version: 66.12
glider: 163
mission: 7
dive: 2
start: 7 18 115 19 12 43
data:
$ID,163
$MISSION,7
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,80
$T_MISSION,90
$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,400
$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,70
$R_STBD_OVSHOOT,51
$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
$GPS1,180715,190816,2758.598,-8726.843,3,0.9,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-57.6
$GPS2,180715,191234,2758.462,-8726.762,5,0.9,16,-2.0
$SPEED_LIMITS,0.112,0.305
$TGT_NAME,T1
$TGT_LATLONG,2739.700,-8728.800
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,187.5,34907,-14.3,-11.250,-20.25,3168
$D_GRID,270
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.03,-243.3,148,2261,727,458,0.0,0.0,0,94,0.00,0.00,-76.25,0.000,16386,0.000,0.000,147,2261,2748,2721,2775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.03,-243.3,148,2261,2723,2777,3.5,-7.5,12,133,9.38,1.98,-21.33,0.000,19204,0.234,0.048,2477,913,3873,3865,3882,0,0,0,0,0,0,25.82,26.15,26.27
$GC,467,-1.03,-243.3,2478,914,3867,3883,80.1,-16.1,68,475,0.00,2.08,0.00,0.000,1030,0.000,0.032,2470,2291,3874,3866,3882,0,0,0,0,0,0,28.83,26.13,28.83
$GC,592,-1.03,-243.3,2470,2291,3868,3882,98.0,-12.9,81,596,0.00,2.17,0.00,0.000,260,0.000,0.044,2461,3700,3874,3867,3882,0,0,0,0,0,0,28.83,26.12,28.83
$GC,677,-1.03,-243.3,2461,3701,3868,3883,107.5,-12.7,87,685,0.00,2.08,0.00,0.000,1030,0.000,0.026,2461,2297,3874,3867,3882,0,0,0,0,0,0,28.83,26.21,28.83
$GC,983,-1.03,-243.3,2461,2293,3870,3882,142.6,-10.9,108,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2293,3875,3868,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,-1.03,-243.3,2461,2289,3870,3881,173.5,-9.6,128,1286,0.00,2.20,0.00,0.000,260,0.000,0.046,2453,3695,3875,3868,3883,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1343,-1.03,-243.3,2453,3695,3870,3881,179.6,-10.1,132,1346,0.00,2.08,0.00,0.000,1030,0.000,0.028,2453,2303,3874,3868,3880,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1658,-1.03,-243.3,2454,2303,3868,3876,213.0,-10.9,153,1661,0.00,2.08,0.00,0.000,516,0.000,0.038,2453,906,3871,3868,3875,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1682,-1.03,-243.3,2453,906,3869,3875,214.7,-11.1,154,1690,0.00,2.12,0.00,0.000,1030,0.000,0.034,2453,2299,3872,3869,3875,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1988,-1.03,-243.3,2453,2300,3869,3871,247.7,-10.5,175,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2299,3869,3868,3871,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2196,begin apogee
$GC,2200,-0.26,0.0,2453,2514,3869,3868,271.0,-11.4,189,2383,0.82,0.00,180.10,0.614,10246,0.093,0.000,2732,2513,2879,2908,2850,0,0,0,0,0,0,26.00,28.83,24.79
$STATE,2384,end apogee,CONTROL_FINISHED_OK
$STATE,2384,begin climb
$GC,2385,1.03,243.3,2732,2513,2906,2846,281.9,0.0,201,2583,1.10,1.88,190.30,0.602,10500,0.040,0.046,3164,3789,1885,1952,1819,0,0,0,0,0,0,25.48,25.37,24.77
$GC,2642,1.03,243.3,3165,3789,1943,1807,254.8,20.5,218,2646,0.00,1.98,0.00,0.000,1030,0.000,0.029,3174,2512,1874,1942,1806,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2957,1.03,243.3,3175,2512,1938,1801,189.4,21.0,239,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2511,1870,1938,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,1.03,243.3,3174,2511,1935,1797,128.4,20.4,259,3261,0.00,2.03,0.00,0.000,260,0.000,0.047,3174,3792,1864,1933,1796,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3627,1.03,243.3,3174,3792,1929,1796,62.6,13.7,291,3632,0.10,1.98,0.00,0.000,5126,0.147,0.028,3154,2493,1861,1928,1795,0,0,0,0,0,0,25.72,26.13,28.83
$GC,3757,1.07,274.5,3154,2491,1928,1793,49.6,10.2,304,3783,0.00,0.00,20.55,0.468,8198,0.000,0.000,3154,2491,1756,1818,1694,0,0,0,0,0,0,28.83,28.83,25.55
$GC,3842,1.20,377.7,3154,2491,1817,1689,42.5,7.9,320,3930,0.10,2.08,81.07,0.468,11012,0.099,0.045,3204,3792,1335,1433,1238,0,0,0,0,0,0,26.09,25.60,25.15
$GC,3999,1.20,377.7,3204,3792,1430,1231,17.8,18.5,348,4006,0.00,1.98,0.00,0.000,1030,0.000,0.028,3214,2503,1332,1428,1236,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4065,1.20,377.7,3214,2504,1429,1229,8.2,12.2,361,4073,0.00,2.15,0.00,0.000,516,0.000,0.039,3224,1097,1328,1428,1228,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,4135,end climb,SURFACE_DEPTH_REACHED
$STATE,4136,begin surface coast
$FINISH,0.9,1.008003
$STATE,4191,end surface coast,CONTROL_FINISHED_OK
$STATE,4191,begin surface
$SM_CCo,4208,7.75,0.047,0,0,1248,400.08
$SM_GC,3.36,8.07,1.85,7.75,0.032,0.035,0.047,135,2291,1248,-8.27,-1.36,400.08,0,0,0,0,0,0,26.06,26.06,26.00
$IRIDIUM_FIX,2722.64,-8719.43,140508,082956
$TT8_MAMPS,0.104111,0.104111
$HUMID,44.95
$INTERNAL_PRESSURE,9.48498
$TCM_TEMP,25.30
$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,3.5/516052/497917
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.2/436550/426981
$24V_AH,24.77,0.428
$10V_AH,10.56,0.309
$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,19.575,32.975,472.025,7.750,0.000,0.000,0.000,0.000,0.000,4297.000,17.511,0.000,2725.988,524.021,982.037,32.793,0.000,963.867,0.000,730.161,0.000,0.000,0.000
$DEVICE_MAMPS,234.090,55.080,613.530,47.430,0.000,0.000,0.000,0.000,0.000,35.161,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,252.176,0.000,0.000,0.000,0.000,0.000,4296.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,40.895,0.000,0.000,0.000
$MEM,296128
$DATA_FILE_SIZE,13451,386
$CAP_FILE_SIZE,66837,0
$CFSIZE,260034560,257490944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2662.62,0x236bc6,7,5
$GPS,180715,202340,2757.030,-8725.926,13,1.0,24,-2.0