version: 66.12
glider: 163
mission: 7
dive: 3
start: 7 18 115 20 39 24
data:
$ID,163
$MISSION,7
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,130
$T_MISSION,140
$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,1
$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,25.6
$TGT_DEFAULT_LON,126.45
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,2775
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$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,0.0012300001
$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,-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
$GPS1,180715,203525,2756.673,-8725.888,9,1.0,20,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-64.7
$GPS2,180715,203914,2756.556,-8725.872,7,1.0,18,-2.0
$SPEED_LIMITS,0.115,0.308
$TGT_NAME,NW
$TGT_LATLONG,2759.162,-8729.255
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,313.1,7342,-14.8,-11.538,-20.53,3095
$D_GRID,450
$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,-1.06,-243.3,134,2550,1134,956,0.0,0.0,0,57,0.00,0.00,-40.17,0.000,16386,0.000,0.000,133,2550,2176,2200,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.06,-243.3,134,2550,2201,2153,3.3,-6.8,6,114,9.32,1.92,-37.12,0.000,19204,0.237,0.063,2419,3788,3876,3877,3875,0,0,0,0,0,0,25.70,26.04,26.16
$GC,263,-1.06,-243.3,2419,3789,3880,3876,49.8,-31.0,45,271,0.00,1.92,0.00,0.000,1030,0.000,0.028,2419,2492,3877,3879,3875,0,0,1,0,0,0,28.83,26.09,28.83
$GC,328,-1.06,-243.3,2419,2492,3881,3876,68.2,-26.8,52,332,0.00,2.10,0.00,0.000,516,0.000,0.035,2419,1100,3877,3879,3875,0,0,0,0,0,0,28.83,26.08,28.83
$GC,408,-1.06,-243.3,2419,1101,3881,3876,86.3,-20.5,60,412,0.00,2.08,0.00,0.000,1030,0.000,0.034,2409,2468,3877,3880,3875,0,0,1,0,0,0,28.83,26.08,28.83
$GC,533,-1.06,-243.3,2411,2469,3883,3876,107.2,-15.2,71,537,0.00,2.10,0.00,0.000,516,0.000,0.034,2410,1097,3878,3882,3875,0,0,1,0,0,0,28.83,26.09,28.83
$GC,563,-1.06,-243.3,2410,1097,3884,3876,112.0,-15.6,73,567,0.08,2.12,0.00,0.000,3078,0.138,0.033,2426,2501,3878,3882,3875,0,0,1,0,0,0,25.84,26.10,28.83
$GC,879,-1.06,-243.3,2426,2501,3886,3876,155.9,-13.4,94,882,0.00,2.15,0.00,0.000,516,0.000,0.036,2426,1068,3880,3885,3875,0,0,1,0,0,0,28.83,26.08,28.83
$GC,943,-1.06,-243.3,2426,1068,3886,3876,164.2,-13.7,98,947,0.00,2.17,0.00,0.000,1030,0.000,0.033,2420,2505,3880,3885,3876,0,0,1,0,0,0,28.83,26.12,28.83
$GC,1253,-1.06,-243.3,2421,2506,3886,3876,204.0,-12.8,119,1257,0.00,2.15,0.00,0.000,516,0.000,0.035,2420,1096,3880,3885,3875,0,0,1,0,0,0,28.83,26.07,28.83
$GC,1353,-1.06,-243.3,2420,1096,3887,3876,215.5,-12.6,125,1361,0.00,2.15,0.00,0.000,1030,0.000,0.034,2414,2508,3880,3885,3875,0,0,1,0,0,0,28.83,26.05,28.83
$GC,1658,-1.06,-243.3,2415,2508,3886,3874,254.6,-12.5,146,1662,0.00,2.17,0.00,0.000,516,0.000,0.037,2414,1106,3879,3885,3874,0,0,1,0,0,0,28.83,25.81,28.83
$GC,1718,-1.06,-243.3,2415,1106,3886,3874,261.8,-12.1,150,1722,0.00,2.15,0.00,0.000,1030,0.000,0.035,2408,2504,3879,3885,3874,0,0,1,0,0,0,28.83,25.86,28.83
$GC,2034,-1.06,-243.3,2409,2504,3885,3871,301.9,-13.1,171,2037,0.00,2.17,0.00,0.000,516,0.000,0.037,2408,1071,3877,3883,3871,0,0,1,0,0,0,28.83,25.98,28.83
$GC,2093,-1.06,-243.3,2409,1071,3884,3871,309.7,-13.1,175,2098,0.08,2.20,0.00,0.000,3078,0.134,0.035,2428,2507,3876,3883,3870,0,0,1,0,0,0,25.76,26.03,28.83
$GC,2409,-1.06,-243.3,2429,2507,3881,3868,348.4,-12.3,196,2412,0.00,2.15,0.00,0.000,516,0.000,0.039,2428,1091,3874,3880,3868,0,0,1,0,0,0,28.83,25.98,28.83
$GC,2478,-1.06,-243.3,2429,1092,3881,3868,356.0,-12.7,200,2485,0.00,2.17,0.00,0.000,1030,0.000,0.036,2425,2503,3873,3880,3867,0,0,1,0,0,0,28.83,26.02,28.83
$GC,2783,-1.06,-243.3,2425,2503,3878,3864,395.8,-12.6,221,2787,0.00,2.17,0.00,0.000,516,0.000,0.038,2425,1106,3870,3877,3863,0,0,1,0,0,0,28.83,25.99,28.83
$GC,2873,-1.06,-243.3,2425,1106,3878,3862,407.4,-12.9,227,2877,0.00,2.15,0.00,0.000,1030,0.000,0.037,2418,2498,3866,3876,3857,0,0,1,0,0,0,28.83,26.02,28.83
$GC,3189,-1.06,-243.3,2418,2499,3875,3860,446.4,-12.4,248,3192,0.00,2.17,0.00,0.000,516,0.000,0.039,2418,1074,3866,3873,3860,0,0,1,0,0,0,28.83,25.97,28.83
$STATE,3217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3217,begin apogee
$GC,3222,-0.26,0.0,2414,2526,3874,3860,450.1,-12.3,250,3420,0.85,0.00,189.10,0.781,10246,0.102,0.000,2692,2526,2880,2910,2850,0,0,0,0,1,0,25.86,28.83,24.41
$STATE,3420,end apogee,CONTROL_FINISHED_OK
$STATE,3420,begin climb
$GC,3422,1.06,243.3,2691,2526,2912,2850,461.4,0.0,263,3619,1.15,0.00,192.65,0.750,10502,0.047,0.000,3120,2525,1887,1963,1811,0,0,0,0,0,0,25.18,28.83,24.44
$GC,3909,1.06,243.3,3120,2526,1952,1794,396.7,17.9,296,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2525,1872,1951,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4209,1.06,243.3,3121,2526,1948,1793,341.9,18.1,316,4212,0.00,2.17,0.00,0.000,516,0.000,0.044,3129,1137,1869,1947,1792,0,0,1,0,0,0,28.83,25.99,28.83
$GC,4254,1.06,243.3,3130,1138,1947,1793,333.7,18.2,319,4258,0.00,2.15,0.00,0.000,1030,0.000,0.037,3129,2522,1869,1946,1792,0,0,1,0,0,0,28.83,26.04,28.83
$GC,4569,1.06,243.3,3129,2523,1944,1790,275.5,18.0,340,4572,0.00,1.98,0.00,0.000,260,0.000,0.050,3129,3796,1866,1943,1789,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4588,1.06,243.3,3129,3796,1944,1789,272.7,18.0,341,4592,0.00,1.92,0.00,0.000,1030,0.000,0.030,3140,2535,1866,1943,1789,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4899,1.06,243.3,3140,2535,1942,1788,212.6,19.3,362,4903,0.00,2.00,0.00,0.000,260,0.000,0.050,3139,3796,1865,1942,1788,0,0,1,0,0,0,28.83,25.95,28.83
$GC,4918,1.06,243.3,3140,3797,1943,1788,209.5,19.6,363,4923,0.10,1.98,0.00,0.000,5126,0.158,0.031,3120,2524,1865,1942,1788,0,0,0,0,0,0,25.54,25.82,28.83
$GC,5229,1.06,243.3,3121,2505,1941,1787,150.6,18.6,384,5232,0.00,2.15,0.00,0.000,516,0.000,0.043,3129,1110,1862,1939,1786,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5293,1.06,243.3,3129,1110,1939,1786,140.0,17.4,388,5297,0.00,2.20,0.00,0.000,1030,0.000,0.036,3128,2519,1861,1938,1785,0,0,1,0,0,0,28.83,25.77,28.83
$GC,5604,1.06,243.3,3129,2520,1939,1784,89.8,15.6,411,5607,0.00,2.20,0.00,0.000,516,0.000,0.043,3138,1125,1860,1938,1783,0,0,1,0,0,0,28.83,25.87,28.83
$GC,5618,1.06,243.3,3138,1125,1939,1784,88.1,15.7,412,5626,0.00,2.17,0.00,0.000,1030,0.000,0.036,3138,2528,1860,1938,1783,0,0,1,0,0,0,28.83,25.96,28.83
$GC,5744,1.06,243.3,3138,2529,1939,1782,70.0,12.1,425,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2528,1860,1937,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5864,1.13,304.1,3138,2529,1938,1783,58.3,9.5,437,5917,0.00,2.25,43.50,0.512,8708,0.000,0.042,3148,1119,1634,1715,1553,0,0,1,0,0,0,28.83,25.70,25.18
$GC,5976,1.22,372.3,3148,1120,1714,1550,47.3,9.3,450,6039,0.00,2.15,54.65,0.481,9222,0.000,0.036,3147,2530,1356,1457,1256,0,0,1,0,0,0,28.83,25.83,25.00
$GC,6099,1.22,372.3,3148,2530,1456,1248,33.3,14.0,472,6106,0.00,1.98,0.00,0.000,260,0.000,0.048,3147,3796,1351,1455,1247,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6335,1.42,534.4,3147,3797,1455,1243,3.2,6.2,519,6344,0.12,1.95,5.00,0.048,11266,0.047,0.028,3237,2488,1299,1408,1190,0,0,0,0,0,0,25.94,25.92,28.83
$STATE,6344,end climb,SURFACE_DEPTH_REACHED
$STATE,6344,begin surface coast
$FINISH,1.5,1.020370
$STATE,6352,end surface coast,CONTROL_FINISHED_OK
$STATE,6352,begin surface
$SM_CCo,6368,38.12,0.278,1,0,1043,450.12
$SM_GC,2.47,8.23,0.00,38.12,0.034,0.000,0.278,132,2488,1043,-8.17,-0.34,450.12,0,0,0,0,1,0,25.92,28.83,25.17
$IRIDIUM_FIX,2722.64,-8719.43,140508,095701
$TT8_MAMPS,0.095123,0.095123
$HUMID,47.63
$INTERNAL_PRESSURE,9.39709
$TCM_TEMP,25.00
$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,3.5/516052/497916
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.2/436550/426917
$24V_AH,24.41,0.619
$10V_AH,10.42,0.431
$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,19.925,71.925,484.900,38.125,0.000,0.000,0.000,0.000,0.000,6416.100,19.412,0.000,4511.590,617.122,1287.612,46.713,0.000,1165.510,0.000,940.612,0.000,0.000,0.000
$DEVICE_MAMPS,237.150,62.730,781.065,278.460,0.000,0.000,0.000,0.000,0.000,36.302,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,346.286,0.000,0.000,0.000,0.000,0.000,6416.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.239,0.000,0.000,0.000
$MEM,296140
$DATA_FILE_SIZE,16827,522
$CAP_FILE_SIZE,89021,0
$CFSIZE,260034560,257429504
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,25,2,0,0
$INTR,0,5199.66,0x236bc6,7,5
$INTR,1,6357.89,0x236bc6,7,5
$GPS,180715,222712,2756.288,-8725.913,30,0.8,40,-2.0