version: 66.10
glider: 163
mission: 3
dive: 20
start: 4 16 114 14 26 35
data:
$ID,163
$MISSION,3
$DIVE,20
$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,-1396812.4
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,160414,140702,4742.776,-12224.534,4,1.1,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.1
$GPS2,160414,142553,4743.004,-12224.415,4,0.9,38,16.3
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.052,-0.230
$KALMAN_X,2490.0,210.2,-349.2,-2532.0,95.1
$KALMAN_Y,1626.0,794.6,-809.3,-1403.8,342.8
$MHEAD_RNG_PITCHd_Wd,176.4,573,-15.7,-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,-0.97,-133.7,0.0,0.0,0,61,0.00,0.00,-44.90,0.000,2,0.000,0.000,123,1951,1844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.98,-142.0,3.6,-8.1,4,96,10.05,2.30,-13.50,0.000,4,0.247,0.066,2525,548,2487,0,0,0,0,0,0,25.25,25.44,25.55
$GC,149,-0.98,-142.0,21.2,-18.4,15,160,0.00,2.15,0.00,0.000,6,0.000,0.036,2516,1960,2488,0,0,0,0,0,0,28.83,25.50,28.83
$GC,237,-0.98,-142.0,34.9,-14.4,28,248,0.00,2.17,0.00,0.000,4,0.000,0.051,2506,3353,2488,0,0,0,0,0,0,28.83,25.56,28.83
$GC,275,-0.98,-142.0,40.5,-14.6,33,286,0.00,2.12,0.00,0.000,6,0.000,0.030,2506,1954,2488,0,0,0,0,0,0,28.83,25.58,28.83
$GC,365,-0.98,-142.0,53.6,-14.4,45,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1954,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,485,-0.98,-142.0,71.9,-15.9,57,498,0.00,2.17,0.00,0.000,4,0.000,0.050,2506,549,2487,0,0,0,0,0,0,28.83,25.66,28.83
$GC,512,-0.98,-142.0,76.4,-16.6,59,526,0.15,2.20,0.00,0.000,6,0.171,0.035,2537,1957,2488,0,0,0,0,0,0,25.58,25.68,28.83
$GC,644,-0.98,-142.0,97.1,-15.1,72,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1957,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,769,-0.98,-142.0,114.5,-13.7,81,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1957,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-0.98,-142.0,155.2,-13.5,101,1073,0.00,2.20,0.00,0.000,4,0.000,0.052,2538,542,2487,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1141,-0.98,-142.0,163.3,-12.5,105,1154,0.00,2.17,0.00,0.000,6,0.000,0.035,2529,1945,2487,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,1165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1168,-0.26,0.0,167.5,-12.8,107,1289,0.75,0.00,114.57,0.617,6,0.127,0.000,2759,1794,1907,0,0,0,0,0,0,25.10,28.83,24.18
$STATE,1290,end apogee,CONTROL_FINISHED_OK
$STATE,1290,begin climb
$GC,1291,0.98,142.0,172.9,0.0,115,1414,1.23,2.28,115.12,0.594,4,0.074,0.052,3178,405,1326,0,0,0,0,0,0,24.73,24.52,24.06
$GC,1445,0.98,142.0,164.3,8.7,125,1458,0.00,2.25,0.00,0.000,6,0.000,0.033,3178,1806,1325,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1755,0.98,142.0,127.5,12.1,146,1760,0.00,2.20,0.00,0.000,4,0.000,0.053,3188,405,1323,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1804,0.98,142.0,121.4,12.0,149,1808,0.00,2.10,0.00,0.000,6,0.000,0.034,3189,1794,1323,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2114,0.98,142.0,88.8,9.7,173,2126,0.00,2.15,0.00,0.000,4,0.000,0.047,3188,3194,1320,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2176,0.98,142.0,82.8,9.8,178,2189,0.12,2.17,0.00,0.000,6,0.169,0.031,3170,1801,1320,0,0,0,0,0,0,25.60,25.71,28.83
$GC,2308,1.02,174.5,72.8,7.1,191,2346,0.00,2.22,25.85,0.548,4,0.000,0.053,3179,398,1196,0,0,0,0,0,0,28.83,25.41,24.99
$GC,2431,1.02,174.5,61.1,10.7,201,2444,0.00,2.20,0.00,0.000,6,0.000,0.034,3179,1803,1194,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2567,1.02,174.5,47.2,10.3,216,2578,0.00,2.22,0.00,0.000,4,0.000,0.054,3189,396,1194,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2592,1.02,174.5,44.5,11.1,219,2603,0.00,2.15,0.00,0.000,6,0.000,0.035,3190,1817,1194,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2681,1.02,174.5,34.4,10.5,232,2692,0.00,2.12,0.00,0.000,4,0.000,0.047,3189,3193,1193,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2920,1.02,175.5,11.9,8.4,269,2931,0.00,2.10,0.00,0.000,6,0.000,0.031,3200,1797,1193,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3009,1.16,286.8,8.9,3.7,282,3107,0.00,2.30,90.35,0.513,4,0.000,0.049,3209,392,734,0,0,0,0,0,0,28.83,24.94,24.57
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3114,begin surface coast
$FINISH,0.8,1.019394
$STATE,3184,end surface coast,CONTROL_FINISHED_OK
$STATE,3184,begin surface
$SM_CCo,3203,35.83,0.350,3,0,602,320.36
$SM_GC,2.87,8.55,2.47,35.83,0.041,0.035,0.350,124,1956,602,-8.45,-1.22,320.36,0,0,0,0,3,0,25.29,25.26,24.71
$IRIDIUM_FIX,4751.72,-12340.51,160414,141442
$TT8_MAMPS,0.096621,0.096621
$HUMID,30.90
$INTERNAL_PRESSURE,8.85996
$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,3.4/516036/498636
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.8/436382/424026
$24V_AH,24.1,2.886
$10V_AH,10.3,1.838
$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,20.850,48.675,345.900,35.825,0.000,30.864,36.758,492.632,0.000,4548.100,40.117,0.000,829.815,338.174,2838.099,106.615,33.262,902.710,0.000,534.303,0.000,0.000,0.000
$DEVICE_MAMPS,247.095,67.320,616.590,349.605,0.000,60.440,160.000,223.000,0.000,43.684,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,203.199,0.000,0.000,0.000,0.000,0.000,4548.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.893,0.000,0.000,0.000
$MEM,198124
$DATA_FILE_SIZE,10135,303
$CAP_FILE_SIZE,151223,0
$CFSIZE,260034560,257019904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,160414,152142,4742.850,-12224.431,2,1.2,36,16.3