version: 66.12
glider: 163
mission: 7
dive: 56
start: 7 26 115 3 10 4
data:
$ID,163
$MISSION,7
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,600
$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,150
$T_MISSION,175
$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,275
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,260715,030212,2758.492,-8727.855,26,0.9,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-65.5
$GPS2,260715,030954,2758.512,-8727.931,5,0.8,15,-2.0
$SPEED_LIMITS,0.133,0.340
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,359.6,665,-42.4,-13.333,-45.00,545
$D_GRID,600
$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,-2.22,-47.4,128,2376,935,736,0.0,0.0,0,69,0.00,0.00,-51.72,0.000,16386,0.000,0.000,127,2378,2376,2396,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-2.27,-76.9,128,2378,2397,2356,5.4,-7.8,8,102,7.57,2.22,-15.68,0.000,19204,0.236,0.052,1948,3804,3197,3138,3257,0,0,0,0,0,0,25.28,25.70,25.80
$GC,641,-2.27,-76.9,1949,3805,3145,3265,162.1,-21.9,66,648,0.00,2.12,0.00,0.000,1030,0.000,0.021,1948,2382,3204,3144,3265,0,0,0,0,0,0,28.83,25.96,28.83
$GC,946,-2.27,-76.9,1948,2377,3149,3269,226.6,-20.4,87,950,0.00,2.20,0.00,0.000,260,0.000,0.036,1938,3801,3206,3148,3265,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1490,-2.27,-76.9,1938,3802,3149,3266,345.4,-22.5,123,1495,0.10,2.10,0.00,0.000,3078,0.202,0.021,1963,2369,3206,3147,3266,0,0,0,0,0,0,25.40,26.00,28.83
$GC,1801,-2.27,-76.9,1963,2370,3148,3266,411.9,-21.1,144,1805,0.00,2.22,0.00,0.000,260,0.000,0.038,1953,3828,3206,3147,3266,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2346,-2.27,-76.9,1954,3828,3143,3265,534.4,-22.7,180,2350,0.00,2.10,0.00,0.000,1030,0.000,0.021,1954,2436,3202,3141,3264,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2658,-0.25,0.0,1953,2587,3140,3260,601.2,-20.6,201,2724,2.40,0.00,61.80,0.879,10246,0.174,0.000,2613,2586,2879,2838,2921,0,0,0,0,0,0,25.25,28.83,24.48
$STATE,2725,end apogee,CONTROL_FINISHED_OK
$STATE,2725,begin climb
$GC,2726,2.27,76.9,2614,2587,2840,2920,604.7,0.0,205,2796,2.25,2.30,61.60,0.853,11012,0.068,0.037,3426,1187,2563,2560,2567,0,0,0,0,0,0,25.16,24.94,24.29
$GC,3335,2.27,76.9,3427,1187,2558,2552,501.9,17.6,246,3340,0.00,2.15,0.00,0.000,1030,0.000,0.031,3427,2567,2554,2557,2552,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3646,2.27,76.9,3427,2567,2553,2550,447.2,17.0,267,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2567,2550,2551,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3946,2.27,76.9,3427,2567,2550,2547,398.1,15.8,287,3950,0.00,1.88,0.00,0.000,260,0.000,0.042,3424,3791,2548,2549,2547,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4491,2.27,76.9,3424,3791,2541,2545,301.4,17.5,323,4495,0.00,1.83,0.00,0.000,1030,0.000,0.024,3431,2577,2542,2540,2545,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4801,2.27,76.9,3432,2572,2540,2542,249.3,16.4,344,4805,0.00,1.92,0.00,0.000,260,0.000,0.041,3432,3795,2540,2539,2541,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5080,2.27,76.9,3432,3795,2536,2542,202.2,17.0,362,5088,0.00,1.83,0.00,0.000,1030,0.000,0.024,3441,2564,2538,2535,2541,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5386,2.27,76.9,3442,2554,2535,2539,156.1,13.9,383,5390,0.00,2.10,0.00,0.000,516,0.000,0.036,3450,1208,2536,2535,2538,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5930,2.33,105.1,3451,1208,2536,2536,103.2,8.0,419,5951,0.00,2.12,17.05,0.536,9222,0.000,0.030,3451,2577,2450,2455,2446,0,0,0,0,0,0,28.83,25.80,25.20
$GC,6251,2.39,135.0,3451,2577,2456,2439,71.8,7.7,449,6283,0.00,2.15,23.05,0.509,8708,0.000,0.034,3459,1187,2326,2344,2309,0,0,0,0,0,0,28.83,25.66,25.12
$GC,6822,2.51,196.3,3460,1187,2345,2302,49.6,1.8,508,6873,0.08,2.15,46.08,0.484,11270,0.079,0.030,3500,2577,2077,2110,2045,0,0,0,0,0,0,25.78,25.84,25.07
$GC,6933,2.51,196.3,3500,2577,2110,2038,40.9,14.0,528,6940,0.00,2.20,0.00,0.000,516,0.000,0.034,3510,1195,2073,2109,2037,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7224,2.66,271.6,3510,1196,2110,2033,15.6,-0.9,586,7305,0.08,2.15,66.80,0.421,11270,0.081,0.030,3545,2579,1770,1815,1726,0,0,0,0,1,0,25.76,25.80,24.94
$GC,7364,2.78,330.2,3546,2579,1809,1721,11.0,2.3,611,7432,0.10,1.88,56.17,0.399,10500,0.110,0.037,3577,3802,1531,1589,1473,0,0,0,0,1,0,25.52,25.32,24.82
$STATE,7585,end climb,SURFACE_DEPTH_REACHED
$STATE,7585,begin surface coast
$FINISH,1.8,1.009950
$STATE,7620,end surface coast,CONTROL_FINISHED_OK
$STATE,7620,begin surface
$SM_CCo,7640,98.25,0.397,1,0,839,500.16
$SM_GC,3.11,9.23,2.12,98.25,0.036,0.022,0.397,134,2397,839,-7.92,2.18,500.16,0,0,0,0,1,0,25.71,25.72,24.80
$IRIDIUM_FIX,2722.64,-8719.43,210508,163221
$TT8_MAMPS,0.09737,0.09737
$HUMID,36.57
$INTERNAL_PRESSURE,9.36779
$TCM_TEMP,26.40
$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,3.5/516052/497878
$MI_ROOT,70.6/190403/55925
$MI_HOME,3.0/436550/423656
$24V_AH,24.29,12.454
$10V_AH,10.24,10.695
$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,21.800,42.000,332.550,98.250,0.000,30.147,34.340,149.763,0.000,8181.900,17.666,0.000,5135.500,495.077,2370.357,85.107,0.000,1336.397,0.000,1693.018,0.000,0.000,0.000
$DEVICE_MAMPS,236.385,52.020,878.985,397.035,0.000,60.440,160.000,223.000,0.000,34.958,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,439.435,0.000,0.000,0.000,0.000,0.000,8181.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.751,0.000,0.000,0.000
$MEM,296016
$DATA_FILE_SIZE,23443,660
$CAP_FILE_SIZE,93813,0
$CFSIZE,260034560,254226432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,5954.37,0x236bc6,7,5
$GPS,260715,051950,2758.218,-8727.101,16,1.1,26,-2.0