version: 66.12
glider: 163
mission: 7
dive: 59
start: 7 26 115 7 51 3
data:
$ID,163
$MISSION,7
$DIVE,59
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,400
$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,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,62
$R_STBD_OVSHOOT,46
$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
$GPS1,260715,074213,2758.655,-8727.168,27,1.1,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-65.2
$GPS2,260715,075053,2758.690,-8727.107,6,1.1,16,-2.0
$SPEED_LIMITS,0.167,0.352
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,285.7,1414,-26.0,-16.667,-29.49,1531
$D_GRID,400
$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,14,-1.64,-168.3,120,2407,931,737,0.0,0.0,0,69,0.00,0.00,-52.25,0.000,16386,0.000,0.000,119,2400,2375,2388,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.79,-243.3,120,2401,2389,2365,5.2,-8.6,8,114,8.30,2.15,-25.73,0.000,18692,0.238,0.050,2108,3805,3877,3854,3900,0,0,0,0,0,0,25.30,25.73,25.84
$GC,648,-1.79,-243.3,2109,3805,3865,3900,223.7,-33.6,64,652,0.00,2.12,0.00,0.000,1030,0.000,0.024,2111,2396,3881,3863,3900,0,0,0,0,0,0,28.83,25.99,28.83
$GC,963,-1.79,-243.3,2109,2393,3867,3900,325.1,-32.6,85,967,0.00,2.17,0.00,0.000,260,0.000,0.035,2098,3794,3883,3867,3899,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1191,-0.25,0.0,2098,2581,3868,3899,400.7,-33.6,100,1385,1.77,0.00,184.10,0.704,10246,0.155,0.000,2617,2562,2878,2892,2865,0,0,0,0,0,0,25.63,28.83,24.52
$STATE,1386,end apogee,CONTROL_FINISHED_OK
$STATE,1386,begin climb
$GC,1387,1.79,243.3,2617,2562,2893,2865,410.5,0.0,113,1582,1.83,2.22,185.40,0.692,10756,0.067,0.037,3278,1165,1884,1949,1819,0,0,0,0,0,0,25.14,25.05,24.49
$GC,1601,1.79,243.3,3279,1165,1947,1816,374.9,25.4,127,1605,0.00,2.25,0.00,0.000,1030,0.000,0.030,3278,2574,1880,1946,1815,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1911,1.79,243.3,3281,2574,1943,1807,280.9,29.8,148,1915,0.00,1.88,0.00,0.000,260,0.000,0.041,3278,3796,1874,1942,1807,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1931,1.79,243.3,3279,3797,1943,1807,276.3,29.8,149,1935,0.00,1.88,0.00,0.000,1030,0.000,0.025,3287,2576,1874,1942,1806,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2241,1.79,243.3,3288,2575,1937,1802,181.3,30.2,170,2245,0.00,1.92,0.00,0.000,260,0.000,0.040,3287,3802,1869,1936,1802,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2491,1.79,243.3,3288,3802,1932,1799,105.0,29.4,186,2499,0.00,1.88,0.00,0.000,1030,0.000,0.025,3296,2573,1864,1931,1798,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2796,1.85,272.8,3297,2555,1928,1793,37.6,14.7,224,2822,0.00,1.90,18.77,0.480,8452,0.000,0.041,3297,3798,1764,1828,1701,0,0,0,0,0,0,28.83,25.91,25.39
$GC,3021,2.43,565.3,3297,3798,1824,1695,6.1,-3.0,268,3157,0.40,1.85,124.32,0.466,11266,0.034,0.024,3476,2534,1126,1225,1028,0,0,0,0,1,0,25.97,26.01,25.87
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3159,begin surface coast
$FINISH,1.7,1.019560
$STATE,3186,end surface coast,CONTROL_FINISHED_OK
$STATE,3186,begin surface
$SM_CCo,3203,34.97,0.252,1,0,840,500.16
$SM_GC,3.12,9.02,0.17,34.97,0.034,0.057,0.252,135,2385,840,-7.93,1.95,500.16,0,0,0,0,1,0,25.49,25.47,24.94
$IRIDIUM_FIX,2722.64,-8719.43,210508,211236
$TT8_MAMPS,0.095872,0.095872
$HUMID,41.29
$INTERNAL_PRESSURE,9.36779
$TCM_TEMP,24.60
$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,3.5/516052/497876
$MI_ROOT,70.6/190403/55925
$MI_HOME,3.0/436550/423557
$24V_AH,24.49,12.883
$10V_AH,10.41,10.922
$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,21.325,24.225,512.600,34.975,0.000,30.963,39.561,187.651,0.000,3853.000,17.231,0.000,1845.709,564.399,1189.775,65.850,0.000,965.393,0.000,653.833,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,57.375,703.800,251.685,0.000,60.440,160.000,223.000,0.000,36.216,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,191.908,0.000,0.000,0.000,0.000,0.000,3853.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.528,0.000,0.000,0.000
$MEM,295824
$DATA_FILE_SIZE,10150,296
$CAP_FILE_SIZE,51342,0
$CFSIZE,260034560,254160896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,4270.68,0x236bc6,7,5
$GPS,260715,084537,2758.884,-8727.252,3,0.8,13,-2.0