version: 66.12
glider: 163
mission: 7
dive: 57
start: 7 26 115 5 29 47
data:
$ID,163
$MISSION,7
$DIVE,57
$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,77
$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
$GPS1,260715,051950,2758.218,-8727.101,16,1.1,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-63.0
$GPS2,260715,052937,2758.285,-8727.107,5,1.1,15,-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,310.3,1751,-21.4,-16.667,-25.32,2198
$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,-1.56,-243.3,129,2389,934,733,0.0,0.0,0,69,0.00,0.00,-52.10,0.000,16386,0.000,0.000,128,2388,2385,2401,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.56,-243.3,129,2390,2401,2371,5.5,-8.4,8,114,8.35,2.10,-26.17,0.000,19204,0.227,0.044,2196,1018,3877,3848,3907,0,0,0,0,0,0,25.29,25.72,25.82
$GC,298,-1.56,-243.3,2196,1017,3856,3905,93.3,-34.4,41,302,0.00,2.12,0.00,0.000,1030,0.000,0.028,2188,2406,3879,3854,3904,0,0,0,0,0,0,28.83,25.85,28.83
$GC,433,-1.56,-243.3,2188,2407,3866,3905,135.0,-30.6,51,437,0.00,2.12,0.00,0.000,260,0.000,0.037,2177,3800,3881,3858,3904,0,0,0,0,0,0,28.83,25.88,28.83
$GC,538,-1.56,-243.3,2177,3801,3860,3905,166.6,-29.1,58,542,0.00,2.10,0.00,0.000,1030,0.000,0.023,2177,2398,3882,3860,3905,0,0,0,0,0,0,28.83,25.94,28.83
$GC,853,-1.56,-243.3,2177,2388,3863,3905,255.3,-28.2,79,857,0.00,2.20,0.00,0.000,260,0.000,0.037,2167,3804,3882,3861,3904,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1004,-1.56,-243.3,2168,3804,3863,3904,298.6,-29.7,89,1007,0.10,2.10,0.00,0.000,3078,0.162,0.024,2195,2394,3882,3861,3904,0,0,0,0,0,0,25.54,25.95,28.83
$GC,1318,-1.56,-243.3,2195,2388,3862,3902,381.3,-25.6,110,1322,0.00,2.20,0.00,0.000,260,0.000,0.038,2187,3816,3881,3861,3901,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1373,-1.56,-243.3,2187,3817,3872,3900,393.1,-26.1,113,1381,0.00,2.12,0.00,0.000,1030,0.000,0.024,2187,2405,3880,3861,3900,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1395,-0.25,0.0,2186,2584,3863,3900,401.2,-26.9,115,1584,1.42,0.00,184.70,0.705,10246,0.139,0.000,2612,2583,2879,2891,2868,0,0,0,0,0,0,25.53,28.83,24.43
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1586,1.56,243.3,2613,2584,2891,2867,409.3,0.0,127,1786,1.65,1.95,186.23,0.692,10500,0.072,0.041,3183,3786,1883,1950,1817,0,0,0,0,0,0,25.00,24.96,24.40
$GC,1834,1.56,243.3,3184,3787,1948,1813,369.5,24.8,144,1839,0.00,1.85,0.00,0.000,1030,0.000,0.024,3192,2597,1880,1947,1813,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2145,1.56,243.3,3193,2598,1944,1806,291.1,24.6,165,2149,0.00,2.20,0.00,0.000,516,0.000,0.035,3203,1163,1873,1942,1805,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2194,1.56,243.3,3203,1164,1943,1805,280.2,24.4,168,2199,0.00,2.17,0.00,0.000,1030,0.000,0.031,3202,2562,1873,1942,1805,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2505,1.56,243.3,3203,2563,1938,1801,201.4,24.8,189,2509,0.00,1.90,0.00,0.000,260,0.000,0.041,3202,3803,1869,1937,1801,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2544,1.56,243.3,3203,3804,1938,1800,193.5,25.4,191,2552,0.00,1.88,0.00,0.000,1030,0.000,0.024,3212,2570,1868,1936,1800,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2850,1.56,243.3,3213,2551,1932,1796,117.2,23.5,212,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2550,1863,1931,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3155,1.59,258.9,3213,2551,1927,1793,54.7,15.9,240,3168,0.00,1.92,8.57,0.441,8452,0.000,0.041,3212,3805,1822,1888,1756,0,0,0,0,0,0,28.83,25.97,25.38
$GC,3192,1.59,263.2,3213,3805,1885,1756,48.7,16.5,244,3200,0.00,1.88,4.47,0.353,9222,0.000,0.024,3221,2573,1805,1868,1743,0,0,0,0,0,0,28.83,25.98,25.28
$GC,3260,1.68,308.1,3222,2554,1867,1743,38.5,14.6,257,3299,0.00,1.95,35.12,0.484,8452,0.000,0.041,3222,3805,1621,1691,1551,0,0,0,0,0,0,28.83,25.66,25.15
$GC,3338,1.70,317.1,3222,3805,1689,1547,26.9,16.2,271,3352,0.00,1.90,7.85,0.402,9222,0.000,0.024,3231,2559,1585,1657,1514,0,0,0,0,0,0,28.83,25.74,25.13
$GC,3411,1.74,334.3,3232,2558,1656,1511,15.8,15.9,285,3449,0.00,2.10,24.98,0.292,8708,0.000,0.035,3241,1174,1516,1592,1441,0,0,0,0,1,0,28.83,25.65,25.08
$GC,3524,2.38,657.4,3241,1174,1591,1438,8.5,1.6,306,3635,0.57,2.15,100.12,0.448,11266,0.035,0.030,3472,2583,1026,1127,925,0,0,0,0,1,0,25.78,25.76,25.70
$STATE,3636,end climb,SURFACE_DEPTH_REACHED
$STATE,3637,begin surface coast
$FINISH,1.9,1.019595
$STATE,3659,end surface coast,CONTROL_FINISHED_OK
$STATE,3659,begin surface
$SM_CCo,3676,24.83,0.051,0,0,840,500.16
$SM_GC,2.35,9.02,0.30,24.83,0.033,0.044,0.051,127,2353,840,-7.94,1.41,500.16,0,0,0,0,0,0,25.45,25.44,25.46
$IRIDIUM_FIX,2722.64,-8719.43,210508,185112
$TT8_MAMPS,0.095123,0.095123
$HUMID,41.06
$INTERNAL_PRESSURE,9.35802
$TCM_TEMP,24.70
$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,3.5/516052/497877
$MI_ROOT,70.6/190403/55925
$MI_HOME,3.0/436550/423629
$24V_AH,24.40,12.607
$10V_AH,10.39,10.774
$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,21.125,41.500,552.050,24.825,0.000,28.427,36.797,201.044,0.000,4418.000,16.787,0.000,2255.402,599.746,1205.378,70.768,0.000,1018.135,0.000,634.100,0.000,0.000,0.000
$DEVICE_MAMPS,227.205,44.370,704.565,51.255,0.000,60.440,160.000,223.000,0.000,35.405,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,213.280,0.000,0.000,0.000,0.000,0.000,4417.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.603,0.000,0.000,0.000
$MEM,295852
$DATA_FILE_SIZE,10161,329
$CAP_FILE_SIZE,61212,0
$CFSIZE,260034560,254222336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,8381.82,0x236bc6,7,5
$GPS,260715,063203,2758.662,-8727.360,8,0.7,18,-2.0