version: 66.10
glider: 163
mission: 3
dive: 18
start: 4 16 114 11 35 26
data:
$ID,163
$MISSION,3
$DIVE,18
$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,-1396809.9
$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,36
$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
$GPS1,160414,111638,4743.084,-12224.522,3,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.3
$GPS2,160414,113444,4743.046,-12224.324,4,0.8,39,16.3
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.112,-0.094
$KALMAN_X,2611.1,122.6,-188.5,-2616.8,72.6
$KALMAN_Y,666.6,697.3,-93.9,-973.1,-400.9
$MHEAD_RNG_PITCHd_Wd,213.8,678,-27.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.44,-49.1,0.0,0.0,0,61,0.00,0.00,-45.05,0.000,2,0.000,0.000,123,1941,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.44,-49.2,3.7,-8.5,4,85,9.50,2.25,-5.00,0.000,4,0.249,0.063,2381,542,2110,0,0,0,0,0,0,25.23,25.33,25.53
$GC,118,-1.44,-49.2,17.1,-19.7,11,129,0.00,2.15,0.00,0.000,6,0.000,0.035,2372,1954,2112,0,0,0,0,0,0,28.83,25.49,28.83
$GC,206,-1.44,-49.2,31.1,-14.6,24,217,0.00,2.22,0.00,0.000,4,0.000,0.047,2372,535,2112,0,0,0,0,0,0,28.83,25.54,28.83
$GC,263,-1.44,-49.2,40.4,-17.5,32,274,0.00,2.15,0.00,0.000,6,0.000,0.035,2361,1948,2112,0,0,0,0,0,0,28.83,25.60,28.83
$GC,350,-1.44,-49.2,54.9,-16.3,43,363,0.00,2.15,0.00,0.000,4,0.000,0.049,2351,3347,2112,0,0,0,0,0,0,28.83,25.61,28.83
$GC,644,-1.44,-49.2,101.9,-16.9,68,656,0.15,2.12,0.00,0.000,6,0.194,0.028,2384,1937,2111,0,0,0,0,0,0,25.56,25.72,28.83
$GC,949,-1.44,-49.2,149.3,-15.4,89,954,0.00,2.17,0.00,0.000,4,0.000,0.049,2374,3350,2111,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,1047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1047,begin apogee
$GC,1051,-0.26,0.0,165.0,-16.4,95,1098,1.33,0.00,43.28,0.617,6,0.170,0.000,2757,1793,1906,0,0,0,0,0,0,25.64,28.83,24.75
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1100,1.44,49.2,168.6,0.0,98,1157,1.60,2.22,41.50,0.598,4,0.076,0.050,3318,405,1704,0,0,0,0,0,0,25.21,24.87,24.36
$GC,1233,1.48,78.2,163.2,5.1,106,1261,0.00,2.20,24.27,0.588,6,0.000,0.032,3318,1805,1587,0,0,0,0,0,0,28.83,25.24,24.54
$GC,1557,1.48,79.7,135.8,8.3,128,1562,0.00,2.15,0.00,0.000,4,0.000,0.046,3314,3204,1582,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1672,1.48,79.7,123.2,10.9,135,1677,0.00,2.10,0.00,0.000,6,0.000,0.031,3323,1802,1578,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1987,1.48,79.7,90.4,10.2,159,2000,0.00,2.17,0.00,0.000,4,0.000,0.045,3323,3199,1579,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2639,1.50,94.3,41.4,6.8,223,2662,0.00,2.10,13.45,0.524,6,0.000,0.031,3333,1796,1519,0,0,0,0,0,0,28.83,25.80,25.20
$GC,2739,1.51,100.8,34.2,7.7,237,2750,0.00,0.00,6.68,0.458,6,0.000,0.000,3332,1796,1493,0,0,0,0,0,0,28.83,28.83,25.10
$GC,2828,1.51,100.8,26.7,8.8,250,2839,0.00,2.17,0.00,0.000,4,0.000,0.051,3342,401,1493,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3521,1.60,177.5,15.3,-0.4,359,3597,0.00,2.10,61.35,0.529,6,0.000,0.034,3342,1807,1181,0,0,0,0,0,0,28.83,25.79,24.75
$GC,3674,1.64,208.5,11.4,4.9,378,3708,0.12,2.25,25.30,0.508,4,0.096,0.046,3391,3195,1052,0,0,0,0,0,0,25.36,25.15,24.74
$STATE,3765,end climb,SURFACE_DEPTH_REACHED
$STATE,3765,begin surface coast
$FINISH,0.9,1.002730
$STATE,3797,end surface coast,CONTROL_FINISHED_OK
$STATE,3797,begin surface
$SM_CCo,3817,98.35,0.412,3,0,599,320.60
$SM_GC,2.01,9.15,1.98,98.35,0.050,0.029,0.412,132,1949,599,-8.43,1.13,320.60,0,0,0,0,3,0,25.39,25.37,24.46
$IRIDIUM_FIX,4751.72,-12340.51,160414,111156
$TT8_MAMPS,0.095872,0.095872
$HUMID,30.86
$INTERNAL_PRESSURE,8.85996
$TCM_TEMP,19.10
$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,3.4/516036/498641
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.8/436382/424361
$24V_AH,24.4,2.596
$10V_AH,10.4,1.627
$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,21.850,39.075,215.825,98.350,0.000,28.810,33.887,473.504,0.000,5077.700,40.942,0.000,878.893,302.357,3471.951,109.158,33.252,864.682,0.000,747.672,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,62.730,616.590,411.570,0.000,60.440,160.000,223.000,0.000,43.990,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,268.048,0.000,0.000,0.000,0.000,0.000,5077.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.788,0.000,0.000,0.000
$MEM,198076
$DATA_FILE_SIZE,13472,395
$CAP_FILE_SIZE,174343,0
$CFSIZE,260034560,257122304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,160414,124151,4742.714,-12224.869,3,1.0,38,16.3