version: 66.12
glider: 163
mission: 7
dive: 1
start: 7 18 115 18 28 20
data:
$ID,163
$MISSION,7
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,2
$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,25
$T_MISSION,30
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51703
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022199999
$HD_B,0.0116
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,25.6
$TGT_DEFAULT_LON,126.45
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$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,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2880
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-19.837452
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,115
$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
$GPS1,180715,182408,2759.662,-8727.613,16,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-58.6
$GPS2,180715,182811,2759.543,-8727.522,5,0.9,16,-2.0
$SPEED_LIMITS,0.120,0.313
$TGT_NAME,T1
$TGT_LATLONG,2739.700,-8728.800
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,185.3,36810,-15.4,-12.000,-20.95,2997
$D_GRID,90
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,-1.09,-243.3,131,2299,681,420,0.0,0.0,0,105,0.00,0.00,-87.30,0.000,16386,0.000,0.000,131,2299,3001,2954,3049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.09,-243.3,132,2300,2955,3051,3.6,-8.1,14,138,9.23,2.05,-15.95,0.000,19204,0.229,0.047,2458,893,3873,3860,3887,0,0,0,0,0,0,25.85,26.20,26.31
$GC,142,-1.09,-243.3,2458,894,3860,3888,13.4,-20.7,20,150,0.00,2.10,0.00,0.000,1030,0.000,0.031,2450,2294,3873,3860,3887,0,0,0,0,0,0,28.83,26.19,28.83
$GC,209,-1.09,-243.3,2450,2295,3862,3887,28.0,-23.2,33,216,0.00,2.15,0.00,0.000,260,0.000,0.041,2440,3699,3874,3861,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,445,-1.09,-243.3,2440,3700,3862,3886,79.4,-18.5,66,453,0.00,2.08,0.00,0.000,1030,0.000,0.026,2440,2291,3872,3860,3885,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,509,begin apogee
$GC,512,-0.26,0.0,2440,2507,3862,3886,90.6,-15.7,73,696,0.88,0.00,179.38,0.443,10246,0.105,0.000,2727,2507,2878,2904,2853,0,0,0,0,0,0,26.01,28.83,25.07
$STATE,697,end apogee,CONTROL_FINISHED_OK
$STATE,697,begin climb
$GC,698,1.09,243.3,2729,2507,2903,2852,98.4,0.0,91,894,1.17,0.00,188.07,0.443,11014,0.046,0.000,3180,2506,1883,1953,1813,0,0,0,0,0,0,25.65,28.83,25.10
$GC,1010,1.09,243.3,3186,2507,1948,1804,65.4,15.2,123,1014,0.00,1.95,0.00,0.000,260,0.000,0.044,3180,3784,1875,1947,1803,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1190,1.10,251.5,3180,3785,1944,1804,39.2,11.7,149,1204,0.00,1.90,5.28,0.313,9222,0.000,0.028,3189,2510,1853,1924,1783,0,0,0,0,0,0,28.83,26.17,25.58
$GC,1263,1.14,287.1,3190,2510,1924,1782,31.8,10.8,163,1296,0.00,1.98,28.12,0.402,8452,0.000,0.044,3189,3789,1706,1774,1638,0,0,1,0,0,0,28.83,26.01,25.55
$GC,1355,1.14,287.1,3190,3790,1773,1635,19.4,16.0,180,1362,0.00,1.92,0.00,0.000,1030,0.000,0.028,3198,2503,1706,1779,1634,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1421,1.14,287.1,3199,2505,1773,1633,10.1,12.1,193,1428,0.00,2.00,0.00,0.000,260,0.000,0.044,3198,3792,1702,1772,1632,0,0,1,0,0,0,28.83,26.11,28.83
$GC,1457,1.18,312.5,3199,3792,1773,1633,6.0,11.1,200,1496,0.00,1.95,29.40,0.281,9222,0.000,0.028,3208,2493,1605,1680,1531,0,0,0,0,1,0,28.83,26.17,25.54
$STATE,1498,end climb,SURFACE_DEPTH_REACHED
$STATE,1498,begin surface coast
$FINISH,-0.1,1.021302
$STATE,1540,end surface coast,CONTROL_FINISHED_OK
$STATE,1540,begin surface
$SM_CCo,1555,107.03,0.046,0,0,596,560.01
$SM_GC,0.69,8.02,0.25,107.03,0.035,0.048,0.046,142,2272,596,-8.28,1.36,560.01,0,0,0,0,0,0,26.08,26.15,26.06
$IRIDIUM_FIX,2722.64,-8719.43,140508,075107
$TT8_MAMPS,0.094374,0.094374
$HUMID,36.13
$INTERNAL_PRESSURE,9.49475
$TCM_TEMP,27.30
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,146
$MI_LOG,3.5/516052/497918
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.2/436550/427026
$24V_AH,25.07,0.278
$10V_AH,10.59,0.218
$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,19.300,20.650,430.250,107.025,0.000,0.000,0.000,0.000,0.000,1642.800,17.446,0.000,575.913,590.016,523.318,21.980,0.000,859.305,0.000,370.194,0.000,0.000,0.000
$DEVICE_MAMPS,228.735,48.195,442.935,45.900,0.000,0.000,0.000,0.000,0.000,33.368,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,135.075,0.000,0.000,0.000,0.000,0.000,1642.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,40.833,0.000,0.000,0.000
$MEM,296152
$DATA_FILE_SIZE,6836,215
$CAP_FILE_SIZE,72369,0
$CFSIZE,260034560,257531904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,1,0
$INTR,0,3846.55,0x236bc6,7,5
$GPS,180715,185631,2758.970,-8727.067,2,0.9,12,-2.0