version: 66.12
glider: 161
mission: 11
dive: 3
start: 7 18 115 20 50 36
data:
$ID,161
$MISSION,11
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,130
$T_MISSION,140
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51942
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00154
$HD_B,0.0145
$HD_C,9.0100002e-06
$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,151
$PITCH_MAX,3948
$C_PITCH,2975
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2839
$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,20
$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,-20.182438
$PRESSURE_SLOPE,0.00011628441
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.63999999
$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,0.0043775463
$SEABIRD_T_H,0.00063860236
$SEABIRD_T_I,2.5706517e-05
$SEABIRD_T_J,2.822896e-06
$SEABIRD_C_G,-9.9098063
$SEABIRD_C_H,1.1132913
$SEABIRD_C_I,-0.00039731048
$SEABIRD_C_J,0.00011278767
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,180715,204722,2756.894,-8726.467,3,0.9,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.6
$GPS2,180715,205026,2756.806,-8726.455,5,0.9,15,-2.0
$SPEED_LIMITS,0.115,0.274
$TGT_NAME,NW
$TGT_LATLONG,2759.162,-8729.255
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,315.6,6325,-12.9,-11.538,-22.85,3042
$D_GRID,450
$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,-0.91,-243.3,146,2528,1101,908,0.0,0.0,0,56,0.00,0.00,-39.92,0.000,16386,0.000,0.000,145,2528,2233,2206,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.91,-243.3,146,2529,2209,2261,3.3,-7.0,6,108,10.62,1.85,-30.58,0.000,19204,0.246,0.057,2665,3729,3835,3961,3709,0,0,0,0,0,0,25.35,25.82,25.99
$GC,262,-0.91,-243.3,2665,3730,3963,3710,50.2,-29.5,45,266,0.00,1.77,0.00,0.000,1030,0.000,0.023,2665,2504,3835,3961,3709,0,0,0,0,0,0,28.83,25.94,28.83
$GC,392,-0.91,-243.3,2666,2505,3962,3709,78.8,-17.8,58,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2504,3835,3961,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,512,-0.91,-243.3,2665,2505,3964,3710,97.0,-14.3,70,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2504,3835,3962,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,632,-0.91,-243.3,2665,2505,3964,3710,113.8,-13.8,79,636,0.00,1.92,0.00,0.000,260,0.000,0.039,2659,3738,3836,3963,3709,0,0,0,0,0,0,28.83,25.82,28.83
$GC,677,-0.91,-243.3,2659,3738,3964,3710,120.2,-14.1,82,681,0.00,1.77,0.00,0.000,1030,0.000,0.022,2659,2495,3836,3963,3709,0,0,0,0,0,0,28.83,25.96,28.83
$GC,993,-0.91,-243.3,2660,2495,3963,3710,158.9,-11.4,103,996,0.00,1.92,0.00,0.000,260,0.000,0.041,2657,3736,3836,3964,3709,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1047,-0.91,-243.3,2658,3737,3963,3715,164.1,-11.5,106,1055,0.00,1.77,0.00,0.000,1030,0.000,0.023,2657,2497,3836,3964,3709,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1353,-0.91,-243.3,2658,2498,3963,3710,199.8,-11.3,127,1356,0.00,1.95,0.00,0.000,260,0.000,0.041,2657,3737,3836,3964,3709,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1427,-0.91,-243.3,2657,3738,3965,3709,208.5,-11.7,132,1431,0.00,1.77,0.00,0.000,1030,0.000,0.022,2661,2500,3836,3964,3708,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1743,-0.91,-243.3,2657,2501,3965,3706,243.9,-11.2,153,1746,0.00,1.92,0.00,0.000,260,0.000,0.042,2655,3724,3834,3964,3705,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1837,-0.91,-243.3,2657,3724,3963,3704,254.2,-11.4,159,1841,0.00,1.75,0.00,0.000,1030,0.000,0.024,2655,2512,3833,3963,3703,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2148,-0.91,-243.3,2655,2510,3965,3700,289.5,-11.4,180,2151,0.00,1.92,0.00,0.000,260,0.000,0.041,2655,3735,3832,3964,3700,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2252,-0.91,-243.3,2655,3735,3965,3699,301.0,-11.0,187,2256,0.00,1.80,0.00,0.000,1030,0.000,0.024,2656,2492,3830,3963,3698,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2568,-0.91,-243.3,2657,2492,3964,3694,334.5,-10.5,208,2571,0.00,1.95,0.00,0.000,260,0.000,0.041,2655,3726,3828,3964,3693,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2657,-0.91,-243.3,2655,3727,3965,3693,344.1,-10.8,214,2661,0.00,1.77,0.00,0.000,1030,0.000,0.024,2655,2509,3827,3963,3692,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2973,-0.91,-243.3,2655,2510,3963,3687,376.3,-10.2,235,2976,0.00,1.92,0.00,0.000,260,0.000,0.043,2655,3728,3825,3963,3687,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3057,-0.91,-243.3,2655,3729,3965,3686,384.2,-10.5,240,3064,0.00,1.80,0.00,0.000,1030,0.000,0.024,2655,2504,3824,3963,3685,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3363,-0.91,-243.3,2655,2505,3965,3682,417.2,-10.7,261,3366,0.00,1.92,0.00,0.000,260,0.000,0.043,2655,3738,3822,3963,3681,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3457,-0.91,-243.3,2656,3736,3963,3680,426.7,-10.6,267,3461,0.00,1.83,-0.08,0.000,17414,0.000,0.024,2655,2487,3845,3985,3705,0,0,0,0,0,0,28.83,25.92,25.92
$STATE,3691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3691,begin apogee
$GC,3694,-0.24,0.0,2655,2487,3987,3705,450.8,-9.9,283,3890,0.73,0.00,186.68,0.727,10246,0.094,0.000,2899,2485,2835,2942,2729,0,0,0,0,0,0,25.62,28.83,24.33
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3892,0.91,243.3,2898,2487,2944,2730,462.1,0.0,296,4092,1.00,2.12,191.93,0.711,10756,0.052,0.029,3273,1117,1842,1940,1744,0,0,0,0,0,0,25.10,25.04,24.37
$GC,4162,0.91,243.3,3273,1117,1932,1742,443.3,15.3,314,4166,0.00,2.10,0.00,0.000,1030,0.000,0.028,3273,2488,1837,1933,1741,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4472,0.91,243.3,3274,2489,1928,1738,394.7,15.4,335,4476,0.00,2.08,0.00,0.000,516,0.000,0.029,3282,1120,1833,1928,1738,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4547,0.91,243.3,3282,1120,1929,1739,383.4,15.0,340,4551,0.00,2.10,0.00,0.000,1030,0.000,0.028,3281,2500,1833,1928,1738,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4862,0.91,243.3,3282,2501,1926,1737,336.0,14.9,361,4866,0.00,2.08,0.00,0.000,516,0.000,0.031,3285,1122,1830,1924,1737,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4967,0.91,243.3,3285,1121,1924,1737,320.6,14.7,368,4971,0.00,2.08,0.00,0.000,1030,0.000,0.029,3285,2494,1829,1923,1736,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5282,0.91,243.3,3286,2495,1922,1735,273.2,14.6,389,5286,0.00,2.08,0.00,0.000,516,0.000,0.030,3285,1118,1828,1922,1734,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5392,0.91,243.3,3286,1119,1921,1735,257.7,14.9,396,5396,0.00,2.10,0.00,0.000,1030,0.000,0.028,3285,2505,1828,1922,1734,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5702,0.91,243.3,3285,2506,1921,1733,207.8,16.1,417,5706,0.00,2.10,0.00,0.000,516,0.000,0.030,3285,1116,1826,1920,1733,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5827,0.91,243.3,3285,1117,1921,1733,189.0,15.6,425,5831,0.00,2.10,0.00,0.000,1030,0.000,0.028,3285,2503,1826,1919,1733,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6137,0.91,243.3,3285,2504,1920,1732,140.7,14.8,446,6141,0.00,2.08,0.00,0.000,516,0.000,0.029,3292,1120,1825,1918,1732,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6372,0.91,243.3,3292,1120,1919,1733,110.2,13.4,461,6379,0.00,2.08,0.00,0.000,1030,0.000,0.028,3292,2496,1824,1917,1732,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6683,1.00,315.7,3293,2497,1916,1732,71.2,9.1,490,6745,0.00,2.05,54.22,0.460,8708,0.000,0.028,3297,1118,1545,1647,1444,0,0,0,0,0,0,28.83,25.63,25.07
$GC,6964,1.12,412.9,3298,1118,1641,1442,44.9,8.3,523,7051,0.03,2.08,77.43,0.429,11270,0.144,0.027,3338,2497,1149,1272,1027,0,0,0,0,0,0,25.22,25.69,24.87
$GC,7110,1.12,412.9,3339,2498,1268,1025,26.7,14.9,549,7118,0.00,1.95,0.00,0.000,260,0.000,0.037,3339,3759,1146,1268,1025,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7282,1.25,517.3,3338,3759,1269,1024,4.4,8.0,583,7309,0.05,1.85,17.85,0.202,11266,0.093,0.021,3366,2484,1091,1218,965,0,0,0,0,1,0,25.52,25.73,25.47
$STATE,7309,end climb,SURFACE_DEPTH_REACHED
$STATE,7309,begin surface coast
$FINISH,0.8,1.008040
$STATE,7337,end surface coast,CONTROL_FINISHED_OK
$STATE,7337,begin surface
$SM_CCo,7353,16.17,0.072,0,0,1006,450.12
$SM_GC,2.83,8.57,0.00,16.17,0.040,0.000,0.072,159,2483,1006,-8.75,-0.48,450.12,0,0,0,0,0,0,25.60,28.83,25.52
$IRIDIUM_FIX,2722.64,-8719.43,140508,101422
$TT8_MAMPS,0.096621,0.096621
$HUMID,48.03
$INTERNAL_PRESSURE,9.25296
$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,104
$MI_LOG,3.5/516052/497988
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.6/436550/425149
$24V_AH,24.33,43.421
$10V_AH,10.27,11.621
$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,21.000,66.350,528.100,16.175,0.000,0.000,0.000,0.000,0.000,7377.700,16.513,0.000,5178.807,589.428,1595.949,54.275,0.000,1274.383,0.000,1207.419,0.000,0.000,0.000
$DEVICE_MAMPS,245.565,57.375,726.750,71.910,0.000,0.000,0.000,0.000,0.000,36.678,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,393.739,0.000,0.000,0.000,0.000,0.000,7377.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.484,0.000,0.000,0.000
$MEM,296172
$DATA_FILE_SIZE,20089,593
$CAP_FILE_SIZE,100110,0
$CFSIZE,260034560,257056768
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,6035.67,0x236bc6,7,5
$INTR,1,3692.68,0x236bc6,2,5
$INTR,2,7343.03,0x236bc6,7,5
$GPS,180715,225443,2756.799,-8726.068,50,0.9,60,-2.0