version: 66.12
glider: 163
mission: 7
dive: 34
start: 7 24 115 2 41 36
data:
$ID,163
$MISSION,7
$DIVE,34
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,750
$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,250
$T_MISSION,330
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$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,2
$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,79
$R_STBD_OVSHOOT,40
$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
$GPS1,240715,023038,2758.605,-8727.844,36,0.9,46,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-60.5
$GPS2,240715,024124,2758.476,-8727.711,4,0.9,14,-2.0
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,SOURCE
$TGT_LATLONG,2759.000,-8728.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,344.8,1080,-25.0,-10.000,-29.54,1192
$D_GRID,750
$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,-1.41,-79.1,133,2432,952,724,0.0,0.0,0,85,0.00,0.00,-68.40,0.000,16386,0.000,0.000,132,2431,2806,2769,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-1.48,-116.7,133,2431,2770,2847,5.5,-6.8,10,114,8.55,2.15,-10.82,0.000,18948,0.230,0.044,2218,1019,3358,3330,3387,0,0,0,0,0,0,25.15,25.56,25.67
$GC,223,-1.48,-116.7,2218,1019,3333,3388,53.3,-32.6,36,227,0.00,2.15,0.00,0.000,1030,0.000,0.028,2209,2410,3360,3332,3388,0,0,0,0,0,0,28.83,25.63,28.83
$GC,353,-1.48,-116.7,2210,2411,3335,3389,87.0,-23.2,49,357,0.00,2.15,0.00,0.000,260,0.000,0.039,2199,3792,3361,3334,3388,0,0,0,0,0,0,28.83,25.69,28.83
$GC,897,-1.48,-116.7,2200,3793,3339,3393,197.1,-18.5,87,902,0.00,2.08,0.00,0.000,1030,0.000,0.021,2199,2416,3365,3338,3392,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1208,-1.48,-116.7,2200,2417,3338,3392,252.0,-17.7,108,1212,0.00,2.17,0.00,0.000,260,0.000,0.040,2188,3794,3364,3337,3392,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1338,-1.48,-116.7,2189,3794,3339,3392,274.9,-19.3,116,1346,0.10,2.12,0.00,0.000,3078,0.164,0.022,2216,2369,3364,3337,3392,0,0,0,0,0,0,25.39,25.88,28.83
$GC,1643,-1.48,-116.7,2217,2370,3338,3391,330.9,-17.7,137,1647,0.00,2.20,0.00,0.000,260,0.000,0.041,2208,3792,3364,3337,3391,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1727,-1.48,-116.7,2208,3793,3337,3391,344.9,-18.6,142,1736,0.00,2.08,0.00,0.000,1030,0.000,0.023,2208,2426,3363,3336,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2033,-1.48,-116.7,2208,2427,3336,3389,400.1,-17.5,163,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2426,3361,3334,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,-1.48,-116.7,2208,2426,3334,3385,452.5,-17.3,183,2337,0.00,2.22,0.00,0.000,260,0.000,0.042,2197,3794,3358,3332,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2468,-1.48,-116.7,2197,3794,3331,3385,477.9,-18.7,192,2472,0.00,2.15,0.00,0.000,1030,0.000,0.024,2197,2392,3357,3330,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2783,-1.48,-116.7,2198,2393,3329,3381,533.6,-18.1,213,2787,0.00,2.28,0.00,0.000,260,0.000,0.042,2187,3792,3354,3328,3380,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2892,-1.48,-116.7,2187,3792,3326,3380,553.8,-19.5,220,2897,0.10,2.15,0.00,0.000,3078,0.167,0.024,2215,2377,3352,3325,3379,0,0,0,0,0,0,25.24,25.76,28.83
$GC,3203,-1.48,-116.7,2215,2378,3324,3375,608.7,-17.4,241,3207,0.00,2.22,0.00,0.000,260,0.000,0.044,2206,3795,3349,3324,3374,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3323,-1.48,-116.7,2207,3796,3323,3375,631.0,-18.7,249,3327,0.00,2.12,0.00,0.000,1030,0.000,0.024,2206,2412,3348,3323,3374,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3638,-1.48,-116.7,2207,2412,3321,3371,686.4,-17.5,270,3642,0.00,2.22,0.00,0.000,260,0.000,0.044,2196,3789,3344,3319,3370,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3728,-1.48,-116.7,2196,3790,3319,3370,703.2,-18.8,276,3733,0.00,2.12,0.00,0.000,1030,0.000,0.024,2196,2399,3344,3318,3370,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,3997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3997,begin apogee
$GC,4000,-0.25,0.0,2195,2581,3317,3366,751.2,-17.8,294,4093,1.45,0.00,89.62,0.955,10246,0.148,0.000,2617,2581,2879,2892,2866,0,0,0,0,0,0,25.41,28.83,24.12
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin loiter
$GC,4388,-0.22,15.0,2617,2581,2889,2859,759.4,-1.3,320,4407,0.00,1.98,12.80,0.857,8452,0.000,0.050,2617,3799,2816,2832,2800,0,0,0,0,0,0,28.83,25.48,24.68
$GC,4946,-0.22,15.0,2618,3799,2827,2794,753.0,1.3,357,4949,0.00,1.85,0.00,0.000,1030,0.000,0.028,2617,2568,2806,2825,2788,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5261,-0.22,15.0,2618,2568,2826,2790,748.9,1.3,378,5265,0.00,1.95,0.00,0.000,260,0.000,0.049,2617,3794,2807,2825,2790,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5420,-0.22,15.0,2618,3794,2823,2790,747.2,1.2,388,5428,0.00,1.83,0.00,0.000,1030,0.000,0.028,2617,2574,2806,2823,2789,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5726,-0.22,15.0,2618,2574,2823,2787,743.4,1.4,409,5729,0.00,2.17,0.00,0.000,516,0.000,0.037,2617,1187,2804,2821,2787,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6230,-0.22,15.0,2618,1187,2820,2783,736.3,1.9,442,6238,0.00,2.22,0.00,0.000,1030,0.000,0.036,2617,2576,2801,2819,2783,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6536,-0.22,15.0,2618,2576,2818,2782,730.0,2.2,463,6540,0.00,1.92,0.00,0.000,260,0.000,0.050,2617,3798,2799,2817,2782,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7080,-0.22,15.0,2618,3798,2815,2782,717.6,2.2,499,7085,0.00,1.83,0.00,0.000,1030,0.000,0.028,2617,2578,2797,2814,2781,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7391,-0.22,15.0,2618,2578,2814,2779,712.5,1.3,520,7394,0.00,1.95,0.00,0.000,260,0.000,0.050,2616,3799,2796,2813,2779,0,0,0,0,0,0,28.83,25.61,28.83
$STATE,7689,end loiter,LOITER_COMPLETE
$STATE,7689,begin climb
$GC,7691,1.48,116.7,2617,3800,2814,2779,709.9,0.0,540,7776,1.50,1.85,78.57,0.946,11270,0.070,0.028,3162,2569,2404,2445,2363,0,0,0,0,0,0,25.54,25.76,24.12
$GC,8076,1.48,116.7,3157,2570,2439,2348,665.2,13.7,565,8080,0.00,1.98,0.00,0.000,260,0.000,0.047,3162,3801,2392,2438,2347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8610,1.48,116.7,3163,3801,2434,2346,584.2,15.5,600,8618,0.00,1.85,0.00,0.000,1030,0.000,0.027,3171,2560,2389,2434,2345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8916,1.48,116.7,3172,2559,2435,2343,539.4,14.2,621,8920,0.00,1.98,0.00,0.000,260,0.000,0.047,3172,3796,2388,2434,2343,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9015,1.48,116.7,3172,3796,2434,2343,525.4,15.8,627,9024,0.00,1.83,0.00,0.000,1030,0.000,0.027,3181,2576,2388,2433,2343,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9321,1.48,116.7,3181,2576,2434,2342,478.1,15.1,648,9324,0.00,1.95,0.00,0.000,260,0.000,0.047,3181,3799,2387,2432,2342,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9441,1.48,116.7,3182,3800,2433,2343,458.4,16.4,656,9444,0.00,1.83,0.00,0.000,1030,0.000,0.027,3190,2584,2387,2432,2342,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9756,1.48,116.7,3191,2574,2432,2342,410.7,15.2,677,9760,0.00,1.95,0.00,0.000,260,0.000,0.046,3190,3794,2386,2431,2341,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9780,1.48,116.7,3190,3794,2432,2342,408.4,15.4,678,9788,0.00,1.85,0.00,0.000,1030,0.000,0.026,3200,2558,2386,2431,2341,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10086,1.48,116.7,3200,2558,2432,2341,359.7,14.7,699,10089,0.00,2.00,0.00,0.000,260,0.000,0.045,3200,3803,2386,2431,2341,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10140,1.48,116.7,3200,3804,2427,2341,352.5,15.8,702,10148,0.10,1.83,0.00,0.000,5126,0.165,0.026,3182,2581,2385,2430,2341,0,0,0,0,0,0,25.08,25.66,28.83
$GC,10446,1.48,116.7,3182,2581,2432,2341,307.1,14.1,723,10449,0.00,1.92,0.00,0.000,260,0.000,0.045,3181,3822,2385,2430,2341,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10645,1.48,116.7,3182,3822,2432,2341,277.2,15.7,736,10649,0.00,1.85,0.00,0.000,1030,0.000,0.025,3190,2580,2385,2430,2341,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10956,1.48,116.7,3190,2577,2431,2341,230.8,14.1,757,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2577,2385,2429,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11256,1.48,116.7,3190,2577,2431,2341,187.3,14.7,777,11260,0.00,1.95,0.00,0.000,260,0.000,0.044,3189,3803,2385,2430,2340,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11340,1.48,116.7,3190,3804,2430,2341,175.4,16.0,782,11348,0.00,1.85,0.00,0.000,1030,0.000,0.025,3199,2562,2385,2430,2340,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11646,1.48,116.7,3199,2561,2431,2341,130.7,14.1,803,11650,0.00,1.98,0.00,0.000,260,0.000,0.044,3199,3805,2385,2430,2340,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11676,1.48,116.7,3200,3806,2430,2341,126.2,15.0,805,11681,0.10,1.83,0.00,0.000,5126,0.164,0.024,3181,2579,2385,2430,2340,0,0,0,0,0,0,25.15,25.75,28.83
$GC,11981,1.55,150.4,3182,2578,2425,2341,93.8,7.1,828,12013,0.00,2.10,23.77,0.494,8708,0.000,0.034,3184,1206,2263,2313,2213,0,0,0,0,0,0,28.83,25.63,25.08
$GC,12032,1.61,179.3,3189,1207,2313,2211,90.0,7.5,833,12065,0.00,2.15,22.65,0.481,9222,0.000,0.032,3189,2571,2145,2201,2090,0,0,0,0,0,0,28.83,25.65,24.93
$GC,12182,1.61,179.3,3189,2571,2200,2092,73.8,11.2,848,12186,0.00,1.95,0.00,0.000,260,0.000,0.044,3189,3808,2142,2199,2085,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12382,1.61,179.3,3189,3808,2198,2085,53.3,10.2,868,12386,0.00,1.83,0.00,0.000,1030,0.000,0.024,3198,2572,2141,2198,2084,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12508,1.77,261.8,3199,2571,2198,2084,47.2,2.9,887,12573,0.17,1.95,60.65,0.453,10500,0.066,0.043,3272,3807,1808,1874,1742,0,0,0,0,0,0,25.65,25.29,24.82
$STATE,12822,end climb,SURFACE_DEPTH_REACHED
$STATE,12822,begin surface coast
$FINISH,2.3,1.009455
$STATE,12842,end surface coast,CONTROL_FINISHED_OK
$STATE,12842,begin surface
$SM_CCo,12860,114.15,0.367,1,0,840,500.16
$SM_GC,3.19,8.48,2.15,114.15,0.036,0.024,0.367,137,2378,840,-7.92,2.06,500.16,0,0,0,0,1,0,25.60,25.65,24.64
$IRIDIUM_FIX,2722.64,-8719.43,190508,160334
$TT8_MAMPS,0.095872,0.095872
$HUMID,37.63
$INTERNAL_PRESSURE,9.27013
$TCM_TEMP,24.80
$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,3.5/516052/497891
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.8/436550/424446
$24V_AH,24.12,8.764
$10V_AH,10.16,7.854
$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,20.550,96.975,288.075,114.150,0.000,33.847,40.863,169.153,0.000,13711.800,15.949,0.000,9471.175,563.053,3206.231,119.289,0.000,1694.479,0.000,2278.225,0.000,0.000,0.000
$DEVICE_MAMPS,229.500,49.725,954.720,367.200,0.000,60.440,160.000,223.000,0.000,34.969,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,644.131,0.000,0.000,0.000,0.000,0.000,13711.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.971,0.000,0.000,0.000
$MEM,295800
$DATA_FILE_SIZE,33399,951
$CAP_FILE_SIZE,142953,0
$CFSIZE,260034560,255225856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,17053.04,0x236bc6,7,5
$CURRENT,0.080,147.98,1
$GPS,240715,061841,2758.746,-8727.790,17,0.8,27,-2.0