version: 66.12
glider: 163
mission: 7
dive: 27
start: 7 22 115 20 47 32
data:
$ID,163
$MISSION,7
$DIVE,27
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$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,330
$T_MISSION,360
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,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,3
$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,50
$R_STBD_OVSHOOT,38
$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,2
$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
$GPS1,220715,203713,2757.628,-8727.436,58,1.2,69,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-66.2
$GPS2,220715,204722,2757.459,-8727.302,6,1.1,16,-2.0
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,T3
$TGT_LATLONG,2800.000,-8728.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,348.4,4843,-16.4,-10.000,-22.24,2372
$D_GRID,990
$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,-1.14,-160.9,127,2462,949,730,0.0,0.0,0,55,0.00,0.00,-38.45,0.000,16386,0.000,0.000,127,2463,1960,1976,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-1.26,-219.0,127,2463,1977,1946,5.0,-7.5,6,112,9.00,2.25,-39.35,0.000,18948,0.235,0.042,2289,984,3776,3678,3875,0,0,0,0,0,0,25.16,25.54,25.67
$GC,221,-1.26,-219.0,2290,985,3679,3878,50.6,-36.7,37,225,0.00,2.20,0.00,0.000,1030,0.000,0.028,2281,2406,3777,3678,3877,0,0,0,0,0,0,28.83,25.63,28.83
$GC,351,-1.26,-219.0,2282,2407,3679,3880,89.4,-25.9,50,355,0.00,2.17,0.00,0.000,260,0.000,0.039,2270,3806,3779,3678,3880,0,0,0,0,0,0,28.83,25.70,28.83
$GC,431,-1.26,-219.0,2270,3807,3679,3882,110.1,-27.9,57,435,0.00,2.15,0.00,0.000,1030,0.000,0.023,2270,2385,3780,3678,3882,0,0,0,0,0,0,28.83,25.77,28.83
$GC,741,-1.26,-219.0,2271,2372,3681,3886,185.2,-23.8,78,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2371,3783,3680,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1041,-1.26,-219.0,2271,2372,3681,3887,252.5,-22.4,98,1045,0.00,2.25,0.00,0.000,260,0.000,0.040,2260,3804,3783,3681,3886,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1101,-1.26,-219.0,2261,3804,3681,3887,266.5,-23.4,102,1106,0.10,2.15,0.00,0.000,3078,0.148,0.022,2289,2389,3783,3681,3886,0,0,0,0,0,0,25.29,25.60,28.83
$GC,1417,-1.26,-219.0,2290,2382,3681,3886,330.6,-21.1,123,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2382,3783,3680,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-1.26,-219.0,2290,2380,3680,3886,392.8,-20.2,143,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2380,3782,3680,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2016,-1.26,-219.0,2290,2380,3679,3882,453.8,-20.2,163,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2380,3779,3678,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-1.26,-219.0,2290,2380,3677,3877,513.7,-19.6,183,2320,0.00,2.25,0.00,0.000,260,0.000,0.043,2281,3795,3776,3676,3876,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2351,-1.26,-219.0,2281,3796,3677,3876,519.7,-19.6,185,2355,0.00,2.10,0.00,0.000,1030,0.000,0.023,2281,2412,3776,3675,3878,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2661,-1.26,-219.0,2283,2412,3674,3873,579.8,-19.1,206,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2412,3772,3673,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2961,-1.26,-219.0,2281,2412,3671,3868,637.2,-19.1,226,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2411,3769,3670,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-1.26,-219.0,2281,2412,3668,3863,694.1,-18.8,246,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2411,3764,3667,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-1.26,-219.0,2282,2411,3665,3860,750.4,-18.8,266,3565,0.00,2.25,0.00,0.000,260,0.000,0.046,2271,3795,3761,3664,3859,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3621,-1.26,-219.0,2272,3796,3663,3860,762.2,-19.5,270,3625,0.00,2.12,0.00,0.000,1030,0.000,0.024,2271,2402,3758,3662,3854,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3936,-1.26,-219.0,2271,2403,3662,3854,822.1,-18.9,291,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2402,3757,3661,3854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-1.26,-219.0,2272,2402,3659,3850,879.0,-18.7,311,4240,0.00,2.28,0.00,0.000,260,0.000,0.047,2261,3799,3753,3658,3849,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4296,-1.26,-219.0,2261,3800,3658,3850,890.9,-19.8,315,4301,0.10,2.15,0.00,0.000,3078,0.148,0.024,2290,2394,3753,3657,3849,0,0,0,0,0,0,25.37,25.82,28.83
$GC,4612,-1.26,-219.0,2290,2393,3657,3845,948.2,-17.9,336,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2392,3750,3655,3845,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4850,begin apogee
$GC,4854,-0.25,0.0,2290,2578,3656,3841,990.8,-17.6,352,5034,1.10,0.00,174.68,1.126,10246,0.133,0.000,2618,2577,2877,2913,2842,0,0,0,0,0,0,25.34,28.83,23.72
$STATE,5035,end apogee,CONTROL_FINISHED_OK
$STATE,5035,begin climb
$GC,5036,1.26,219.0,2619,2578,2914,2842,998.5,0.0,364,5231,1.40,2.03,185.90,1.097,10500,0.073,0.048,3090,3797,1982,2067,1897,0,0,0,0,0,0,24.50,24.28,23.53
$GC,5309,1.26,219.0,3091,3796,2059,1889,965.5,19.6,382,5314,0.00,1.92,0.00,0.000,1030,0.000,0.027,3100,2588,1973,2058,1889,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5620,1.26,219.0,3100,2590,2055,1883,906.7,18.8,403,5624,0.00,2.22,0.00,0.000,516,0.000,0.043,3109,1174,1968,2054,1883,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5650,1.26,219.0,3110,1174,2055,1882,901.1,18.7,405,5654,0.00,2.22,0.00,0.000,1030,0.000,0.035,3109,2569,1968,2054,1882,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5965,1.26,219.0,3110,2570,2051,1881,840.6,18.9,426,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2569,1965,2051,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6265,1.26,219.0,3110,2570,2049,1880,783.8,18.7,446,6269,0.00,2.22,0.00,0.000,516,0.000,0.042,3119,1174,1964,2048,1880,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6290,1.26,219.0,3119,1174,2045,1879,781.0,18.6,447,6297,0.00,2.22,0.00,0.000,1030,0.000,0.035,3119,2576,1963,2047,1879,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6595,1.26,219.0,3120,2576,2047,1878,721.1,18.8,468,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2576,1962,2046,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6895,1.26,219.0,3120,2576,2045,1877,664.2,18.9,488,6899,0.00,2.25,0.00,0.000,516,0.000,0.042,3128,1170,1960,2045,1876,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6925,1.26,219.0,3129,1171,2045,1876,658.4,19.5,490,6929,0.00,2.22,0.00,0.000,1030,0.000,0.034,3128,2577,1960,2044,1876,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7240,1.26,219.0,3129,2578,2044,1876,597.0,19.5,511,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2577,1959,2043,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,1.26,219.0,3129,2577,2043,1874,538.6,19.8,531,7544,0.00,2.25,0.00,0.000,516,0.000,0.041,3138,1170,1958,2042,1875,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7585,1.26,219.0,3138,1171,2042,1874,529.7,19.5,534,7589,0.10,2.22,0.00,0.000,5126,0.154,0.034,3109,2577,1957,2041,1873,0,0,0,0,0,0,25.37,25.75,28.83
$GC,7900,1.26,219.0,3109,2577,2042,1873,472.3,18.5,555,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2577,1956,2040,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,1.26,219.0,3110,2578,2040,1873,418.7,17.7,575,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2577,1956,2039,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,1.26,219.0,3110,2577,2040,1873,363.3,18.9,595,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2577,1955,2038,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8800,1.26,219.0,3109,2577,2039,1872,307.1,19.0,615,8804,0.00,2.25,0.00,0.000,516,0.000,0.040,3117,1172,1955,2038,1873,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8855,1.26,219.0,3118,1172,2039,1872,298.6,19.0,618,8862,0.00,2.22,0.00,0.000,1030,0.000,0.034,3117,2571,1955,2038,1872,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9160,1.26,219.0,3118,2572,2039,1872,237.4,19.7,639,9164,0.00,1.92,0.00,0.000,260,0.000,0.045,3117,3804,1955,2038,1872,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9195,1.26,219.0,3118,3805,2037,1871,231.2,20.3,641,9199,0.00,1.90,0.00,0.000,1030,0.000,0.027,3127,2581,1953,2036,1871,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9505,1.26,219.0,3128,2575,2036,1872,169.5,18.9,662,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2574,1953,2035,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9805,1.26,219.0,3127,2557,2036,1872,113.5,17.3,682,9809,0.00,2.22,0.00,0.000,516,0.000,0.039,3137,1145,1953,2035,1872,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9940,1.26,219.0,3137,1151,2036,1872,93.3,15.5,692,9948,0.10,2.25,0.00,0.000,5126,0.144,0.032,3107,2576,1953,2035,1871,0,0,0,0,0,0,25.31,25.69,28.83
$GC,10065,1.26,219.0,3107,2577,2036,1872,76.7,11.3,705,10069,0.00,1.90,0.00,0.000,260,0.000,0.044,3106,3796,1953,2035,1871,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10335,1.28,219.0,3106,3797,2036,1871,47.6,8.9,734,10342,0.00,1.90,0.00,0.000,1030,0.000,0.024,3115,2541,1952,2034,1871,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10401,1.41,283.4,3115,2541,2035,1871,42.6,7.2,747,10452,0.08,2.08,43.95,0.465,10756,0.113,0.036,3169,1188,1722,1805,1639,0,0,0,0,0,0,25.67,25.47,25.00
$GC,10546,1.41,283.4,3168,1188,1800,1635,27.9,10.8,774,10554,0.00,2.20,0.00,0.000,1030,0.000,0.031,3168,2582,1716,1799,1634,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10613,1.41,283.4,3169,2582,1799,1634,19.9,10.9,787,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2582,1716,1800,1633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10673,1.41,283.4,3169,2583,1799,1633,13.3,11.6,799,10680,0.00,2.20,0.00,0.000,516,0.000,0.035,3178,1193,1715,1799,1632,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10744,1.44,283.4,3178,1193,1799,1633,6.5,8.6,813,10751,0.00,2.17,0.00,0.000,1030,0.000,0.031,3178,2577,1715,1799,1632,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10811,1.86,496.6,3178,2577,1800,1632,5.9,0.8,826,10965,0.30,0.00,144.12,0.441,10498,0.044,0.000,3312,2577,919,1055,783,0,0,0,0,1,0,25.70,28.83,25.56
$STATE,10966,end climb,SURFACE_DEPTH_REACHED
$STATE,10966,begin surface coast
$FINISH,2.3,1.018832
$STATE,11009,end surface coast,CONTROL_FINISHED_OK
$STATE,11009,begin surface
$SM_CCo,11025,8.62,0.052,0,0,841,500.16
$SM_GC,4.69,8.50,0.28,8.62,0.024,0.048,0.052,136,2377,841,-7.93,1.92,500.16,0,0,0,0,0,0,25.28,25.25,25.25
$IRIDIUM_FIX,2722.64,-8719.43,180508,100912
$TT8_MAMPS,0.096621,0.096621
$HUMID,38.18
$INTERNAL_PRESSURE,9.29943
$TCM_TEMP,25.60
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,146
$MI_LOG,3.5/516052/497897
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.7/436550/424740
$24V_AH,23.53,6.834
$10V_AH,10.17,6.089
$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,20.775,74.025,548.650,8.625,0.000,32.614,36.233,185.825,0.000,11730.700,17.133,0.000,8432.387,619.361,2275.383,95.536,0.000,1430.491,0.000,1459.474,0.000,0.000,0.000
$DEVICE_MAMPS,234.855,84.150,1126.080,52.020,0.000,60.440,160.000,223.000,0.000,35.378,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,577.634,0.000,0.000,0.000,0.000,0.000,11730.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.874,0.000,0.000,0.000
$MEM,295876
$DATA_FILE_SIZE,30041,860
$CAP_FILE_SIZE,112759,0
$CFSIZE,260034560,255746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,220715,235231,2758.415,-8727.868,38,0.9,48,-2.0