version: 66.12
glider: 163
mission: 7
dive: 46
start: 7 25 115 13 40 30
data:
$ID,163
$MISSION,7
$DIVE,46
$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,160
$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,90
$R_STBD_OVSHOOT,52
$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
$GPS1,250715,132954,2802.581,-8728.640,4,0.9,15,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-58.5
$GPS2,250715,134020,2802.428,-8728.525,6,1.0,16,-2.0
$SPEED_LIMITS,0.217,0.272
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,317.3,5975,-20.0,-12.500,-24.68,2039
$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,-1.34,-170.3,125,2357,936,730,0.0,0.0,0,76,0.00,0.00,-58.47,0.000,16386,0.000,0.000,124,2354,2516,2526,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.34,-170.3,125,2354,2527,2508,5.1,-7.5,9,115,8.55,2.22,-22.25,0.000,19204,0.223,0.050,2252,3790,3578,3522,3634,0,0,0,0,0,0,25.22,25.46,25.56
$GC,304,-1.34,-170.3,2252,3791,3523,3639,78.1,-26.0,44,309,0.00,2.10,0.00,0.000,1030,0.000,0.022,2252,2422,3580,3522,3639,0,0,0,0,0,0,28.83,25.59,28.83
$GC,434,-1.34,-170.3,2252,2408,3533,3640,107.7,-21.8,56,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2408,3581,3524,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,734,-1.34,-170.3,2252,2405,3529,3643,168.3,-20.7,76,738,0.00,2.15,0.00,0.000,260,0.000,0.039,2242,3785,3585,3528,3642,0,0,0,0,0,0,28.83,25.84,28.83
$GC,859,-1.34,-170.3,2242,3785,3529,3643,195.6,-22.5,84,863,0.00,2.10,0.00,0.000,1030,0.000,0.022,2242,2395,3585,3528,3643,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1169,-1.34,-170.3,2242,2389,3530,3643,259.7,-20.0,105,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2389,3586,3529,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-1.34,-170.3,2242,2385,3530,3643,320.4,-20.2,125,1473,0.00,2.20,0.00,0.000,260,0.000,0.040,2232,3790,3585,3528,3643,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1544,-1.34,-170.3,2232,3791,3529,3643,336.2,-21.1,130,1549,0.10,2.10,0.00,0.000,3078,0.158,0.022,2261,2379,3585,3528,3643,0,0,0,0,0,0,25.51,25.96,28.83
$GC,1860,-1.34,-170.3,2260,2378,3529,3642,397.2,-19.4,151,1863,0.00,2.20,0.00,0.000,260,0.000,0.041,2252,3805,3584,3527,3641,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1894,-1.34,-170.3,2252,3806,3527,3642,403.2,-19.6,153,1898,0.00,2.10,0.00,0.000,1030,0.000,0.023,2252,2419,3583,3526,3641,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2204,-1.34,-170.3,2252,2415,3526,3639,464.0,-19.0,174,2208,0.00,2.20,0.00,0.000,260,0.000,0.041,2242,3791,3581,3524,3638,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2294,-1.34,-170.3,2243,3792,3523,3639,481.9,-19.8,180,2298,0.00,2.12,0.00,0.000,1030,0.000,0.023,2242,2391,3580,3523,3638,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2609,-1.34,-170.3,2243,2388,3521,3634,543.5,-19.7,201,2613,0.00,2.25,0.00,0.000,260,0.000,0.042,2232,3795,3577,3521,3634,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2649,-1.34,-170.3,2233,3795,3520,3634,549.7,-20.2,203,2657,0.10,2.12,0.00,0.000,3078,0.154,0.023,2261,2377,3576,3519,3634,0,0,0,0,0,0,25.47,25.93,28.83
$STATE,2923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2923,begin apogee
$GC,2927,-0.25,0.0,2262,2575,3519,3631,602.1,-18.2,222,3063,1.17,0.00,132.10,0.858,10246,0.134,0.000,2615,2575,2879,2885,2874,0,0,0,0,0,0,25.52,28.83,24.25
$STATE,3063,end apogee,CONTROL_FINISHED_OK
$STATE,3063,begin climb
$GC,3065,1.34,170.3,2616,2575,2885,2873,607.8,0.0,231,3213,1.45,1.98,135.27,0.837,10500,0.072,0.045,3114,3783,2180,2240,2121,0,0,0,0,0,0,24.90,24.78,24.14
$GC,3236,1.34,170.3,3114,3784,2238,2119,592.6,14.0,242,3244,0.00,1.85,0.00,0.000,1030,0.000,0.024,3123,2606,2177,2237,2118,0,0,0,0,0,0,28.83,25.10,28.83
$GC,3542,1.34,170.3,3124,2605,2233,2112,540.3,16.2,263,3546,0.00,2.22,0.00,0.000,516,0.000,0.038,3133,1176,2171,2232,2111,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3576,1.34,170.3,3133,1176,2232,2110,535.4,16.3,265,3581,0.00,2.20,0.00,0.000,1030,0.000,0.032,3133,2571,2170,2231,2110,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3887,1.34,170.3,3133,2571,2228,2108,481.9,17.1,286,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2571,2167,2226,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,1.34,170.3,3134,2571,2222,2107,429.6,17.5,306,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2571,2167,2228,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,1.34,170.3,3134,2571,2219,2106,378.9,17.0,326,4491,0.00,1.90,0.00,0.000,260,0.000,0.044,3133,3795,2161,2218,2105,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4557,1.34,170.3,3133,3795,2219,2105,367.9,18.5,330,4564,0.00,1.85,0.00,0.000,1030,0.000,0.026,3143,2573,2161,2217,2105,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4862,1.34,170.3,3143,2555,2217,2103,310.8,17.7,351,4866,0.00,1.95,0.00,0.000,260,0.000,0.044,3143,3793,2159,2216,2102,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4881,1.34,170.3,3143,3793,2217,2102,308.1,17.7,352,4886,0.00,1.85,0.00,0.000,1030,0.000,0.025,3152,2581,2159,2216,2102,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5192,1.34,170.3,3152,2578,2215,2100,251.1,18.0,373,5196,0.00,2.17,0.00,0.000,516,0.000,0.039,3162,1172,2156,2213,2100,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5222,1.34,170.3,3162,1173,2213,2099,245.8,18.1,375,5226,0.10,2.20,0.00,0.000,5126,0.151,0.032,3133,2576,2155,2212,2099,0,0,0,0,0,0,25.45,25.85,28.83
$GC,5538,1.34,170.3,3133,2576,2212,2098,191.3,17.0,396,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2576,2154,2211,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5837,1.34,170.3,3133,2576,2210,2097,142.9,16.9,416,5841,0.00,1.88,0.00,0.000,260,0.000,0.042,3133,3791,2153,2209,2097,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6171,1.34,170.3,3134,3795,2210,2098,86.3,16.2,441,6179,0.00,1.85,0.00,0.000,1030,0.000,0.024,3141,2573,2152,2208,2097,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6297,1.35,174.1,3141,2567,2209,2096,68.8,12.3,454,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2571,2149,2202,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6417,1.44,219.5,3141,2554,2210,2102,55.3,10.2,466,6450,0.00,0.00,31.95,0.496,8710,0.000,0.000,3141,2554,1984,2043,1926,0,0,0,0,0,0,28.83,28.83,25.18
$GC,6568,1.59,294.4,3142,2554,2037,1920,41.7,8.7,490,6630,0.17,2.03,55.62,0.479,10500,0.065,0.041,3223,3803,1674,1738,1611,0,0,0,0,0,0,25.71,25.36,24.89
$GC,6689,1.59,294.4,3223,3803,1734,1608,25.9,17.2,512,6697,0.00,1.90,0.00,0.000,1030,0.000,0.024,3232,2576,1670,1733,1608,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6755,1.59,294.4,3233,2577,1733,1606,15.8,15.0,525,6763,0.00,2.20,0.00,0.000,516,0.000,0.037,3242,1162,1668,1732,1605,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6772,1.59,294.4,3242,1162,1735,1605,13.3,15.6,528,6780,0.10,2.22,0.00,0.000,5126,0.145,0.031,3213,2574,1668,1733,1604,0,0,0,0,0,0,25.32,25.61,28.83
$GC,6839,1.74,370.0,3213,2575,1732,1604,4.8,8.7,541,6883,0.10,1.95,38.62,0.054,10500,0.091,0.043,3265,3809,1369,1455,1284,0,0,0,0,0,0,25.67,25.63,25.60
$STATE,6886,end climb,SURFACE_DEPTH_REACHED
$STATE,6886,begin surface coast
$FINISH,2.0,1.014324
$STATE,6927,end surface coast,CONTROL_FINISHED_OK
$STATE,6927,begin surface
$SM_CCo,6945,65.90,0.368,1,0,839,500.16
$SM_GC,2.87,8.40,2.17,65.90,0.035,0.021,0.368,132,2354,839,-7.93,1.19,500.16,0,0,0,0,1,0,25.70,25.75,24.89
$IRIDIUM_FIX,2722.64,-8719.43,210508,030236
$TT8_MAMPS,0.096621,0.096621
$HUMID,41.10
$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,3.5/516052/497883
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423807
$24V_AH,24.14,11.084
$10V_AH,10.24,9.827
$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,20.250,62.550,393.575,65.900,0.000,62.564,76.779,162.513,0.000,7711.700,17.397,0.000,5136.355,552.875,1738.189,79.255,0.000,1133.956,0.000,1023.826,0.000,0.000,0.000
$DEVICE_MAMPS,222.615,49.725,858.330,367.965,0.000,60.440,160.000,223.000,0.000,34.193,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,371.138,0.000,0.000,0.000,0.000,0.000,7711.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.726,0.000,0.000,0.000
$MEM,296004
$DATA_FILE_SIZE,20095,557
$CAP_FILE_SIZE,85532,0
$CFSIZE,260034560,254627840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7409.36,0x236bc6,7,5
$GPS,250715,153830,2803.160,-8729.062,37,0.9,47,-2.0