version: 66.12
glider: 163
mission: 7
dive: 42
start: 7 25 115 5 37 46
data:
$ID,163
$MISSION,7
$DIVE,42
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,600
$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,150
$T_MISSION,175
$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,175
$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,85
$R_STBD_OVSHOOT,34
$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
$GPS1,250715,053134,2759.803,-8727.539,4,1.1,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-61.9
$GPS2,250715,053736,2759.754,-8727.440,5,1.1,16,-2.0
$SPEED_LIMITS,0.231,0.278
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,329.0,10969,-21.2,-13.333,-25.64,1918
$D_GRID,600
$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,-1.40,-170.3,136,2419,941,729,0.0,0.0,0,81,0.00,0.00,-64.38,0.000,16386,0.000,0.000,136,2419,2672,2654,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.40,-170.3,137,2419,2654,2693,5.0,-7.4,10,115,8.43,2.15,-18.23,0.000,18948,0.224,0.047,2242,1018,3577,3520,3635,0,0,0,0,0,0,25.26,25.66,25.77
$GC,159,-1.40,-170.3,2242,1019,3521,3639,31.4,-40.6,24,166,0.00,2.15,0.00,0.000,1030,0.000,0.027,2234,2405,3579,3522,3637,0,0,0,0,0,0,28.83,25.70,28.83
$GC,225,-1.40,-170.3,2235,2405,3522,3639,57.6,-37.9,35,229,0.00,2.15,0.00,0.000,260,0.000,0.037,2224,3798,3579,3520,3639,0,0,0,0,0,0,28.83,25.70,28.83
$GC,340,-1.40,-170.3,2224,3798,3522,3641,91.7,-29.2,46,347,0.00,2.10,0.00,0.000,1030,0.000,0.022,2224,2417,3579,3518,3641,0,0,0,0,0,0,28.83,25.78,28.83
$GC,465,-1.40,-170.3,2224,2401,3524,3642,124.0,-24.6,56,469,0.00,2.20,0.00,0.000,260,0.000,0.037,2213,3802,3582,3523,3641,0,0,0,0,0,0,28.83,25.77,28.83
$GC,605,-1.40,-170.3,2214,3804,3525,3645,156.6,-23.2,65,609,0.10,2.12,0.00,0.000,3078,0.164,0.022,2242,2378,3584,3525,3644,0,0,0,0,0,0,25.45,25.87,28.83
$GC,916,-1.40,-170.3,2242,2378,3530,3645,222.1,-21.0,86,919,0.00,2.17,0.00,0.000,260,0.000,0.040,2233,3802,3586,3528,3645,0,0,0,0,0,0,28.83,25.86,28.83
$GC,985,-1.40,-170.3,2233,3803,3529,3645,235.1,-21.9,90,992,0.00,2.10,0.00,0.000,1030,0.000,0.022,2233,2416,3586,3528,3645,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1290,-1.40,-170.3,2233,2408,3530,3645,300.1,-20.5,111,1294,0.00,2.17,0.00,0.000,260,0.000,0.040,2224,3796,3587,3529,3645,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1320,-1.40,-170.3,2224,3797,3530,3646,306.5,-21.1,113,1324,0.00,2.12,0.00,0.000,1030,0.000,0.022,2223,2388,3586,3528,3645,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1635,-1.40,-170.3,2224,2381,3529,3646,373.5,-21.7,134,1639,0.00,2.22,0.00,0.000,260,0.000,0.041,2213,3805,3586,3528,3645,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1695,-1.40,-170.3,2213,3800,3529,3646,387.3,-23.1,138,1699,0.10,2.10,0.00,0.000,3078,0.158,0.023,2241,2391,3586,3527,3645,0,0,0,0,0,0,25.51,25.95,28.83
$GC,2010,-1.40,-170.3,2242,2384,3527,3644,452.4,-20.1,159,2014,0.00,2.17,0.00,0.000,260,0.000,0.042,2233,3803,3584,3525,3643,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2040,-1.40,-170.3,2233,3804,3526,3644,458.8,-20.8,161,2044,0.00,2.10,0.00,0.000,1030,0.000,0.023,2233,2418,3584,3525,3643,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2355,-1.40,-170.3,2233,2414,3524,3640,522.4,-20.1,182,2359,0.00,2.22,0.00,0.000,260,0.000,0.042,2223,3806,3581,3523,3640,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2404,-1.40,-170.3,2224,3806,3522,3640,532.0,-21.1,185,2409,0.00,2.12,0.00,0.000,1030,0.000,0.023,2223,2395,3581,3522,3640,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2715,-1.40,-170.3,2224,2391,3521,3638,596.2,-20.6,206,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2390,3578,3520,3637,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2747,-0.25,0.0,2223,2595,3520,3637,602.5,-20.6,208,2898,1.33,0.00,141.82,0.837,10246,0.142,0.000,2616,2594,2882,2890,2874,0,0,0,0,1,0,25.56,28.83,24.20
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2899,begin climb
$GC,2900,1.40,170.3,2617,2595,2891,2875,609.1,0.0,218,3049,1.52,1.95,135.73,0.830,10500,0.071,0.045,3138,3789,2181,2241,2121,0,0,0,0,0,0,24.90,24.79,24.19
$GC,3072,1.40,170.3,3139,3790,2240,2119,594.1,14.0,229,3080,0.00,1.88,0.00,0.000,1030,0.000,0.024,3148,2596,2178,2239,2118,0,0,0,0,0,0,28.83,25.13,28.83
$GC,3378,1.40,170.3,3148,2596,2234,2112,538.6,17.7,250,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2596,2172,2233,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3677,1.40,170.3,3148,2596,2230,2110,484.7,18.4,270,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2596,2169,2229,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,1.40,170.3,3149,2578,2225,2108,430.5,17.8,290,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2578,2165,2224,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,1.40,170.3,3148,2578,2223,2107,377.3,17.7,310,4281,0.00,1.90,0.00,0.000,260,0.000,0.044,3147,3786,2163,2221,2106,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4307,1.40,170.3,3149,3787,2222,2107,371.7,18.0,312,4311,0.00,1.85,0.00,0.000,1030,0.000,0.025,3157,2571,2163,2221,2105,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4623,1.40,170.3,3157,2567,2219,2104,313.8,18.7,333,4626,0.00,1.95,0.00,0.000,260,0.000,0.044,3157,3795,2160,2218,2103,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4702,1.40,170.3,3158,3796,2217,2109,298.1,21.4,338,4706,0.00,1.88,0.00,0.000,1030,0.000,0.025,3166,2566,2160,2217,2103,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5013,1.40,170.3,3167,2563,2217,2101,238.2,18.8,359,5016,0.00,1.92,0.00,0.000,260,0.000,0.043,3166,3787,2158,2215,2101,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5073,1.40,170.3,3167,3787,2216,2101,226.1,20.1,363,5076,0.00,1.85,0.00,0.000,1030,0.000,0.026,3176,2575,2158,2215,2101,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5387,1.40,170.3,3176,2558,2213,2099,164.9,19.6,384,5391,0.00,1.92,0.00,0.000,260,0.000,0.042,3176,3791,2155,2212,2099,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5502,1.40,170.3,3176,3791,2212,2099,143.0,21.1,391,5510,0.10,1.85,0.00,0.000,5126,0.161,0.024,3157,2574,2155,2211,2099,0,0,0,0,0,0,25.39,25.88,28.83
$GC,5813,1.40,170.3,3157,2556,2211,2098,92.1,14.1,414,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2556,2154,2210,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,1.47,205.2,3158,2557,2212,2098,77.4,11.5,426,5958,0.00,1.90,22.00,0.508,8452,0.000,0.041,3157,3791,2040,2099,1982,0,0,0,0,0,0,28.83,25.79,25.22
$GC,6012,1.47,205.2,3157,3791,2090,1982,67.7,13.8,433,6020,0.00,1.85,0.00,0.000,1030,0.000,0.024,3165,2567,2037,2094,1981,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6138,1.59,266.0,3165,2553,2095,1979,53.1,10.1,446,6189,0.10,2.00,44.85,0.488,10500,0.096,0.042,3215,3792,1791,1851,1732,0,0,0,0,0,0,25.79,25.49,25.03
$GC,6318,1.62,278.2,3216,3793,1844,1729,30.2,12.7,478,6332,0.00,1.85,9.62,0.406,9222,0.000,0.024,3224,2567,1744,1804,1685,0,0,0,0,0,0,28.83,25.67,25.03
$GC,6392,1.62,278.2,3225,2565,1804,1682,20.5,13.9,492,6399,0.00,1.95,0.00,0.000,260,0.000,0.041,3225,3788,1744,1807,1681,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6468,1.69,315.4,3225,3788,1801,1682,10.3,11.3,507,6518,0.00,1.83,39.62,0.366,9222,0.000,0.025,3234,2576,1594,1665,1524,0,0,0,0,1,0,28.83,25.73,25.02
$STATE,6536,end climb,SURFACE_DEPTH_REACHED
$STATE,6536,begin surface coast
$FINISH,2.0,1.009199
$STATE,6562,end surface coast,CONTROL_FINISHED_OK
$STATE,6563,begin surface
$SM_CCo,6579,85.32,0.052,0,0,840,500.16
$SM_GC,2.66,8.25,0.25,85.32,0.030,0.045,0.052,130,2355,840,-7.93,1.78,500.16,0,0,0,0,0,0,25.63,25.64,25.57
$IRIDIUM_FIX,2722.64,-8719.43,200508,190058
$TT8_MAMPS,0.095872,0.095872
$HUMID,40.11
$INTERNAL_PRESSURE,9.29943
$TCM_TEMP,24.40
$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,3.5/516052/497885
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/424004
$24V_AH,24.19,10.419
$10V_AH,10.25,9.343
$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,19.925,65.300,393.650,85.325,0.000,31.082,34.428,96.944,0.000,7045.900,17.682,0.000,4776.166,580.920,1493.028,71.997,0.000,1136.982,0.000,961.371,0.000,0.000,0.000
$DEVICE_MAMPS,224.145,47.430,836.910,52.020,0.000,60.440,160.000,223.000,0.000,35.901,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,348.888,0.000,0.000,0.000,0.000,0.000,7045.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.675,0.000,0.000,0.000
$MEM,296040
$DATA_FILE_SIZE,16813,524
$CAP_FILE_SIZE,81699,0
$CFSIZE,260034560,254816256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,5363.39,0x236bc6,7,5
$GPS,250715,072942,2800.471,-8727.726,24,0.9,34,-2.0