version: 66.12
glider: 163
mission: 6
dive: 1
start: 7 2 115 17 52 52
data:
$ID,163
$MISSION,6
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,70
$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,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51469
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022199999
$HD_B,0.0116
$HD_C,2.12e-07
$HEADING,270
$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,540
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,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,57
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2718
$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,-20.305624
$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
$GPS1,020715,174919,4743.722,-12224.222,2,0.9,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-58.3
$GPS2,020715,175243,4743.729,-12224.210,3,1.3,13,16.3
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,HEADING
$TGT_LATLONG,4743.729,-12240.265
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,253.7,20000,-11.9,-10.000,-17.88,3748
$D_GRID,180
$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,-0.91,-244.1,129,2313,686,421,0.0,0.0,0,131,0.00,0.00,-112.45,0.000,16386,0.000,0.000,129,2313,3598,3529,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-0.91,-244.1,129,2314,3529,3669,3.8,-7.6,18,152,9.80,2.15,-2.22,0.000,18692,0.241,0.060,2505,3708,3715,3637,3793,0,0,0,0,0,0,25.58,25.94,26.08
$GC,401,-0.91,-244.1,2506,3709,3639,3793,55.0,-16.8,68,409,0.00,2.12,0.00,0.000,1030,0.000,0.028,2506,2304,3716,3639,3793,0,0,0,0,0,0,28.83,25.95,28.83
$GC,526,-0.91,-244.1,2506,2299,3640,3793,76.7,-17.2,81,530,0.00,2.22,0.00,0.000,260,0.000,0.047,2496,3694,3716,3639,3793,0,0,0,0,0,0,28.83,25.89,28.83
$GC,591,-0.91,-244.1,2497,3701,3639,3793,87.2,-17.8,87,599,0.00,2.12,0.00,0.000,1030,0.000,0.028,2496,2297,3716,3639,3793,0,0,0,0,0,0,28.83,25.98,28.83
$GC,726,-0.91,-244.1,2496,2294,3640,3793,110.6,-16.5,99,730,0.00,2.25,0.00,0.000,260,0.000,0.047,2486,3690,3716,3639,3793,0,0,0,0,0,0,28.83,25.73,28.83
$GC,766,-0.91,-244.1,2486,3691,3639,3793,115.5,-16.5,101,774,0.10,2.12,0.00,0.000,3078,0.131,0.028,2516,2288,3716,3639,3793,0,0,0,0,0,0,25.62,25.96,28.83
$GC,1072,-0.91,-244.1,2517,2283,3638,3793,159.3,-14.3,122,1075,0.00,2.22,0.00,0.000,260,0.000,0.049,2508,3698,3715,3637,3793,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1166,-0.91,-244.1,2509,3698,3636,3793,173.3,-16.1,128,1170,0.00,2.12,0.00,0.000,1030,0.000,0.028,2508,2307,3714,3636,3793,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1220,begin apogee
$GC,1224,-0.26,0.0,2508,2512,3637,3793,182.0,-14.4,132,1426,0.65,0.00,194.10,0.552,10246,0.063,0.000,2742,2511,2718,2754,2683,0,0,0,0,1,0,25.87,28.83,24.58
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1428,0.91,244.1,2743,2511,2755,2683,182.3,0.0,145,1647,1.00,2.30,204.43,0.526,11012,0.068,0.044,3106,1110,1722,1795,1650,0,0,1,0,1,0,25.24,25.18,24.58
$GC,1816,0.91,244.1,3107,1111,1795,1650,148.6,12.5,171,1824,0.00,2.17,0.00,0.000,1030,0.000,0.038,3106,2496,1721,1794,1649,0,0,1,0,0,0,28.83,25.72,28.83
$GC,2121,0.91,244.1,3106,2497,1795,1647,108.2,12.7,192,2125,0.00,2.05,0.00,0.000,260,0.000,0.051,3106,3792,1720,1793,1647,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2181,0.91,244.1,3106,3792,1793,1648,99.8,13.9,196,2185,0.00,1.98,0.00,0.000,1030,0.000,0.030,3115,2510,1719,1792,1647,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2311,0.91,244.1,3115,2509,1793,1647,82.6,12.6,209,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2509,1719,1792,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,0.91,244.1,3115,2510,1792,1647,68.2,11.4,221,2435,0.00,2.22,0.00,0.000,516,0.000,0.045,3124,1096,1719,1792,1646,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2461,0.91,244.1,3125,1097,1792,1647,64.7,11.4,224,2465,0.00,2.20,0.00,0.000,1030,0.000,0.039,3124,2505,1718,1791,1645,0,0,1,0,0,0,28.83,25.96,28.83
$GC,2591,0.91,244.1,3125,2506,1792,1646,48.9,13.0,237,2599,0.00,2.25,0.00,0.000,516,0.000,0.044,3133,1092,1718,1791,1645,0,0,1,0,0,0,28.83,25.86,28.83
$GC,2653,0.91,244.1,3133,1093,1791,1645,41.2,12.6,249,2660,0.00,2.20,0.00,0.000,1030,0.000,0.038,3132,2506,1717,1790,1644,0,0,1,0,0,0,28.83,25.92,28.83
$GC,2719,0.91,244.1,3132,2506,1792,1645,32.2,13.7,262,2727,0.00,2.03,0.00,0.000,260,0.000,0.051,3132,3787,1717,1790,1645,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2796,0.91,244.1,3133,3788,1791,1645,21.0,14.5,277,2803,0.10,1.98,0.00,0.000,5126,0.139,0.030,3110,2496,1717,1790,1645,0,0,0,0,0,0,25.61,25.94,28.83
$GC,2863,0.91,244.1,3113,2477,1790,1645,13.1,11.3,290,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2476,1717,1790,1644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,0.91,244.1,3110,2477,1791,1644,6.7,10.8,302,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2476,1716,1789,1644,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2956,end climb,SURFACE_DEPTH_REACHED
$STATE,2956,begin surface coast
$FINISH,0.5,1.021856
$STATE,2982,end surface coast,CONTROL_FINISHED_OK
$STATE,2982,begin surface
$SM_CCo,2998,121.57,0.050,0,0,550,531.80
$SM_CCo,3121,-0.03,0.000,0,0,550,531.80
$SM_CCo,3124,0.00,0.000,0,0,550,531.80
$SM_GC,1.01,7.93,0.25,0.00,0.037,0.053,0.000,145,2284,550,-8.28,1.33,531.80,0,0,0,0,0,0,25.86,25.96,28.83
$IRIDIUM_FIX,4748.51,-12337.82,280408,071618
$TT8_MAMPS,0.095123,0.095123
$HUMID,42.47
$INTERNAL_PRESSURE,9.06504
$TCM_TEMP,20.80
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,141
$MI_LOG,3.5/516052/497952
$MI_ROOT,70.6/190403/55926
$MI_HOME,2.2/436550/426886
$24V_AH,24.58,15.796
$10V_AH,10.45,5.257
$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,19.575,39.300,398.525,121.575,0.000,0.000,0.000,0.000,0.000,3027.000,15.122,0.000,1681.220,614.426,843.647,31.146,0.000,996.465,0.000,591.972,0.000,0.000,0.000
$DEVICE_MAMPS,240.975,59.670,552.330,50.490,0.000,0.000,0.000,0.000,0.000,38.990,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,208.254,0.000,0.000,0.000,0.000,0.000,3026.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.544,0.000,0.000,0.000
$MEM,296392
$DATA_FILE_SIZE,10184,314
$CAP_FILE_SIZE,99282,0
$CFSIZE,260034560,257523712
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,5,2,0,0
$INTR,0,3664.12,0x236bc6,7,5
$INTR,1,3124.58,0x236bc6,7,5
$GPS,020715,184525,4743.998,-12224.717,3,1.3,13,16.3