version: 66.12
glider: 163
mission: 7
dive: 4
start: 7 18 115 22 35 27
data:
$ID,163
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,330
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51703
$MASS_COMP,0
$NAV_MODE,1
$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,25.6
$TGT_DEFAULT_LON,126.45
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,19.5
$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,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$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,0.0012300001
$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,0
$PITCH_W_DBAND,0
$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
$GPS1,180715,222712,2756.288,-8725.913,30,0.8,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-64.0
$GPS2,180715,223517,2756.134,-8725.928,6,0.8,16,-2.0
$SPEED_LIMITS,0.110,0.302
$TGT_NAME,T315
$TGT_LATLONG,2759.880,-8728.797
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,327.9,8375,-14.0,-11.000,-20.01,3229
$D_GRID,990
$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,-1.02,-243.3,131,2485,1140,944,0.0,0.0,0,44,0.00,0.00,-28.27,0.000,16386,0.000,0.000,131,2485,1794,1830,1759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.02,-243.3,132,2486,1832,1759,3.2,-4.3,4,114,9.00,2.08,-52.00,0.000,18948,0.219,0.051,2443,1124,3873,3875,3872,0,0,0,0,0,0,25.49,25.84,25.97
$GC,242,-1.02,-243.3,2443,1125,3880,3872,54.3,-31.8,39,251,0.00,2.12,0.00,0.000,1030,0.000,0.033,2435,2514,3875,3879,3872,0,0,1,0,0,0,28.83,25.91,28.83
$GC,368,-1.02,-243.3,2435,2514,3882,3872,84.4,-18.6,52,372,0.00,2.15,0.00,0.000,516,0.000,0.036,2435,1122,3875,3880,3871,0,0,1,0,0,0,28.83,25.95,28.83
$GC,408,-1.02,-243.3,2436,1122,3882,3872,91.3,-17.0,56,412,0.00,2.10,0.00,0.000,1030,0.000,0.034,2427,2500,3876,3881,3872,0,0,1,0,0,0,28.83,25.96,28.83
$GC,543,-1.02,-243.3,2427,2501,3884,3872,112.6,-15.8,67,547,0.00,2.12,0.00,0.000,516,0.000,0.036,2427,1121,3877,3883,3871,0,0,1,0,0,0,28.83,25.98,28.83
$GC,567,-1.02,-243.3,2427,1121,3885,3872,114.9,-15.7,68,575,0.00,2.10,0.00,0.000,1030,0.000,0.033,2419,2503,3878,3884,3872,0,0,1,0,0,0,28.83,25.97,28.83
$GC,873,-1.02,-243.3,2419,2503,3889,3872,159.6,-13.5,89,877,0.12,2.12,0.00,0.000,2564,0.148,0.034,2451,1126,3880,3888,3872,0,0,0,0,0,0,25.74,25.99,28.83
$GC,963,-1.02,-243.3,2452,1127,3889,3872,171.2,-12.4,95,967,0.00,2.10,0.00,0.000,1030,0.000,0.034,2446,2501,3880,3888,3872,0,0,1,0,0,0,28.83,26.00,28.83
$GC,1278,-1.02,-243.3,2446,2502,3890,3872,209.4,-11.8,116,1282,0.00,2.12,0.00,0.000,516,0.000,0.035,2446,1127,3879,3888,3871,0,0,1,0,0,0,28.83,25.98,28.83
$GC,1342,-1.02,-243.3,2446,1126,3890,3872,216.5,-11.9,120,1347,0.00,2.10,0.00,0.000,1030,0.000,0.034,2442,2503,3880,3888,3872,0,0,1,0,0,0,28.83,26.00,28.83
$GC,1653,-1.02,-243.3,2442,2503,3890,3872,251.8,-11.2,141,1657,0.00,2.12,0.00,0.000,516,0.000,0.037,2442,1129,3880,3888,3872,0,0,1,0,0,0,28.83,25.77,28.83
$GC,1747,-1.02,-243.3,2442,1130,3889,3872,262.4,-11.8,147,1752,0.00,2.12,0.00,0.000,1030,0.000,0.035,2440,2503,3883,3888,3879,0,0,1,0,0,0,28.83,25.75,28.83
$GC,2058,-1.02,-243.3,2440,2503,3886,3871,298.5,-11.4,168,2062,0.00,2.12,0.00,0.000,516,0.000,0.037,2440,1133,3878,3885,3871,0,0,1,0,0,0,28.83,25.89,28.83
$GC,2107,-1.02,-243.3,2440,1133,3886,3871,303.8,-11.7,171,2112,0.00,2.10,0.00,0.000,1030,0.000,0.036,2440,2494,3877,3885,3870,0,0,1,0,0,0,28.83,25.89,28.83
$GC,2418,-1.02,-243.3,2441,2495,3884,3870,338.6,-11.2,192,2422,0.00,2.12,0.00,0.000,516,0.000,0.038,2440,1132,3876,3883,3869,0,0,1,0,0,0,28.83,25.89,28.83
$GC,2498,-1.02,-243.3,2440,1132,3884,3869,347.2,-11.5,197,2502,0.00,2.10,0.00,0.000,1030,0.000,0.036,2439,2492,3875,3883,3868,0,0,1,0,0,0,28.83,25.91,28.83
$GC,2808,-1.02,-243.3,2440,2493,3882,3866,382.3,-11.0,218,2812,0.00,2.12,0.00,0.000,516,0.000,0.039,2440,1102,3873,3881,3866,0,0,1,0,0,0,28.83,25.89,28.83
$GC,2903,-1.02,-243.3,2440,1102,3881,3865,392.5,-11.2,224,2907,0.00,2.17,0.00,0.000,1030,0.000,0.037,2439,2503,3872,3881,3864,0,0,1,0,0,0,28.83,25.92,28.83
$GC,3213,-1.02,-243.3,2440,2504,3878,3862,427.3,-11.0,245,3217,0.00,2.15,0.00,0.000,516,0.000,0.039,2440,1132,3870,3878,3862,0,0,1,0,0,0,28.83,25.89,28.83
$GC,3298,-1.02,-243.3,2440,1133,3878,3862,435.8,-11.3,250,3305,0.00,2.12,0.00,0.000,1030,0.000,0.037,2439,2506,3869,3877,3861,0,0,1,0,0,0,28.83,25.93,28.83
$GC,3603,-1.02,-243.3,2440,2506,3876,3860,470.7,-10.9,271,3607,0.00,2.17,0.00,0.000,516,0.000,0.040,2439,1124,3867,3875,3859,0,0,1,0,0,0,28.83,25.87,28.83
$GC,3693,-1.02,-243.3,2440,1124,3876,3859,480.3,-10.6,277,3697,0.00,2.15,0.00,0.000,1030,0.000,0.038,2439,2503,3866,3874,3858,0,0,1,0,0,0,28.83,25.89,28.83
$GC,4008,-1.02,-243.3,2439,2504,3873,3855,512.6,-10.1,298,4012,0.00,2.12,0.00,0.000,516,0.000,0.041,2439,1122,3863,3872,3854,0,0,1,0,0,0,28.83,25.85,28.83
$GC,4083,-1.02,-243.3,2440,1122,3872,3854,520.5,-10.5,303,4087,0.00,2.15,0.00,0.000,1030,0.000,0.039,2439,2501,3862,3871,3854,0,0,1,0,0,0,28.83,25.91,28.83
$GC,4398,-1.02,-243.3,2439,2501,3870,3852,552.5,-9.9,324,4402,0.00,2.15,0.00,0.000,516,0.000,0.041,2439,1110,3860,3868,3852,0,0,1,0,0,0,28.83,25.84,28.83
$GC,4498,-1.02,-243.3,2439,1111,3869,3851,561.6,-10.2,330,4505,0.00,2.17,0.00,0.000,1030,0.000,0.038,2439,2499,3859,3868,3851,0,0,1,0,0,0,28.83,25.87,28.83
$GC,4803,-1.02,-243.3,2440,2500,3867,3849,592.6,-10.1,351,4807,0.00,2.15,0.00,0.000,516,0.000,0.041,2439,1137,3857,3866,3848,0,0,1,0,0,0,28.83,25.84,28.83
$GC,4868,-1.02,-243.3,2439,1137,3867,3848,598.6,-10.1,355,4872,0.00,2.12,0.00,0.000,1030,0.000,0.040,2436,2496,3856,3865,3848,0,0,1,0,0,0,28.83,25.84,28.83
$GC,5179,-1.02,-243.3,2437,2497,3863,3846,630.6,-10.4,376,5182,0.00,2.12,0.00,0.000,516,0.000,0.041,2437,1126,3853,3862,3845,0,0,1,0,0,0,28.83,25.82,28.83
$GC,5258,-1.02,-243.3,2437,1127,3863,3845,638.9,-10.9,381,5262,0.00,2.15,0.00,0.000,1030,0.000,0.041,2436,2497,3853,3861,3845,0,0,1,0,0,0,28.83,25.82,28.83
$GC,5569,-1.02,-243.3,2436,2497,3862,3843,671.4,-10.1,402,5572,0.00,2.12,0.00,0.000,516,0.000,0.042,2436,1124,3851,3861,3842,0,0,1,0,0,0,28.83,25.77,28.83
$GC,5663,-1.02,-243.3,2436,1124,3862,3842,680.7,-10.3,408,5667,0.00,2.17,0.00,0.000,1030,0.000,0.041,2431,2497,3851,3860,3842,0,0,1,0,0,0,28.83,25.59,28.83
$GC,5974,-1.02,-243.3,2432,2498,3860,3840,712.3,-9.8,429,5977,0.00,2.12,0.00,0.000,516,0.000,0.041,2431,1129,3849,3859,3839,0,0,1,0,0,0,28.83,25.72,28.83
$GC,6048,-1.02,-243.3,2431,1129,3861,3840,719.9,-10.0,434,6052,0.00,2.15,0.00,0.000,1030,0.000,0.041,2430,2493,3849,3859,3839,0,0,1,0,0,0,28.83,25.75,28.83
$GC,6364,-1.02,-243.3,2430,2493,3858,3838,751.6,-10.1,455,6367,0.00,2.12,0.00,0.000,516,0.000,0.043,2430,1132,3847,3856,3838,0,0,1,0,0,0,28.83,25.73,28.83
$GC,6453,-1.02,-243.3,2431,1132,3857,3838,761.3,-10.8,461,6457,0.00,2.15,0.00,0.000,1030,0.000,0.041,2430,2496,3846,3856,3837,0,0,1,0,0,0,28.83,25.77,28.83
$GC,6769,-1.02,-243.3,2432,2496,3855,3836,793.9,-10.3,482,6772,0.00,2.12,0.00,0.000,516,0.000,0.043,2430,1132,3844,3854,3835,0,0,1,0,0,0,28.83,25.73,28.83
$GC,6863,-1.02,-243.3,2430,1132,3850,3836,803.3,-10.4,488,6867,0.00,2.17,0.00,0.000,1030,0.000,0.041,2429,2504,3844,3853,3835,0,0,1,0,0,0,28.83,25.77,28.83
$GC,7174,-1.02,-243.3,2430,2504,3853,3833,835.3,-10.1,509,7177,0.00,2.15,0.00,0.000,516,0.000,0.043,2429,1125,3842,3851,3833,0,0,1,0,0,0,28.83,25.71,28.83
$GC,7278,-1.02,-243.3,2430,1125,3852,3833,846.2,-10.3,516,7282,0.00,2.17,0.00,0.000,1030,0.000,0.042,2429,2496,3841,3851,3832,0,0,1,0,0,0,28.83,25.74,28.83
$GC,7594,-1.02,-243.3,2429,2496,3852,3831,877.4,-10.1,537,7597,0.00,2.12,0.00,0.000,516,0.000,0.043,2430,1132,3840,3850,3831,0,0,1,0,0,0,28.83,25.70,28.83
$GC,7663,-1.02,-243.3,2429,1132,3851,3831,883.8,-10.8,541,7670,0.00,2.17,0.00,0.000,1030,0.000,0.041,2429,2503,3840,3850,3831,0,0,1,0,0,0,28.83,25.75,28.83
$GC,7968,-1.02,-243.3,2430,2504,3849,3830,916.0,-10.0,562,7972,0.00,2.20,0.00,0.000,516,0.000,0.044,2429,1130,3838,3848,3829,0,0,1,0,0,0,28.83,25.68,28.83
$GC,8048,-1.02,-243.3,2429,1130,3849,3829,923.6,-10.3,567,8052,0.00,2.17,0.00,0.000,1030,0.000,0.042,2429,2499,3838,3847,3829,0,0,1,0,0,0,28.83,25.73,28.83
$GC,8359,-1.02,-243.3,2429,2499,3848,3828,953.8,-9.4,588,8362,0.00,2.12,0.00,0.000,516,0.000,0.043,2429,1133,3837,3846,3828,0,0,1,0,0,0,28.83,25.69,28.83
$GC,8413,-1.02,-243.3,2430,1134,3847,3828,958.1,-9.8,591,8420,0.00,2.17,0.00,0.000,1030,0.000,0.042,2428,2504,3836,3846,3827,0,0,1,0,0,0,28.83,25.74,28.83
$GC,8718,-1.02,-243.3,2428,2504,3846,3826,987.6,-8.9,612,8722,0.00,2.20,0.00,0.000,516,0.000,0.043,2427,1139,3835,3844,3826,0,0,1,0,0,0,28.83,25.47,28.83
$STATE,8747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8747,begin apogee
$GC,8752,-0.26,0.0,2426,2523,3845,3826,990.5,-9.4,614,8951,0.82,0.00,195.65,1.160,10246,0.105,0.000,2690,2522,2878,2911,2846,0,0,0,0,0,0,25.60,28.83,23.66
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8953,1.02,243.3,2691,2523,2908,2840,999.2,0.0,627,9179,1.17,2.00,217.38,1.085,10500,0.050,0.055,3113,3804,1880,1965,1795,0,0,0,0,0,0,24.62,24.44,23.63
$GC,9223,1.02,243.3,3114,3805,1952,1787,968.3,19.4,645,9227,0.00,2.00,0.00,0.000,1030,0.000,0.034,3122,2570,1868,1951,1786,0,0,0,0,0,0,28.83,24.96,28.83
$GC,9538,1.02,243.3,3123,2568,1948,1780,906.4,19.5,666,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2568,1863,1947,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9838,1.02,243.3,3123,2567,1947,1779,848.9,18.9,686,9842,0.00,2.30,0.00,0.000,516,0.000,0.047,3132,1124,1862,1946,1779,0,0,0,0,0,0,28.83,25.68,28.83
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$STATE,14852,end climb,SURFACE_DEPTH_REACHED
$STATE,14852,begin surface coast
$FINISH,2.7,1.020394
$STATE,14879,end surface coast,CONTROL_FINISHED_OK
$STATE,14879,begin surface
$SM_CCo,14896,0.35,0.071,0,0,1044,450.12
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$IRIDIUM_FIX,2722.64,-8719.43,140508,115737
$TT8_MAMPS,0.09737,0.09737
$HUMID,46.65
$INTERNAL_PRESSURE,9.32873
$TCM_TEMP,25.30
$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,3.5/516052/497915
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.2/436550/426811
$24V_AH,23.63,0.929
$10V_AH,10.17,0.675
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.775,142.175,575.025,0.350,0.000,29.070,35.621,151.661,0.000,15477.400,17.260,0.000,11395.130,699.592,3035.445,114.412,0.000,1824.147,0.000,2080.459,0.000,0.000,0.000
$DEVICE_MAMPS,218.790,55.080,1159.740,71.145,0.000,60.440,160.000,223.000,0.000,34.757,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,740.952,0.000,0.000,0.000,0.000,0.000,15477.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.837,0.000,0.000,0.000
$MEM,296116
$DATA_FILE_SIZE,40042,1097
$CAP_FILE_SIZE,158550,0
$CFSIZE,260034560,257282048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,58,2,1,0
$INTR,0,6962.36,0x236bc6,7,5
$INTR,1,14886.14,0x236bc6,7,5
$GPS,190715,024444,2756.786,-8726.643,32,0.9,43,-2.0