version: 66.12
glider: 163
mission: 6
dive: 2
start: 7 2 115 19 25 20
data:
$ID,163
$MISSION,6
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,170
$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,2
$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,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,41
$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
$GPS1,020715,192133,4743.876,-12224.776,3,1.2,20,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-56.3
$GPS2,020715,192511,4743.859,-12224.783,4,1.1,20,16.3
$SPEED_LIMITS,0.164,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,37.3,439,-25.6,-9.444,-30.00,1075
$D_GRID,170
$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,-1.40,-66.1,151,2275,687,417,0.0,0.0,0,111,0.00,0.00,-92.15,0.000,16390,0.000,0.000,151,2276,2988,2940,3037,0,0,0,0,0,0,28.83,28.83,25.91
$GC,113,-1.44,-104.8,152,2276,2941,3038,2.9,-5.8,14,132,9.10,0.00,-3.92,0.000,18950,0.244,0.000,2342,2274,3146,3103,3189,0,0,0,0,0,0,25.32,28.83,25.89
$GC,191,-1.44,-104.8,2342,2275,3107,3190,17.5,-19.0,29,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2275,3147,3105,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,251,-1.44,-104.8,2342,2275,3107,3190,30.1,-22.0,41,260,0.00,2.30,0.00,0.000,260,0.000,0.047,2333,3704,3147,3105,3190,0,0,0,0,0,0,28.83,25.72,28.83
$GC,279,-1.44,-104.8,2334,3705,3107,3190,36.3,-23.2,46,286,0.00,2.15,0.00,0.000,1030,0.000,0.028,2333,2293,3147,3105,3190,0,0,0,0,0,0,28.83,25.80,28.83
$GC,345,-1.44,-104.8,2334,2293,3107,3190,50.8,-22.1,59,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2292,3147,3105,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,465,-1.44,-104.8,2334,2287,3107,3190,75.6,-19.3,71,469,0.00,2.30,0.00,0.000,260,0.000,0.047,2323,3707,3148,3106,3190,0,0,0,0,0,0,28.83,25.58,28.83
$GC,665,-1.44,-104.8,2323,3707,3107,3190,115.3,-19.7,88,669,0.00,2.15,0.00,0.000,1030,0.000,0.029,2323,2304,3148,3106,3190,0,0,0,0,0,0,28.83,25.68,28.83
$STATE,959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,959,begin apogee
$GC,962,-0.26,0.0,2323,2508,3107,3191,171.2,-17.4,108,1055,1.42,0.00,81.90,0.559,10246,0.167,0.000,2723,2507,2717,2715,2719,0,0,0,0,0,0,25.48,28.83,24.68
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1057,1.44,104.8,2724,2507,2708,2718,175.2,0.0,114,1145,1.60,0.00,84.85,0.547,10246,0.083,0.000,3261,2507,2289,2338,2240,0,0,0,0,0,0,25.29,28.83,24.45
$GC,1440,1.44,104.8,3262,2507,2325,2221,120.9,15.5,140,1444,0.00,2.25,0.00,0.000,516,0.000,0.043,3271,1111,2272,2324,2220,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1495,1.44,104.8,3271,1111,2324,2219,113.8,15.8,143,1503,0.00,2.17,0.00,0.000,1030,0.000,0.038,3271,2495,2271,2323,2219,0,0,1,0,0,0,28.83,25.72,28.83
$GC,1805,1.44,104.8,3271,2496,2323,2219,65.0,14.1,172,1809,0.00,2.05,0.00,0.000,260,0.000,0.050,3271,3793,2270,2322,2219,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2075,1.44,104.8,3272,3794,2321,2219,23.3,14.5,216,2083,0.00,2.00,0.00,0.000,1030,0.000,0.030,3281,2491,2270,2321,2219,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2142,1.44,104.8,3282,2491,2321,2219,15.1,12.7,229,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2490,2269,2320,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,1.44,104.8,3281,2490,2321,2219,7.4,13.0,241,2209,0.00,2.10,0.00,0.000,260,0.000,0.050,3281,3793,2269,2320,2219,0,0,0,0,0,0,28.83,25.56,28.83
$STATE,2237,end climb,SURFACE_DEPTH_REACHED
$STATE,2238,begin surface coast
$FINISH,0.6,1.021981
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2271,183.10,0.052,0,0,550,532.29
$SM_CCo,2456,0.00,0.000,0,0,550,531.80
$SM_CCo,2458,0.00,0.000,0,0,550,531.80
$SM_GC,1.25,8.43,2.30,0.00,0.036,0.031,0.000,140,2296,550,-8.29,2.04,531.80,0,0,0,0,0,0,25.77,25.82,28.83
$IRIDIUM_FIX,4748.51,-12337.82,280408,084833
$TT8_MAMPS,0.095872,0.095872
$HUMID,43.30
$INTERNAL_PRESSURE,9.02598
$TCM_TEMP,20.60
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,141
$MI_LOG,3.5/516052/497951
$MI_ROOT,70.6/190403/55926
$MI_HOME,2.2/436550/426792
$24V_AH,24.45,15.912
$10V_AH,10.31,5.342
$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,20.550,22.100,166.750,183.100,0.000,0.000,0.000,0.000,0.000,2310.600,21.813,0.000,1368.065,477.442,640.559,25.009,0.000,723.723,0.000,424.939,0.000,0.000,0.000
$DEVICE_MAMPS,244.035,52.785,559.215,52.020,0.000,0.000,0.000,0.000,0.000,41.398,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,167.756,0.000,0.000,0.000,0.000,0.000,2310.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.876,0.000,0.000,0.000
$MEM,296344
$DATA_FILE_SIZE,6813,251
$CAP_FILE_SIZE,72920,0
$CFSIZE,260034560,257515520
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,5547.43,0x236bc6,7,5
$INTR,1,2456.61,0x236bc6,7,5
$INTR,2,2458.44,0x236bc6,7,5
$CURRENT,0.043,166.24,1
$GPS,020715,200712,4743.962,-12224.463,27,0.8,37,16.3