version: 66.12
glider: 163
mission: 7
dive: 45
start: 7 25 115 11 37 0
data:
$ID,163
$MISSION,7
$DIVE,45
$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,94
$R_STBD_OVSHOOT,48
$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
$GPS1,250715,112900,2801.887,-8728.254,37,1.1,47,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-58.8
$GPS2,250715,113651,2801.843,-8728.171,5,1.0,15,-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,320.1,7162,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.40,-170.3,123,2387,939,727,0.0,0.0,0,88,0.00,0.00,-70.40,0.000,16386,0.000,0.000,121,2386,2849,2806,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.40,-170.3,122,2387,2807,2896,5.7,-8.3,11,116,8.38,2.08,-13.62,0.000,18948,0.219,0.047,2243,1035,3577,3519,3635,0,0,0,0,0,0,25.26,25.50,25.58
$GC,155,-1.40,-170.3,2243,1035,3521,3638,31.1,-41.9,23,162,0.00,2.10,0.00,0.000,1030,0.000,0.028,2235,2398,3579,3520,3638,0,0,0,0,0,0,28.83,25.64,28.83
$GC,226,-1.40,-170.3,2236,2398,3521,3640,58.9,-36.6,35,230,0.00,2.17,0.00,0.000,260,0.000,0.037,2225,3793,3579,3520,3639,0,0,0,0,0,0,28.83,25.68,28.83
$GC,377,-1.40,-170.3,2225,3793,3523,3642,101.6,-26.1,50,380,0.00,2.08,0.00,0.000,1030,0.000,0.022,2225,2430,3582,3522,3642,0,0,0,0,0,0,28.83,25.79,28.83
$GC,691,-1.40,-170.3,2226,2412,3528,3644,170.0,-21.7,71,695,0.00,2.15,0.00,0.000,260,0.000,0.039,2215,3788,3585,3527,3644,0,0,0,0,0,0,28.83,25.78,28.83
$GC,856,-1.40,-170.3,2215,3789,3528,3646,207.4,-22.2,82,861,0.10,2.10,0.00,0.000,3078,0.161,0.023,2243,2382,3586,3527,3646,0,0,0,0,0,0,25.46,25.87,28.83
$GC,1172,-1.40,-170.3,2243,2383,3529,3646,271.0,-19.8,103,1175,0.00,2.20,0.00,0.000,260,0.000,0.041,2234,3788,3587,3529,3645,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1191,-1.40,-170.3,2235,3789,3529,3646,273.9,-19.6,104,1195,0.00,2.08,0.00,0.000,1030,0.000,0.023,2234,2419,3587,3528,3646,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1501,-1.40,-170.3,2234,2416,3529,3646,335.9,-19.2,125,1505,0.00,2.17,0.00,0.000,260,0.000,0.040,2225,3788,3586,3527,3646,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1616,-1.40,-170.3,2225,3789,3528,3646,358.0,-21.2,132,1624,0.00,2.10,0.00,0.000,1030,0.000,0.023,2224,2405,3586,3527,3645,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1921,-1.40,-170.3,2225,2400,3528,3645,424.0,-20.6,153,1925,0.00,2.20,0.00,0.000,260,0.000,0.041,2214,3788,3585,3527,3644,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2026,-1.40,-170.3,2215,3788,3526,3644,447.2,-22.3,160,2030,0.10,2.12,0.00,0.000,3078,0.155,0.023,2243,2371,3584,3525,3643,0,0,0,0,0,0,25.47,25.94,28.83
$GC,2342,-1.40,-170.3,2243,2371,3525,3640,509.0,-19.5,181,2345,0.00,2.22,0.00,0.000,260,0.000,0.042,2234,3801,3581,3524,3639,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2461,-1.40,-170.3,2235,3801,3524,3639,533.6,-20.2,189,2465,0.00,2.10,0.00,0.000,1030,0.000,0.024,2234,2423,3580,3522,3639,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2776,-1.40,-170.3,2234,2423,3522,3635,595.8,-19.6,210,2780,0.00,2.20,0.00,0.000,260,0.000,0.042,2224,3788,3577,3520,3635,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,2805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2805,begin apogee
$GC,2810,-0.25,0.0,2225,2572,3521,3635,602.2,-20.2,212,2946,1.30,0.00,132.27,0.849,10246,0.138,0.000,2612,2552,2881,2886,2876,0,0,0,0,0,0,25.51,28.83,24.22
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin climb
$GC,2948,1.40,170.3,2612,2552,2887,2875,608.9,0.0,221,3094,1.55,2.05,135.75,0.829,10500,0.073,0.044,3137,3784,2180,2232,2129,0,0,0,0,0,0,24.89,24.78,24.15
$GC,3109,1.40,170.3,3146,3784,2232,2127,594.0,14.2,232,3113,0.00,1.92,0.00,0.000,1030,0.000,0.025,3147,2578,2178,2230,2126,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3424,1.40,170.3,3147,2578,2226,2118,540.9,16.5,253,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2577,2171,2225,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3724,1.40,170.3,3147,2578,2221,2116,489.5,17.2,273,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2577,2167,2220,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4024,1.40,170.3,3147,2558,2218,2113,436.4,17.9,293,4028,0.00,1.95,0.00,0.000,260,0.000,0.044,3147,3787,2165,2217,2113,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4084,1.40,170.3,3147,3788,2218,2113,425.0,19.0,297,4088,0.00,1.88,0.00,0.000,1030,0.000,0.025,3156,2571,2164,2216,2113,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4399,1.40,170.3,3157,2557,2214,2112,368.2,18.0,318,4403,0.00,1.95,0.00,0.000,260,0.000,0.044,3156,3788,2161,2212,2111,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4453,1.40,170.3,3157,3788,2214,2111,359.6,18.6,321,4461,0.00,1.88,0.00,0.000,1030,0.000,0.025,3165,2574,2161,2211,2111,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4759,1.40,170.3,3166,2572,2210,2110,300.2,18.7,342,4763,0.00,1.92,0.00,0.000,260,0.000,0.044,3165,3781,2159,2209,2109,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4808,1.40,170.3,3166,3782,2209,2109,291.1,19.9,345,4813,0.00,1.85,0.00,0.000,1030,0.000,0.025,3174,2577,2159,2209,2109,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5119,1.40,170.3,3175,2560,2209,2108,230.7,18.8,366,5123,0.00,1.92,0.00,0.000,260,0.000,0.043,3174,3784,2157,2207,2107,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5164,1.40,170.3,3175,3784,2208,2108,221.6,19.8,369,5168,0.10,1.85,0.00,0.000,5126,0.157,0.025,3156,2577,2157,2207,2107,0,0,0,0,0,0,25.41,25.86,28.83
$GC,5479,1.40,170.3,3157,2560,2205,2107,164.7,16.3,390,5483,0.00,1.92,0.00,0.000,260,0.000,0.043,3156,3784,2155,2205,2106,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5624,1.40,170.3,3157,3784,2205,2107,139.4,19.5,399,5631,0.00,1.85,0.00,0.000,1030,0.000,0.026,3163,2578,2152,2204,2100,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5929,1.40,170.3,3164,2559,2203,2105,84.2,16.4,423,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2558,2153,2202,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6049,1.41,174.3,3164,2559,2204,2104,67.2,13.1,435,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2558,2153,2202,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6169,1.57,254.7,3164,2559,2203,2104,54.9,9.0,447,6234,0.10,1.92,57.40,0.493,10500,0.097,0.041,3215,3795,1835,1891,1780,0,0,0,0,0,0,25.84,25.47,25.02
$GC,6253,1.57,254.7,3216,3795,1884,1780,44.1,15.4,458,6261,0.00,1.90,0.00,0.000,1030,0.000,0.024,3225,2555,1831,1883,1780,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6320,1.60,267.4,3226,2547,1880,1779,35.0,12.7,471,6333,0.00,0.00,9.77,0.430,8198,0.000,0.000,3225,2547,1787,1840,1734,0,0,0,0,0,0,28.83,28.83,24.97
$GC,6392,1.66,301.1,3225,2547,1838,1731,27.0,11.5,485,6424,0.00,0.00,26.45,0.471,8454,0.000,0.000,3225,2547,1648,1709,1588,0,0,0,0,0,0,28.83,28.83,24.93
$GC,6483,1.66,301.1,3225,2547,1707,1584,15.2,15.5,502,6490,0.00,1.98,0.00,0.000,260,0.000,0.042,3225,3784,1645,1706,1584,0,0,0,0,0,0,28.83,25.54,28.83
$STATE,6583,end climb,SURFACE_DEPTH_REACHED
$STATE,6583,begin surface coast
$FINISH,2.0,1.020731
$STATE,6618,end surface coast,CONTROL_FINISHED_OK
$STATE,6618,begin surface
$SM_CCo,6636,100.25,0.413,1,0,840,500.16
$SM_GC,3.11,8.30,2.15,100.25,0.034,0.023,0.413,130,2357,840,-7.96,1.44,500.16,0,0,0,0,1,0,25.68,25.73,24.74
$IRIDIUM_FIX,2722.64,-8719.43,210508,005921
$TT8_MAMPS,0.095872,0.095872
$HUMID,40.74
$INTERNAL_PRESSURE,9.28966
$TCM_TEMP,24.30
$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,3.5/516052/497884
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423849
$24V_AH,24.15,10.913
$10V_AH,10.32,9.700
$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,19.925,64.800,361.650,100.250,0.000,31.918,36.864,144.892,0.000,7250.400,17.018,0.000,4816.304,572.683,1616.592,76.004,0.000,1134.958,0.000,1004.023,0.000,0.000,0.000
$DEVICE_MAMPS,218.790,46.665,849.150,413.100,0.000,60.440,160.000,223.000,0.000,35.746,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,352.991,0.000,0.000,0.000,0.000,0.000,7250.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.708,0.000,0.000,0.000
$MEM,296032
$DATA_FILE_SIZE,20115,529
$CAP_FILE_SIZE,84003,0
$CFSIZE,260034560,254672896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7167.24,0x236bc6,7,5
$GPS,250715,132954,2802.581,-8728.640,4,0.9,15,-2.0