version: 66.12
glider: 163
mission: 7
dive: 55
start: 7 26 115 1 30 49
data:
$ID,163
$MISSION,7
$DIVE,55
$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,275
$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,89
$R_STBD_OVSHOOT,44
$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
$GPS1,260715,012421,2759.080,-8727.992,4,0.9,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-65.3
$GPS2,260715,013038,2759.067,-8728.069,6,0.9,16,-2.0
$SPEED_LIMITS,0.231,0.340
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,153.2,413,-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,13,begin dive
$GC,15,-1.54,-116.4,135,2359,935,735,0.0,0.0,0,66,0.00,0.00,-48.62,0.000,16386,0.000,0.000,134,2359,2269,2287,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.69,-190.1,135,2366,2288,2253,5.2,-7.6,7,105,8.38,2.22,-24.60,0.000,18692,0.239,0.050,2139,3802,3658,3583,3734,0,0,0,0,0,0,25.30,25.73,25.84
$GC,644,-1.69,-190.1,2140,3803,3585,3748,200.7,-29.5,63,648,0.00,2.08,0.00,0.000,1030,0.000,0.023,2139,2428,3666,3585,3747,0,0,0,0,0,0,28.83,25.78,28.83
$GC,959,-1.69,-190.1,2140,2421,3589,3748,283.6,-25.8,84,963,0.00,2.17,0.00,0.000,260,0.000,0.037,2130,3797,3668,3589,3747,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1504,-1.69,-190.1,2131,3797,3589,3748,433.2,-28.0,120,1508,0.00,2.12,0.00,0.000,1030,0.000,0.023,2130,2399,3667,3587,3747,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1814,-1.69,-190.1,2130,2392,3589,3746,516.2,-26.0,141,1818,0.00,2.22,0.00,0.000,260,0.000,0.039,2120,3797,3666,3587,3745,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2114,-1.69,-190.1,2121,3797,3585,3742,599.6,-27.2,161,2118,0.12,2.12,0.00,0.000,3078,0.173,0.024,2154,2382,3665,3589,3742,0,0,0,0,0,0,25.42,25.94,28.83
$STATE,2128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2128,begin apogee
$GC,2131,-0.25,0.0,2154,2586,3585,3742,603.5,-27.1,162,2284,1.55,0.00,148.93,0.869,10246,0.147,0.000,2612,2586,2879,2882,2877,0,0,0,0,0,0,25.52,28.83,24.27
$STATE,2285,end apogee,CONTROL_FINISHED_OK
$STATE,2285,begin climb
$GC,2286,1.69,190.1,2612,2586,2884,2876,610.9,0.0,172,2447,1.77,0.00,150.48,0.846,10502,0.071,0.000,3224,2586,2100,2149,2051,0,0,0,0,0,0,24.94,28.83,24.21
$GC,2744,1.69,190.1,3225,2586,2143,2041,524.6,22.6,203,2748,0.00,1.88,0.00,0.000,260,0.000,0.042,3225,3790,2091,2142,2041,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2814,1.69,190.1,3225,3791,2141,2040,510.0,24.3,207,2822,0.00,1.83,0.00,0.000,1030,0.000,0.025,3234,2595,2090,2140,2040,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3119,1.69,190.1,3234,2594,2137,2038,436.6,23.5,228,3123,0.00,1.90,0.00,0.000,260,0.000,0.042,3233,3791,2087,2136,2038,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3184,1.69,190.1,3234,3791,2135,2038,421.7,24.9,232,3188,0.00,1.85,0.00,0.000,1030,0.000,0.025,3243,2579,2086,2135,2037,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3494,1.69,190.1,3243,2561,2133,2035,347.8,23.2,253,3498,0.00,1.92,0.00,0.000,260,0.000,0.042,3243,3794,2082,2131,2034,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3604,1.69,190.1,3243,3795,2132,2034,321.5,25.4,260,3608,0.00,1.88,0.00,0.000,1030,0.000,0.026,3251,2575,2082,2131,2034,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3914,1.69,190.1,3253,2570,2128,2032,247.2,23.8,281,3918,0.00,1.92,0.00,0.000,260,0.000,0.042,3252,3791,2079,2127,2032,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4059,1.69,190.1,3253,3792,2126,2032,211.5,26.9,290,4067,0.00,1.88,0.00,0.000,1030,0.000,0.026,3261,2573,2078,2125,2031,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4364,1.69,190.1,3262,2554,2123,2030,137.8,21.8,311,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2554,2075,2122,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,1.69,190.1,3262,2554,2121,2027,75.7,18.8,335,4668,0.00,1.92,0.00,0.000,260,0.000,0.041,3261,3788,2073,2120,2026,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4729,1.69,190.1,3262,3788,2120,2027,65.1,16.9,341,4737,0.00,1.85,0.00,0.000,1030,0.000,0.024,3271,2566,2072,2119,2026,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4854,1.83,260.5,3272,2565,2119,2026,50.8,7.9,354,4908,0.00,1.92,47.17,0.509,8452,0.000,0.040,3271,3794,1814,1861,1768,0,0,0,0,0,0,28.83,25.56,25.08
$GC,4962,1.83,260.5,3271,3795,1856,1766,37.1,15.1,372,4969,0.00,1.88,0.00,0.000,1030,0.000,0.024,3280,2576,1810,1855,1765,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5029,1.83,260.9,3280,2577,1855,1763,28.1,13.3,385,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2576,1808,1855,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,1.84,265.9,3280,2576,1856,1761,18.9,12.9,398,5120,0.00,2.12,15.18,0.136,8708,0.000,0.034,3290,1169,1794,1842,1747,0,0,0,0,1,0,28.83,25.72,25.03
$GC,5134,1.84,265.9,3291,1169,1843,1747,13.1,13.5,405,5141,0.00,2.17,0.00,0.000,1030,0.000,0.031,3289,2562,1794,1842,1747,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5200,2.26,477.4,3290,2563,1843,1746,7.7,-3.1,418,5367,0.35,0.00,156.98,0.474,10754,0.042,0.000,3434,2562,981,1091,871,0,0,0,0,1,0,25.77,28.83,25.67
$STATE,5368,end climb,SURFACE_DEPTH_REACHED
$STATE,5369,begin surface coast
$FINISH,1.9,1.009569
$STATE,5386,end surface coast,CONTROL_FINISHED_OK
$STATE,5386,begin surface
$SM_CCo,5403,20.35,0.073,1,0,841,500.40
$SM_GC,2.60,8.93,0.28,20.35,0.030,0.047,0.073,131,2394,841,-7.93,1.47,500.40,0,0,0,0,1,0,25.32,25.28,24.82
$IRIDIUM_FIX,2722.64,-8719.43,210508,145406
$TT8_MAMPS,0.096621,0.096621
$HUMID,42.08
$INTERNAL_PRESSURE,9.33849
$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,3.5/516052/497878
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423720
$24V_AH,24.21,12.296
$10V_AH,10.26,10.552
$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,21.100,40.450,518.725,20.350,0.000,31.632,34.337,91.564,0.000,5855.700,17.261,0.000,3541.825,589.952,1484.162,64.647,0.000,1161.828,0.000,1006.837,0.000,0.000,0.000
$DEVICE_MAMPS,238.680,50.490,869.040,72.675,0.000,60.440,160.000,223.000,0.000,35.714,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,295.350,0.000,0.000,0.000,0.000,0.000,5855.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.717,0.000,0.000,0.000
$MEM,296028
$DATA_FILE_SIZE,16761,449
$CAP_FILE_SIZE,69344,0
$CFSIZE,260034560,254300160
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,6261.07,0x236bc6,7,5
$INTR,1,47.47,0x233820,0,24
$GPS,260715,030212,2758.492,-8727.855,26,0.9,37,-2.0