version: 66.12
glider: 163
mission: 7
dive: 54
start: 7 25 115 23 46 27
data:
$ID,163
$MISSION,7
$DIVE,54
$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,200
$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,91
$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
$GPS1,250715,233843,2758.699,-8727.461,34,0.8,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-64.5
$GPS2,250715,234617,2758.603,-8727.542,5,0.8,15,-2.0
$SPEED_LIMITS,0.231,0.295
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,308.8,828,-26.1,-13.333,-30.00,1321
$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,-1.54,-116.4,129,2371,932,737,0.0,0.0,0,76,0.00,0.00,-58.55,0.000,16386,0.000,0.000,129,2371,2593,2586,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.65,-171.1,129,2371,2587,2604,5.8,-9.1,9,109,8.43,2.20,-16.92,0.000,19204,0.237,0.047,2152,3808,3580,3521,3639,0,0,0,0,0,0,25.33,25.58,25.67
$GC,508,-1.65,-171.1,2153,3807,3524,3650,148.6,-26.3,55,512,0.00,2.08,0.00,0.000,1030,0.000,0.022,2152,2434,3586,3523,3649,0,0,0,0,0,0,28.83,25.94,28.83
$GC,818,-1.65,-171.1,2152,2425,3529,3650,226.5,-24.7,76,822,0.00,2.12,0.00,0.000,260,0.000,0.037,2143,3795,3588,3528,3649,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1078,-1.65,-171.1,2143,3796,3528,3651,291.9,-26.5,93,1082,0.00,2.10,0.00,0.000,1030,0.000,0.022,2142,2394,3588,3527,3650,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1388,-1.65,-171.1,2143,2389,3528,3650,370.4,-23.8,114,1392,0.00,2.20,0.00,0.000,260,0.000,0.037,2132,3799,3588,3527,3650,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1529,-1.65,-171.1,2133,3800,3528,3651,404.3,-25.3,123,1533,0.10,2.12,0.00,0.000,3078,0.174,0.023,2160,2377,3588,3526,3650,0,0,0,0,0,0,25.56,26.03,28.83
$GC,1839,-1.65,-171.1,2161,2378,3525,3649,479.2,-24.1,144,1842,0.00,2.17,0.00,0.000,260,0.000,0.039,2151,3802,3587,3525,3649,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1988,-1.65,-171.1,2152,3803,3524,3648,516.7,-25.2,154,1992,0.00,2.10,0.00,0.000,1030,0.000,0.024,2152,2418,3585,3522,3648,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2304,-1.65,-171.1,2152,2415,3521,3643,591.3,-23.3,175,2307,0.00,2.20,0.00,0.000,260,0.000,0.040,2142,3804,3581,3520,3643,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,2347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2347,begin apogee
$GC,2352,-0.25,0.0,2142,2572,3520,3643,602.3,-24.1,178,2489,1.60,0.00,132.55,0.881,10246,0.151,0.000,2612,2552,2881,2883,2879,0,0,0,0,0,0,25.53,28.83,24.33
$STATE,2489,end apogee,CONTROL_FINISHED_OK
$STATE,2489,begin climb
$GC,2491,1.65,171.1,2612,2553,2884,2878,608.9,0.0,187,2636,1.75,0.00,135.48,0.854,10758,0.071,0.000,3214,2551,2178,2227,2130,0,0,0,0,0,0,24.99,28.83,24.25
$GC,2933,1.65,171.1,3214,2551,2220,2121,532.5,20.3,217,2937,0.00,1.95,0.00,0.000,260,0.000,0.041,3214,3792,2169,2218,2120,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2993,1.65,171.1,3214,3793,2219,2120,519.1,22.5,221,2997,0.00,1.88,0.00,0.000,1030,0.000,0.025,3223,2575,2169,2218,2120,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3309,1.65,171.1,3224,2572,2215,2117,453.6,20.7,242,3312,0.00,2.17,0.00,0.000,516,0.000,0.039,3233,1164,2165,2213,2117,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3343,1.65,171.1,3233,1164,2212,2116,447.3,21.1,244,3347,0.00,2.20,0.00,0.000,1030,0.000,0.032,3233,2572,2163,2211,2116,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3654,1.65,171.1,3233,2572,2209,2115,380.1,22.7,265,3657,0.00,1.90,0.00,0.000,260,0.000,0.043,3233,3803,2161,2208,2114,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3748,1.65,171.1,3233,3804,2208,2114,358.6,24.2,271,3752,0.00,1.90,0.00,0.000,1030,0.000,0.025,3242,2574,2160,2207,2114,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4059,1.65,171.1,3243,2555,2204,2112,290.2,21.0,292,4063,0.00,1.92,0.00,0.000,260,0.000,0.042,3242,3790,2157,2203,2112,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4148,1.65,171.1,3242,3793,2204,2112,269.1,23.8,298,4152,0.00,1.85,0.00,0.000,1030,0.000,0.025,3251,2570,2156,2202,2111,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4464,1.65,171.1,3252,2553,2201,2110,196.7,23.0,319,4467,0.00,2.15,0.00,0.000,516,0.000,0.038,3261,1172,2154,2200,2109,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4473,1.65,171.1,3261,1172,2201,2109,196.7,23.0,319,4481,0.10,2.20,0.00,0.000,5126,0.176,0.031,3235,2583,2153,2199,2108,0,0,0,0,0,0,25.44,25.90,28.83
$GC,4779,1.65,171.1,3236,2584,2198,2108,132.0,19.5,340,4782,0.00,1.85,0.00,0.000,260,0.000,0.042,3235,3792,2152,2197,2107,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5324,1.89,294.1,3236,3793,2194,2106,47.3,3.8,394,5417,0.12,1.80,84.47,0.508,11270,0.053,0.024,3310,2557,1679,1734,1624,0,0,0,0,0,0,25.91,25.98,24.90
$GC,5476,1.89,294.1,3311,2557,1729,1618,29.1,19.3,421,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2556,1673,1728,1618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,1.89,294.1,3310,2557,1728,1617,17.4,19.0,433,5543,0.00,1.95,0.00,0.000,260,0.000,0.041,3310,3794,1672,1728,1616,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5552,1.89,294.1,3310,3794,1728,1616,14.5,17.5,436,5560,0.00,1.83,0.00,0.000,1030,0.000,0.024,3319,2593,1671,1727,1615,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5619,2.17,433.0,3319,2577,1728,1615,8.6,2.5,449,5749,0.20,1.92,117.85,0.463,10500,0.060,0.041,3401,3793,1113,1210,1016,0,0,0,0,1,0,25.71,25.18,24.71
$STATE,5757,end climb,SURFACE_DEPTH_REACHED
$STATE,5757,begin surface coast
$FINISH,2.0,1.018378
$STATE,5787,end surface coast,CONTROL_FINISHED_OK
$STATE,5788,begin surface
$SM_CCo,5806,36.15,0.052,0,0,840,500.16
$SM_GC,3.13,8.90,2.17,36.15,0.037,0.021,0.052,138,2362,840,-7.94,1.55,500.16,0,0,0,0,0,0,25.42,25.44,25.46
$IRIDIUM_FIX,2722.64,-8719.43,210508,130855
$TT8_MAMPS,0.095872,0.095872
$HUMID,42.67
$INTERNAL_PRESSURE,9.34826
$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,3.5/516052/497879
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423772
$24V_AH,24.25,12.129
$10V_AH,10.34,10.450
$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,21.200,52.800,470.350,36.150,0.000,29.135,34.985,137.523,0.000,6362.900,16.907,0.000,3954.056,556.185,1590.976,72.969,0.000,1134.017,0.000,1024.679,0.000,0.000,0.000
$DEVICE_MAMPS,237.150,47.430,881.280,52.020,0.000,60.440,160.000,223.000,0.000,36.338,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,315.841,0.000,0.000,0.000,0.000,0.000,6362.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.774,0.000,0.000,0.000
$MEM,296080
$DATA_FILE_SIZE,16760,478
$CAP_FILE_SIZE,74857,0
$CFSIZE,260034560,254337024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,6147.45,0x236bc6,7,5
$GPS,260715,012421,2759.080,-8727.992,4,0.9,14,-2.0