version: 66.12
glider: 163
mission: 7
dive: 41
start: 7 25 115 4 8 21
data:
$ID,163
$MISSION,7
$DIVE,41
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,120
$T_MISSION,130
$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,0
$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,5
$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,69
$R_STBD_OVSHOOT,42
$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,0
$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
$GPS1,250715,040049,2759.308,-8727.538,4,0.8,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-60.3
$GPS2,250715,040812,2759.242,-8727.427,4,0.8,14,-2.0
$SPEED_LIMITS,0.217,0.304
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,331.4,11787,-17.2,-12.500,-22.35,2601
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.30,-219.0,134,2373,947,724,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,16386,0.000,0.000,133,2371,2674,2654,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.30,-219.0,134,2371,2655,2696,5.2,-7.3,10,121,8.55,2.08,-21.25,0.000,18948,0.223,0.049,2275,1006,3776,3672,3881,0,0,0,0,0,0,25.24,25.66,25.77
$GC,150,-1.30,-219.0,2275,1006,3673,3883,27.8,-40.3,22,158,0.00,2.15,0.00,0.000,1030,0.000,0.028,2267,2411,3777,3672,3883,0,0,0,0,0,0,28.83,25.71,28.83
$GC,216,-1.30,-219.0,2267,2412,3673,3885,54.6,-39.5,34,220,0.00,2.12,0.00,0.000,260,0.000,0.037,2256,3787,3778,3672,3884,0,0,0,0,0,0,28.83,25.70,28.83
$GC,316,-1.30,-219.0,2257,3787,3673,3886,87.9,-32.9,44,320,0.00,2.10,0.00,0.000,1030,0.000,0.023,2257,2397,3779,3672,3886,0,0,0,0,0,0,28.83,25.79,28.83
$GC,441,-1.30,-219.0,2257,2382,3674,3888,121.5,-26.5,54,446,0.00,2.20,0.00,0.000,260,0.000,0.037,2247,3787,3780,3672,3888,0,0,0,0,0,0,28.83,25.79,28.83
$GC,541,-1.30,-219.0,2247,3787,3674,3887,145.9,-26.7,60,549,0.10,2.08,0.00,0.000,3078,0.158,0.022,2275,2392,3782,3673,3891,0,0,0,0,0,0,25.48,25.86,28.83
$GC,847,-1.30,-219.0,2275,2387,3676,3893,215.0,-22.5,81,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2386,3784,3675,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-1.30,-219.0,2275,2387,3676,3893,278.5,-21.0,101,1150,0.00,2.17,0.00,0.000,260,0.000,0.040,2267,3784,3784,3675,3893,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1196,-1.30,-219.0,2267,3785,3675,3894,288.1,-21.3,104,1200,0.00,2.08,0.00,0.000,1030,0.000,0.022,2267,2413,3784,3676,3893,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1506,-1.30,-219.0,2267,2408,3676,3887,355.4,-20.9,125,1510,0.00,2.17,0.00,0.000,260,0.000,0.041,2257,3788,3783,3674,3893,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1521,-1.30,-219.0,2258,3789,3675,3894,358.5,-20.6,126,1525,0.00,2.12,0.00,0.000,1030,0.000,0.023,2257,2395,3786,3680,3893,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1837,-1.30,-219.0,2257,2390,3675,3893,426.0,-21.3,147,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2389,3783,3674,3893,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1955,begin apogee
$GC,1959,-0.25,0.0,2257,2572,3675,3892,451.7,-21.1,155,2131,1.20,0.00,168.98,0.720,10246,0.133,0.000,2617,2571,2879,2898,2861,0,0,0,0,0,0,25.47,28.83,24.33
$STATE,2132,end apogee,CONTROL_FINISHED_OK
$STATE,2132,begin climb
$GC,2133,1.30,219.0,2617,2572,2898,2859,458.1,0.0,166,2309,1.42,0.00,171.05,0.712,10502,0.072,0.000,3105,2571,1986,2058,1914,0,0,0,0,0,0,24.92,28.83,24.28
$GC,2602,1.30,219.0,3105,2572,2050,1899,386.5,18.4,198,2605,0.00,2.20,0.00,0.000,516,0.000,0.038,3115,1183,1973,2049,1898,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2631,1.30,219.0,3115,1183,2048,1898,381.1,18.1,200,2635,0.00,2.15,0.00,0.000,1030,0.000,0.032,3115,2557,1972,2047,1897,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2947,1.30,219.0,3115,2557,2045,1895,320.8,19.3,221,2950,0.00,2.17,0.00,0.000,516,0.000,0.038,3124,1175,1969,2043,1895,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2986,1.30,219.0,3124,1175,2044,1894,315.0,19.4,223,2994,0.00,2.20,0.00,0.000,1030,0.000,0.031,3124,2583,1968,2042,1894,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3291,1.30,219.0,3125,2583,2039,1892,252.8,19.4,244,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2583,1965,2038,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,1.30,219.0,3124,2584,2036,1889,194.2,19.6,264,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2583,1961,2035,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3891,1.30,219.0,3128,2584,2033,1887,137.1,17.9,284,3895,0.00,2.20,0.00,0.000,516,0.000,0.037,3133,1185,1959,2031,1887,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3991,1.30,219.0,3134,1185,2032,1886,121.2,17.6,290,3999,0.00,2.17,0.00,0.000,1030,0.000,0.031,3133,2581,1961,2037,1886,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4297,1.30,219.0,3134,2581,2030,1884,70.1,14.0,317,4301,0.00,1.88,0.00,0.000,260,0.000,0.042,3133,3802,1956,2029,1884,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4622,1.55,343.6,3134,3802,2025,1884,36.1,7.6,365,4721,0.10,1.83,88.32,0.455,11270,0.055,0.024,3203,2548,1473,1557,1390,0,0,0,0,0,0,25.90,25.96,24.94
$GC,4780,1.55,343.6,3204,2548,1555,1385,14.4,15.9,393,4787,0.00,2.10,0.00,0.000,516,0.000,0.036,3212,1214,1469,1554,1384,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,4855,end climb,SURFACE_DEPTH_REACHED
$STATE,4855,begin surface coast
$FINISH,1.9,1.021676
$STATE,4875,end surface coast,CONTROL_FINISHED_OK
$STATE,4875,begin surface
$SM_CCo,4893,68.35,0.051,0,0,840,500.16
$SM_GC,2.74,8.25,1.85,68.35,0.034,0.030,0.051,138,2394,840,-7.93,-1.24,500.16,0,0,0,0,0,0,25.66,25.67,25.60
$IRIDIUM_FIX,2722.64,-8719.43,200508,173051
$TT8_MAMPS,0.103362,0.103362
$HUMID,39.17
$INTERNAL_PRESSURE,9.30919
$TCM_TEMP,24.50
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,146
$MI_LOG,3.5/516052/497886
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/424071
$24V_AH,24.28,10.260
$10V_AH,10.28,9.228
$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,19.625,42.300,428.350,68.350,0.000,31.240,38.194,135.800,0.000,5454.100,15.975,0.000,3414.175,580.104,1233.716,63.963,0.000,997.337,0.000,715.516,0.000,0.000,0.000
$DEVICE_MAMPS,223.380,48.960,719.865,51.255,0.000,60.440,160.000,223.000,0.000,34.466,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,271.776,0.000,0.000,0.000,0.000,0.000,5454.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.592,0.000,0.000,0.000
$MEM,296016
$DATA_FILE_SIZE,13479,412
$CAP_FILE_SIZE,62339,0
$CFSIZE,260034560,254873600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5445.83,0x236bc6,7,5
$GPS,250715,053134,2759.803,-8727.539,4,1.1,14,-2.0