.00,2.22,0.00,0.000,4,0.000,0.054,3163,380,1103,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3086,0.88,195.4,20.1,10.6,281,3097,0.00,2.15,0.00,0.000,6,0.000,0.035,3162,1804,1103,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3175,0.94,240.6,12.5,7.1,294,3218,0.00,2.22,35.90,0.521,4,0.000,0.045,3159,3201,923,0,0,0,0,0,0,28.83,25.41,25.01
$STATE,3326,end climb,SURFACE_DEPTH_REACHED
$STATE,3326,begin surface coast
$FINISH,0.8,1.009486
$STATE,3396,end surface coast,CONTROL_FINISHED_OK
$STATE,3396,begin surface
$SM_CCo,3415,68.57,0.375,3,0,601,320.11
$SM_GC,1.73,8.27,1.98,68.57,0.038,0.030,0.375,124,1941,601,-8.44,0.99,320.11,0,0,0,0,3,0,25.63,25.61,24.77
$IRIDIUM_FIX,4751.72,-12340.51,160414,101039
$TT8_MAMPS,0.093625,0.093625
$HUMID,31.41
$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,3.4/516036/498644
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.8/436382/424309
$24V_AH,24.0,2.457
$10V_AH,10.4,1.514
$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,20.300,39.025,344.675,68.575,0.000,31.497,34.989,489.359,0.000,4687.400,40.173,0.000,909.655,352.425,2980.036,103.775,33.252,923.782,0.000,573.848,0.000,0.000,0.000
$DEVICE_MAMPS,243.270,65.790,616.590,374.850,0.000,60.440,160.000,223.000,0.000,43.339,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,219.325,0.000,0.000,0.000,0.000,0.000,4687.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.822,0.000,0.000,0.000
$MEM,198124
$DATA_FILE_SIZE,10154,326
$CAP_FILE_SIZE,155232,0
$CFSIZE,260034560,257196032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,160414,111638,4743.084,-12224.522,3,0.9,38,16.3