version: 66.12
glider: 163
mission: 7
dive: 43
start: 7 25 115 7 39 20
data:
$ID,163
$MISSION,7
$DIVE,43
$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,103
$R_STBD_OVSHOOT,47
$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
$GPS1,250715,072942,2800.471,-8727.726,24,0.9,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-61.0
$GPS2,250715,073910,2800.423,-8727.585,5,0.9,15,-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,326.2,9814,-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,-170.3,127,2350,942,725,0.0,0.0,0,87,0.00,0.00,-70.20,0.000,16386,0.000,0.000,127,2351,2871,2826,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.40,-170.3,127,2352,2826,2918,5.9,-8.3,11,115,8.48,2.00,-12.82,0.000,18948,0.223,0.048,2245,1043,3577,3520,3635,0,0,0,0,0,0,25.23,25.63,25.73
$GC,149,-1.40,-170.3,2246,1044,3521,3638,29.1,-37.6,22,156,0.00,2.10,0.00,0.000,1030,0.000,0.028,2238,2393,3579,3520,3638,0,0,0,0,0,0,28.83,25.67,28.83
$GC,215,-1.40,-170.3,2238,2394,3522,3639,55.2,-38.0,34,219,0.00,2.20,0.00,0.000,260,0.000,0.037,2227,3802,3579,3521,3638,0,0,0,0,0,0,28.83,25.52,28.83
$GC,440,-1.40,-170.3,2227,3807,3524,3642,118.9,-24.6,54,444,0.00,2.08,0.00,0.000,1030,0.000,0.022,2227,2440,3582,3523,3642,0,0,0,0,0,0,28.83,25.81,28.83
$GC,755,-1.40,-170.3,2227,2424,3529,3644,186.6,-21.8,75,759,0.00,2.17,0.00,0.000,516,0.000,0.031,2227,991,3585,3527,3644,0,0,0,0,0,0,28.83,25.86,28.83
$GC,775,-1.40,-170.3,2229,992,3528,3644,189.9,-21.5,76,779,0.10,2.15,0.00,0.000,3078,0.162,0.028,2245,2397,3585,3527,3644,0,0,0,0,0,0,25.51,25.87,28.83
$GC,1086,-1.40,-170.3,2246,2398,3529,3644,254.8,-19.6,97,1089,0.00,2.12,0.00,0.000,260,0.000,0.041,2236,3807,3586,3528,3644,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1210,-1.40,-170.3,2237,3807,3529,3644,280.5,-21.3,105,1214,0.00,2.12,0.00,0.000,1030,0.000,0.023,2237,2398,3586,3528,3644,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1520,-1.40,-170.3,2237,2394,3528,3644,345.6,-20.6,126,1524,0.00,2.20,0.00,0.000,260,0.000,0.040,2227,3791,3585,3528,3643,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1630,-1.40,-170.3,2227,3791,3528,3644,367.9,-21.3,133,1634,0.00,2.10,0.00,0.000,1030,0.000,0.023,2226,2402,3585,3527,3643,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1940,-1.40,-170.3,2227,2399,3527,3642,431.8,-20.2,154,1944,0.00,2.20,0.00,0.000,260,0.000,0.041,2216,3791,3583,3526,3641,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1980,-1.40,-170.3,2217,3792,3526,3641,438.1,-20.3,156,1988,0.10,2.10,0.00,0.000,3078,0.157,0.023,2244,2387,3583,3525,3641,0,0,0,0,0,0,25.51,25.94,28.83
$GC,2286,-1.40,-170.3,2246,2381,3525,3638,499.8,-19.2,177,2289,0.00,2.20,0.00,0.000,260,0.000,0.041,2236,3799,3580,3524,3637,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2365,-1.40,-170.3,2237,3800,3523,3637,515.3,-20.8,182,2369,0.00,2.10,0.00,0.000,1030,0.000,0.024,2236,2422,3579,3522,3637,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2675,-1.40,-170.3,2237,2422,3522,3633,577.4,-19.4,203,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2422,3576,3520,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2794,begin apogee
$GC,2797,-0.25,0.0,2236,2588,3519,3632,601.0,-19.6,211,2933,1.27,0.00,131.30,0.845,10246,0.138,0.000,2616,2587,2880,2890,2870,0,0,0,0,0,0,25.53,28.83,24.25
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin climb
$GC,2935,1.40,170.3,2617,2588,2892,2870,606.3,0.0,220,3075,1.52,0.00,135.77,0.822,10502,0.071,0.000,3139,2588,2184,2238,2130,0,0,0,0,0,0,24.93,28.83,24.18
$GC,3365,1.40,170.3,3139,2588,2229,2116,543.2,17.3,249,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2588,2172,2228,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3665,1.40,170.3,3139,2588,2224,2113,490.1,17.9,269,3669,0.00,1.88,0.00,0.000,260,0.000,0.044,3139,3786,2168,2223,2113,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3695,1.40,170.3,3139,3787,2224,2113,484.5,18.3,271,3699,0.00,1.85,0.00,0.000,1030,0.000,0.026,3148,2576,2167,2223,2112,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4010,1.40,170.3,3149,2576,2219,2111,427.5,17.7,292,4014,0.00,2.17,0.00,0.000,516,0.000,0.039,3158,1180,2164,2218,2110,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4050,1.40,170.3,3158,1180,2218,2110,422.1,17.9,294,4057,0.00,2.17,0.00,0.000,1030,0.000,0.033,3157,2565,2163,2217,2109,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4355,1.40,170.3,3158,2566,2216,2108,365.8,17.6,315,4359,0.00,1.92,0.00,0.000,260,0.000,0.044,3158,3806,2161,2215,2107,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4445,1.40,170.3,3158,3806,2215,2109,348.6,19.5,321,4449,0.00,1.88,0.00,0.000,1030,0.000,0.026,3167,2578,2161,2214,2108,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4760,1.40,170.3,3167,2576,2211,2106,290.9,18.5,342,4764,0.00,1.95,0.00,0.000,260,0.000,0.043,3167,3798,2158,2210,2106,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4860,1.40,170.3,3167,3798,2210,2107,272.2,20.9,348,4867,0.00,1.88,0.00,0.000,1030,0.000,0.026,3176,2569,2157,2209,2106,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5165,1.40,170.3,3177,2566,2209,2105,210.9,19.8,369,5169,0.00,2.15,0.00,0.000,516,0.000,0.039,3186,1179,2156,2208,2104,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5180,1.40,170.3,3187,1179,2208,2104,208.1,19.6,370,5184,0.10,2.20,0.00,0.000,5126,0.143,0.032,3157,2582,2155,2208,2103,0,0,0,0,0,0,25.46,25.85,28.83
$GC,5496,1.40,170.3,3157,2582,2208,2102,151.9,17.9,391,5499,0.00,1.88,0.00,0.000,260,0.000,0.043,3157,3796,2154,2207,2102,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5900,1.40,170.3,3157,3797,2206,2101,78.7,14.2,422,5907,0.00,1.85,0.00,0.000,1030,0.000,0.024,3161,2549,2153,2205,2101,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6025,1.49,216.2,3165,2548,2205,2100,65.0,10.9,435,6059,0.00,1.95,29.65,0.498,8452,0.000,0.041,3164,3806,1994,2049,1940,0,0,0,0,0,0,28.83,25.71,25.19
$GC,6093,1.57,255.2,3165,3807,2047,1939,58.0,11.2,441,6131,0.03,1.83,29.45,0.480,11270,0.130,0.024,3203,2565,1835,1893,1777,0,0,0,0,0,0,25.51,25.77,25.03
$GC,6248,1.66,300.1,3212,2566,1883,1775,40.5,10.9,465,6287,0.00,1.92,33.75,0.458,8452,0.000,0.042,3203,3793,1653,1716,1591,0,0,0,0,0,0,28.83,25.44,24.93
$GC,6391,1.66,300.1,3204,3794,1714,1588,20.8,14.6,492,6398,0.00,1.83,0.00,0.000,1030,0.000,0.024,3212,2594,1648,1710,1587,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6457,1.69,313.6,3213,2576,1711,1585,12.1,12.6,505,6489,0.00,1.95,21.55,0.243,8452,0.000,0.041,3212,3798,1599,1665,1534,0,0,0,0,1,0,28.83,25.63,25.02
$STATE,6527,end climb,SURFACE_DEPTH_REACHED
$STATE,6527,begin surface coast
$FINISH,2.0,1.009325
$STATE,6548,end surface coast,CONTROL_FINISHED_OK
$STATE,6548,begin surface
$SM_CCo,6566,85.97,0.052,0,0,840,500.16
$SM_GC,2.89,8.12,2.17,85.97,0.024,0.025,0.052,120,2405,840,-7.96,1.53,500.16,0,0,0,0,0,0,25.70,25.70,25.62
$IRIDIUM_FIX,2722.64,-8719.43,200508,210044
$TT8_MAMPS,0.095872,0.095872
$HUMID,40.54
$INTERNAL_PRESSURE,9.29943
$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,3.5/516052/497885
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423961
$24V_AH,24.18,10.584
$10V_AH,10.23,9.465
$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,19.725,65.550,381.475,85.975,0.000,36.609,35.871,197.979,0.000,7273.300,16.953,0.000,4707.949,573.104,1719.388,85.753,0.000,1144.821,0.000,1025.221,0.000,0.000,0.000
$DEVICE_MAMPS,222.615,48.960,844.560,52.020,0.000,60.440,160.000,223.000,0.000,35.676,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,347.805,0.000,0.000,0.000,0.000,0.000,7273.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.723,0.000,0.000,0.000
$MEM,295988
$DATA_FILE_SIZE,16767,522
$CAP_FILE_SIZE,86920,0
$CFSIZE,260034560,254763008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7293.45,0x236bc6,7,5
$GPS,250715,093044,2801.115,-8727.961,4,0.9,14,-2.0