version: 66.12
glider: 163
mission: 5
dive: 3
start: 7 1 115 20 42 4
data:
$ID,163
$MISSION,5
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,-1
$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,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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2790
$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,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,59
$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,-20.118193
$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
$GPS1,010715,203554,4743.569,-12224.378,2,0.7,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.4
$GPS2,010715,204154,4743.522,-12224.403,4,0.7,14,16.3
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,336.0,894,-12.7,-10.000,-18.56,3424
$D_GRID,150
$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,-0.93,-223.0,133,2224,688,416,0.0,0.0,0,116,0.00,0.00,-97.97,0.000,16386,0.000,0.000,132,2226,3148,3091,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.95,-244.1,133,2226,3091,3207,3.6,-6.6,16,144,9.73,2.15,-11.68,0.000,18692,0.246,0.067,2470,3593,3716,3643,3789,0,0,0,0,0,0,25.45,25.79,25.94
$GC,263,-0.95,-244.1,2470,3594,3645,3795,34.2,-18.9,44,270,0.00,2.17,0.00,0.000,1030,0.000,0.034,2469,2190,3719,3643,3795,0,0,0,0,0,0,28.83,25.86,28.83
$GC,329,-0.95,-244.1,2470,2189,3644,3796,46.6,-17.6,57,337,0.00,2.25,0.00,0.000,260,0.000,0.050,2460,3583,3719,3643,3795,0,0,0,0,0,0,28.83,25.81,28.83
$GC,355,-0.95,-244.1,2461,3584,3644,3795,50.9,-19.7,61,363,0.00,2.12,0.00,0.000,1030,0.000,0.034,2460,2204,3719,3643,3795,0,0,0,0,0,0,28.83,25.89,28.83
$GC,481,-0.95,-244.1,2461,2200,3645,3796,78.0,-20.7,74,484,0.00,2.20,0.00,0.000,516,0.000,0.048,2460,800,3719,3643,3796,0,0,0,0,0,0,28.83,25.86,28.83
$GC,501,-0.95,-244.1,2461,800,3645,3796,82.4,-21.2,76,505,0.08,2.15,0.00,0.000,3078,0.157,0.039,2473,2181,3720,3644,3796,0,0,0,0,0,0,25.58,25.90,28.83
$GC,636,-0.95,-244.1,2474,2182,3644,3797,110.0,-20.4,88,639,0.00,2.20,0.00,0.000,516,0.000,0.048,2474,796,3720,3644,3796,0,0,0,0,0,0,28.83,25.87,28.83
$GC,681,-0.95,-244.1,2474,796,3645,3796,119.2,-20.5,91,685,0.00,2.17,0.00,0.000,1030,0.000,0.039,2466,2191,3720,3644,3796,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,860,begin apogee
$GC,863,-0.26,0.0,2466,2306,3645,3796,151.7,-17.5,103,1060,0.77,0.00,193.15,0.564,10246,0.129,0.000,2702,2306,2717,2751,2684,0,0,0,0,0,0,25.67,28.83,24.49
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1062,0.95,244.1,2702,2306,2748,2678,160.5,0.0,116,1285,1.12,2.25,213.85,0.526,11012,0.094,0.051,3074,3701,1715,1788,1642,0,0,0,0,0,0,25.03,25.01,24.49
$GC,1349,0.95,244.1,3074,3698,1779,1633,139.6,10.1,135,1353,0.00,2.20,0.00,0.000,1030,0.000,0.034,3083,2317,1705,1778,1632,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1659,0.95,244.1,3083,2312,1778,1628,103.3,13.7,156,1663,0.00,2.25,0.00,0.000,260,0.000,0.050,3083,3691,1702,1777,1628,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1794,0.95,244.1,3084,3691,1777,1628,84.6,14.2,168,1802,0.00,2.17,0.00,0.000,1030,0.000,0.034,3091,2294,1702,1776,1628,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1919,0.95,244.1,3091,2295,1778,1628,68.9,11.0,181,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2294,1701,1776,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2039,0.99,278.3,3092,2295,1776,1627,57.4,9.0,193,2072,0.00,2.30,27.27,0.478,8452,0.000,0.051,3091,3700,1576,1656,1497,0,0,1,0,0,0,28.83,25.63,25.07
$GC,2131,0.99,278.3,3091,3700,1654,1492,47.7,11.6,203,2139,0.00,2.20,0.00,0.000,1030,0.000,0.034,3098,2296,1572,1652,1492,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2198,0.99,278.3,3099,2296,1653,1491,39.7,12.5,216,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2296,1571,1652,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,0.99,278.3,3099,2296,1653,1490,30.8,13.1,229,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2296,1571,1652,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2323,0.99,278.3,3099,2296,1654,1489,22.8,13.2,241,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2296,1570,1652,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,0.99,278.3,3099,2296,1654,1489,15.4,12.0,253,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2296,1573,1652,1495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,1.00,281.2,3098,2295,1654,1487,8.9,9.9,265,2451,0.00,2.25,0.00,0.000,260,0.000,0.050,3098,3700,1570,1652,1488,0,0,1,0,0,0,28.83,25.84,28.83
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,0.6,1.009214
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2541,109.60,0.052,0,0,549,531.80
$SM_CCo,2653,-0.12,0.000,0,0,551,531.80
$SM_CCo,2655,0.20,0.095,0,0,549,531.80
$SM_GC,1.29,7.93,2.35,0.20,0.035,0.033,0.095,119,2181,549,-8.26,1.19,531.80,0,0,0,0,0,0,25.89,25.91,25.79
$IRIDIUM_FIX,4748.51,-12337.82,270408,092237
$TT8_MAMPS,0.095872,0.095872
$HUMID,44.84
$INTERNAL_PRESSURE,9.03575
$TCM_TEMP,20.50
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,135
$MI_LOG,3.5/516052/497989
$MI_ROOT,70.6/190403/55926
$MI_HOME,2.2/436550/426738
$24V_AH,24.49,15.402
$10V_AH,10.31,4.995
$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,19.625,35.875,434.275,109.800,0.000,33.833,58.650,107.146,0.000,3947.300,15.115,0.000,1318.418,620.682,956.634,49.684,0.000,961.092,0.000,506.736,0.000,0.000,0.000
$DEVICE_MAMPS,246.330,78.030,563.805,94.860,0.000,60.440,160.000,223.000,0.000,35.332,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,185.624,0.000,0.000,0.000,0.000,0.000,3947.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.790,0.000,0.000,0.000
$MEM,296152
$DATA_FILE_SIZE,10121,281
$CAP_FILE_SIZE,51006,0
$CFSIZE,260034560,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,010715,212712,4743.562,-12224.889,24,0.9,34,16.3