version: 66.12
glider: 163
mission: 7
dive: 53
start: 7 25 115 22 3 59
data:
$ID,163
$MISSION,7
$DIVE,53
$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,90
$R_STBD_OVSHOOT,46
$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
$GPS1,250715,215818,2758.571,-8726.978,6,0.8,17,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-62.4
$GPS2,250715,220349,2758.446,-8726.997,8,0.8,18,-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,298.9,1742,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.54,-116.4,144,2386,928,737,0.0,0.0,0,75,0.00,0.00,-57.42,0.000,16386,0.000,0.000,144,2389,2532,2542,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.67,-183.3,144,2389,2544,2524,5.3,-8.1,9,114,8.10,2.15,-21.65,0.000,18692,0.230,0.054,2145,3798,3632,3562,3702,0,0,0,0,0,0,25.43,25.84,25.95
$GC,653,-1.67,-183.3,2146,3799,3564,3715,189.8,-27.4,67,657,0.00,2.05,0.00,0.000,1030,0.000,0.023,2145,2428,3639,3564,3714,0,0,0,0,0,0,28.83,26.08,28.83
$GC,968,-1.67,-183.3,2145,2423,3568,3715,270.5,-24.9,88,972,0.00,2.15,0.00,0.000,260,0.000,0.038,2135,3805,3640,3567,3714,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1103,-1.67,-183.3,2135,3805,3568,3715,307.1,-27.7,97,1107,0.00,2.12,0.00,0.000,1030,0.000,0.024,2135,2386,3640,3567,3714,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1418,-1.67,-183.3,2135,2381,3568,3715,387.9,-25.3,118,1422,0.00,2.20,0.00,0.000,260,0.000,0.039,2125,3795,3640,3567,3714,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1528,-1.67,-183.3,2126,3796,3567,3715,416.4,-27.4,125,1532,0.10,2.10,0.00,0.000,3078,0.175,0.023,2152,2375,3640,3566,3714,0,0,0,0,0,0,25.65,26.08,28.83
$GC,1839,-1.67,-183.3,2153,2376,3567,3713,494.8,-23.9,146,1842,0.00,2.17,0.00,0.000,260,0.000,0.040,2144,3807,3638,3565,3712,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2018,-1.67,-183.3,2145,3807,3564,3712,541.7,-26.4,158,2022,0.00,2.08,0.00,0.000,1030,0.000,0.023,2144,2430,3637,3563,3711,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,2257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2257,begin apogee
$GC,2260,-0.25,0.0,2144,2584,3563,3707,601.5,-24.8,174,2411,1.60,0.00,141.77,0.868,10246,0.150,0.000,2611,2584,2879,2880,2878,0,0,0,0,0,0,25.42,28.83,24.36
$STATE,2411,end apogee,CONTROL_FINISHED_OK
$STATE,2411,begin climb
$GC,2413,1.67,183.3,2612,2584,2885,2879,607.9,0.0,184,2564,1.80,2.28,143.80,0.840,10756,0.069,0.039,3240,1180,2129,2175,2084,0,0,0,0,0,0,25.08,24.95,24.34
$GC,2578,1.67,183.3,3241,1180,2175,2079,587.2,19.2,195,2583,0.00,2.22,0.00,0.000,1030,0.000,0.031,3240,2562,2126,2174,2078,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2889,1.67,183.3,3241,2563,2172,2070,514.2,22.9,216,2893,0.00,1.90,0.00,0.000,260,0.000,0.042,3240,3795,2120,2171,2069,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2953,1.67,183.3,3241,3795,2169,2069,499.4,24.8,220,2958,0.00,1.85,0.00,0.000,1030,0.000,0.025,3249,2578,2119,2169,2069,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3264,1.67,183.3,3250,2559,2166,2067,425.7,23.5,241,3268,0.00,1.92,0.00,0.000,260,0.000,0.042,3250,3798,2115,2165,2066,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3324,1.67,183.3,3250,3798,2164,2066,410.7,25.0,245,3328,0.00,1.85,0.00,0.000,1030,0.000,0.026,3259,2576,2115,2164,2066,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3639,1.67,183.3,3264,2558,2160,2063,334.3,24.2,266,3643,0.00,1.92,0.00,0.000,260,0.000,0.042,3259,3796,2111,2159,2063,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3684,1.67,183.3,3260,3797,2159,2063,323.2,24.5,269,3688,0.10,1.85,0.00,0.000,5126,0.178,0.026,3242,2575,2110,2158,2062,0,0,0,0,0,0,25.59,26.01,28.83
$GC,3999,1.67,183.3,3243,2557,2156,2060,252.2,23.5,290,4003,0.00,1.92,0.00,0.000,260,0.000,0.042,3236,3793,2107,2155,2060,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4144,1.67,183.3,3236,3794,2154,2060,219.6,23.3,299,4151,0.00,1.85,0.00,0.000,1030,0.000,0.025,3243,2571,2106,2153,2059,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4449,1.67,183.3,3244,2556,2151,2057,148.5,21.6,320,4453,0.00,1.92,0.00,0.000,260,0.000,0.041,3244,3798,2103,2150,2057,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4608,1.67,183.3,3244,3798,2149,2057,113.0,23.6,330,4616,0.00,1.85,0.00,0.000,1030,0.000,0.024,3253,2574,2102,2148,2056,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4919,1.71,202.1,3253,2559,2148,2055,55.3,11.9,360,4934,0.00,1.95,10.27,0.470,8452,0.000,0.042,3253,3799,2053,2101,2006,0,0,0,0,0,0,28.83,25.98,25.39
$GC,5074,1.79,242.0,3253,3799,2098,2005,39.7,10.2,385,5112,0.00,1.85,30.10,0.497,9222,0.000,0.024,3262,2551,1890,1942,1839,0,0,0,0,0,0,28.83,25.98,25.25
$GC,5171,1.82,257.9,3263,2551,1939,1835,30.2,12.1,403,5185,0.00,0.00,12.43,0.448,8198,0.000,0.000,3262,2550,1828,1877,1779,0,0,0,0,0,0,28.83,28.83,25.15
$GC,5244,1.84,264.5,3263,2550,1872,1775,20.8,12.8,417,5252,0.00,0.00,5.97,0.379,8198,0.000,0.000,3262,2548,1801,1852,1751,0,0,0,0,0,0,28.83,28.83,25.15
$GC,5311,1.90,299.2,3263,2548,1851,1749,13.0,10.6,430,5362,0.10,0.00,38.62,0.380,10502,0.096,0.000,3314,2548,1659,1716,1602,0,0,0,0,1,0,25.81,28.83,25.04
$GC,5421,2.23,462.9,3314,2548,1715,1599,6.9,0.6,450,5539,0.25,0.00,108.22,0.457,10498,0.053,0.000,3416,2547,1104,1205,1003,0,0,0,0,1,0,25.71,28.83,25.64
$STATE,5539,end climb,SURFACE_DEPTH_REACHED
$STATE,5539,begin surface coast
$FINISH,1.9,1.019843
$STATE,5567,end surface coast,CONTROL_FINISHED_OK
$STATE,5567,begin surface
$SM_CCo,5584,33.83,0.243,1,0,839,500.16
$SM_GC,3.22,8.80,0.20,33.83,0.029,0.052,0.243,136,2372,839,-7.93,1.89,500.16,0,0,0,0,1,0,25.46,25.43,24.91
$IRIDIUM_FIX,2722.64,-8719.43,210508,112717
$TT8_MAMPS,0.095872,0.095872
$HUMID,42.71
$INTERNAL_PRESSURE,9.36779
$TCM_TEMP,25.00
$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,2.9/436550/423818
$24V_AH,24.34,11.961
$10V_AH,10.28,10.341
$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,20.850,44.625,491.200,33.825,0.000,30.837,36.345,85.600,0.000,5998.800,19.289,0.000,3752.709,578.666,1473.146,68.792,0.000,1141.916,0.000,985.708,0.000,0.000,0.000
$DEVICE_MAMPS,230.265,54.315,867.510,242.505,0.000,60.440,160.000,223.000,0.000,34.496,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,313.316,0.000,0.000,0.000,0.000,0.000,5998.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.536,0.000,0.000,0.000
$MEM,296040
$DATA_FILE_SIZE,16790,475
$CAP_FILE_SIZE,71512,0
$CFSIZE,260034560,254386176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,3196.60,0x236bc6,7,5
$GPS,250715,233843,2758.699,-8727.461,34,0.8,44,-2.0