version: 66.12
glider: 163
mission: 7
dive: 50
start: 7 25 115 19 7 36
data:
$ID,163
$MISSION,7
$DIVE,50
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,300
$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,75
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51703
$MASS_COMP,0
$NAV_MODE,0
$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,27.983
$TGT_DEFAULT_LON,-87.467003
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$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,2400
$C_ROLL_CLIMB,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,290
$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,0.0020000001
$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,2
$PITCH_W_DBAND,0.5
$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
$GPS1,250715,190142,2800.814,-8727.553,34,0.9,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-63.2
$GPS2,250715,190726,2800.693,-8727.512,5,0.9,16,-2.0
$SPEED_LIMITS,0.231,0.278
$TGT_NAME,RECOV
$TGT_LATLONG,2758.418,-8727.309
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,177.5,4226,-21.2,-13.333,-25.64,1918
$D_GRID,300
$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,-1.40,-170.3,124,2445,932,735,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,16386,0.000,0.000,123,2445,2654,2643,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.40,-170.3,124,2446,2642,2667,5.6,-8.9,10,113,8.20,2.28,-17.75,0.000,19204,0.215,0.043,2249,972,3577,3521,3634,0,0,0,0,0,0,25.44,25.81,25.91
$GC,311,-1.40,-170.3,2240,973,3522,3639,79.3,-26.4,45,319,0.00,2.17,0.00,0.000,1030,0.000,0.029,2233,2396,3580,3522,3639,0,0,0,0,0,0,28.83,25.93,28.83
$GC,442,-1.40,-170.3,2234,2397,3524,3641,112.1,-23.5,57,446,0.00,2.15,0.00,0.000,260,0.000,0.040,2223,3789,3581,3523,3640,0,0,0,0,0,0,28.83,25.95,28.83
$GC,686,-1.40,-170.3,2224,3793,3526,3644,172.9,-25.6,73,690,0.00,2.10,0.00,0.000,1030,0.000,0.022,2223,2386,3585,3525,3645,0,0,0,0,0,0,28.83,26.04,28.83
$GC,996,-1.40,-170.3,2223,2377,3529,3644,240.1,-19.9,94,1000,0.00,2.20,0.00,0.000,260,0.000,0.039,2213,3791,3586,3528,3644,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1147,-1.40,-170.3,2213,3792,3529,3645,274.2,-23.0,104,1151,0.10,2.08,0.00,0.000,3078,0.158,0.023,2241,2389,3586,3528,3644,0,0,0,0,0,0,25.67,26.06,28.83
$STATE,1281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1281,begin apogee
$GC,1284,-0.25,0.0,2242,2582,3529,3646,301.6,-20.0,113,1419,1.23,0.00,128.82,0.627,10246,0.135,0.000,2613,2581,2881,2885,2878,0,0,0,0,0,0,25.69,28.83,24.66
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1421,1.40,170.3,2614,2582,2886,2878,307.3,0.0,122,1558,1.52,2.17,129.95,0.616,10756,0.071,0.033,3150,1205,2183,2231,2136,0,0,0,0,0,0,25.20,25.11,24.58
$GC,1587,1.40,170.3,3151,1206,2231,2131,290.9,15.5,133,1595,0.00,2.17,0.00,0.000,1030,0.000,0.031,3150,2573,2180,2230,2130,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1892,1.40,170.3,3151,2574,2227,2126,233.4,18.4,154,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2573,2176,2226,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2192,1.40,170.3,3151,2574,2222,2123,180.5,17.1,174,2196,0.00,1.88,0.00,0.000,260,0.000,0.041,3150,3791,2172,2221,2123,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2282,1.40,170.3,3151,3791,2220,2123,164.2,18.4,180,2286,0.00,1.80,0.00,0.000,1030,0.000,0.024,3159,2586,2170,2219,2122,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2597,1.40,170.3,3160,2572,2216,2120,112.3,16.1,201,2601,0.00,1.90,0.00,0.000,260,0.000,0.041,3159,3795,2167,2215,2119,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2702,1.40,170.3,3160,3795,2215,2120,95.3,17.1,209,2710,0.00,1.83,0.00,0.000,1030,0.000,0.024,3168,2572,2166,2214,2119,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2827,1.40,170.3,3169,2555,2212,2118,76.2,13.4,222,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2554,2165,2212,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2947,1.44,189.5,3169,2555,2211,2117,61.2,12.3,234,2961,0.00,0.00,12.32,0.454,8454,0.000,0.000,3169,2554,2107,2154,2060,0,0,0,0,0,0,28.83,28.83,25.39
$GC,3077,1.65,295.7,3169,2555,2151,2056,48.4,7.6,249,3159,0.15,0.00,77.93,0.479,10502,0.073,0.000,3243,2554,1673,1730,1616,0,0,0,0,0,0,25.96,28.83,24.98
$GC,3218,1.65,295.7,3244,2554,1727,1609,28.5,16.9,274,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2554,1667,1726,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3283,1.65,295.7,3243,2554,1726,1607,18.2,15.2,287,3291,0.00,1.95,0.00,0.000,260,0.000,0.041,3243,3803,1665,1724,1606,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3310,1.65,295.7,3243,3804,1724,1606,13.9,16.0,292,3317,0.00,1.85,0.00,0.000,1030,0.000,0.024,3252,2592,1664,1723,1605,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3376,1.91,422.7,3253,2574,1723,1604,6.5,6.5,305,3476,0.12,0.00,91.25,0.433,10498,0.081,0.000,3316,2573,1207,1300,1114,0,0,0,0,1,0,25.83,28.83,25.75
$STATE,3476,end climb,SURFACE_DEPTH_REACHED
$STATE,3477,begin surface coast
$FINISH,1.7,1.018093
$STATE,3529,end surface coast,CONTROL_FINISHED_OK
$STATE,3529,begin surface
$SM_CCo,3545,45.97,0.301,1,0,840,500.16
$SM_GC,2.94,8.45,0.28,45.97,0.029,0.050,0.301,144,2362,840,-7.92,1.33,500.16,0,0,0,0,1,0,25.57,25.56,24.96
$IRIDIUM_FIX,2722.64,-8719.43,210508,083055
$TT8_MAMPS,0.095872,0.095872
$HUMID,39.76
$INTERNAL_PRESSURE,9.35802
$TCM_TEMP,25.00
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,146
$MI_LOG,3.5/516052/497881
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423674
$24V_AH,24.58,11.564
$10V_AH,10.32,10.117
$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,19.775,29.175,440.275,45.975,0.000,31.335,35.506,88.116,0.000,4000.400,17.828,0.000,2210.183,546.031,1034.807,55.914,0.000,932.449,0.000,632.326,0.000,0.000,0.000
$DEVICE_MAMPS,214.965,96.390,626.535,301.410,0.000,60.440,160.000,223.000,0.000,36.126,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,215.578,0.000,0.000,0.000,0.000,0.000,4000.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.450,0.000,0.000,0.000
$MEM,296056
$DATA_FILE_SIZE,10128,332
$CAP_FILE_SIZE,52792,0
$CFSIZE,260034560,254509056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,250715,200804,2759.968,-8727.219,4,1.0,14,-2.0