version: 66.12
glider: 161
mission: 11
dive: 4
start: 7 18 115 23 3 17
data:
$ID,161
$MISSION,11
$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,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,100
$R_STBD_OVSHOOT,51
$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
$GPS1,180715,225443,2756.799,-8726.068,50,0.9,60,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.5
$GPS2,180715,230307,2756.654,-8726.081,5,0.9,15,-2.0
$SPEED_LIMITS,0.110,0.268
$TGT_NAME,T315
$TGT_LATLONG,2759.880,-8728.797
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,325.4,7444,-11.8,-11.000,-22.30,3165
$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
$STATE,13,begin dive
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$GC,1773,-0.86,-243.3,2673,3764,3970,3709,238.3,-9.3,153,1777,0.00,1.85,0.00,0.000,1030,0.000,0.023,2672,2493,3841,3970,3713,0,0,0,0,0,0,28.83,25.91,28.83
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$GC,2493,-0.86,-243.3,2671,2509,3978,3703,303.5,-9.4,201,2497,0.00,1.98,0.00,0.000,260,0.000,0.041,2673,3759,3836,3970,3702,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2603,-0.86,-243.3,2672,3760,3971,3702,313.5,-9.5,208,2607,0.00,1.85,0.00,0.000,1030,0.000,0.023,2672,2491,3835,3970,3701,0,0,0,0,0,0,28.83,25.89,28.83
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$GC,4473,-0.86,-243.3,2672,2492,3970,3678,491.8,-8.8,333,4477,0.00,1.98,0.00,0.000,260,0.000,0.043,2672,3762,3823,3969,3677,0,0,0,0,0,0,28.83,25.66,28.83
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$GC,9072,-0.86,-243.3,2688,3753,3954,3647,887.4,-7.6,639,9080,0.00,1.90,0.00,0.000,1030,0.000,0.028,2688,2496,3799,3952,3646,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9378,-0.86,-243.3,2685,2497,3953,3646,910.7,-7.5,660,9382,0.00,2.05,0.00,0.000,260,0.000,0.047,2690,3749,3798,3951,3646,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9457,-0.86,-243.3,2689,3749,3951,3646,916.1,-7.3,665,9462,0.00,1.90,0.00,0.000,1030,0.000,0.028,2688,2505,3798,3951,3645,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9768,-0.86,-243.3,2689,2505,3950,3645,936.2,-6.1,686,9772,0.00,2.03,0.00,0.000,260,0.000,0.047,2688,3765,3797,3950,3645,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9852,-0.86,-243.3,2689,3766,3949,3645,940.9,-6.4,691,9860,0.00,1.95,0.00,0.000,1030,0.000,0.028,2688,2491,3796,3949,3644,0,0,0,0,0,0,28.83,25.63,28.83
$STATE,9917,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9917,begin apogee
$GC,9920,-0.24,0.0,2688,2491,3951,3645,945.7,-6.3,696,10116,0.62,0.00,192.50,1.060,10246,0.090,0.000,2896,2490,2839,2947,2732,0,0,0,0,0,0,25.34,28.83,23.51
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10118,0.86,243.3,2895,2492,2944,2731,954.8,0.0,709,10341,1.00,2.12,211.27,1.024,10500,0.054,0.043,3250,3760,1838,1938,1739,0,0,0,0,0,0,24.44,24.27,23.42
$GC,10390,0.86,243.3,3251,3761,1932,1743,935.6,15.5,727,10394,0.00,1.98,0.00,0.000,1030,0.000,0.025,3257,2498,1834,1932,1736,0,0,0,0,0,0,28.83,24.88,28.83
$GC,10700,0.86,243.3,3258,2495,1930,1734,887.0,15.0,748,10704,0.00,2.12,0.00,0.000,516,0.000,0.034,3257,1114,1830,1928,1733,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10854,0.86,243.3,3257,1115,1929,1734,865.0,14.6,758,10859,0.00,2.17,0.00,0.000,1030,0.000,0.031,3257,2510,1830,1927,1733,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11165,0.86,243.3,3258,2510,1926,1733,819.4,14.6,779,11169,0.00,2.20,0.00,0.000,516,0.000,0.034,3257,1109,1829,1926,1732,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11230,0.86,243.3,3258,1110,1926,1733,811.0,14.0,783,11234,0.00,2.17,0.00,0.000,1030,0.000,0.031,3258,2503,1828,1925,1732,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11540,0.86,243.3,3258,2504,1924,1732,766.8,13.8,804,11544,0.00,2.17,0.00,0.000,516,0.000,0.034,3258,1104,1827,1924,1731,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11699,0.86,243.3,3257,1105,1926,1732,746.4,13.8,814,11707,0.00,2.17,0.00,0.000,1030,0.000,0.032,3258,2498,1827,1924,1731,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12005,0.86,243.3,3258,2498,1923,1732,702.5,13.9,835,12009,0.00,2.15,0.00,0.000,516,0.000,0.035,3258,1112,1826,1922,1731,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12095,0.86,243.3,3258,1113,1925,1732,690.1,13.8,841,12099,0.00,2.17,0.00,0.000,1030,0.000,0.032,3258,2506,1827,1923,1731,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12410,0.86,243.3,3257,2507,1924,1731,645.2,14.4,862,12414,0.00,2.12,0.00,0.000,516,0.000,0.036,3260,1111,1827,1923,1731,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12530,0.86,243.3,3260,1112,1924,1731,628.6,13.8,870,12534,0.00,2.17,0.00,0.000,1030,0.000,0.032,3260,2505,1826,1923,1730,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12845,0.86,243.3,3259,2506,1922,1731,585.6,13.7,891,12849,0.00,2.17,0.00,0.000,516,0.000,0.035,3265,1111,1826,1922,1730,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12920,0.86,243.3,3267,1110,1922,1731,575.5,13.5,896,12924,0.00,2.17,0.00,0.000,1030,0.000,0.033,3265,2501,1826,1922,1731,0,0,0,0,0,0,28.83,25.49,28.83
$GC,13235,0.86,243.3,3265,2501,1923,1731,530.0,14.8,917,13239,0.00,2.15,0.00,0.000,516,0.000,0.034,3274,1117,1826,1922,1730,0,0,0,0,0,0,28.83,25.48,28.83
$GC,13305,0.86,243.3,3273,1118,1924,1731,521.5,14.2,921,13312,0.00,2.15,0.00,0.000,1030,0.000,0.032,3274,2494,1826,1922,1730,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13610,0.86,243.3,3275,2494,1922,1731,474.4,14.9,942,13614,0.00,2.15,0.00,0.000,516,0.000,0.033,3283,1111,1826,1922,1730,0,0,0,0,0,0,28.83,25.43,28.83
$GC,13745,0.86,243.3,3284,1110,1921,1731,454.5,14.6,951,13749,0.08,2.17,0.00,0.000,5126,0.132,0.032,3250,2505,1826,1922,1731,0,0,0,0,0,0,24.99,25.46,28.83
$GC,14060,0.86,243.3,3251,2505,1921,1731,411.0,14.0,972,14064,0.00,2.12,0.00,0.000,516,0.000,0.034,3257,1109,1826,1922,1730,0,0,0,0,0,0,28.83,25.41,28.83
$GC,14135,0.86,243.3,3258,1110,1921,1731,400.5,14.1,977,14139,0.00,2.17,0.00,0.000,1030,0.000,0.031,3257,2505,1825,1921,1730,0,0,0,0,0,0,28.83,25.44,28.83
$GC,14450,0.86,243.3,3258,2506,1921,1731,355.5,14.0,998,14454,0.00,2.17,0.00,0.000,516,0.000,0.034,3258,1107,1825,1921,1730,0,0,0,0,0,0,28.83,25.46,28.83
$GC,14580,0.86,243.3,3257,1107,1923,1731,339.4,13.5,1006,14587,0.00,2.20,0.00,0.000,1030,0.000,0.031,3258,2503,1825,1921,1730,0,0,0,0,0,0,28.83,25.18,28.83
$GC,14885,0.86,243.3,3256,2504,1923,1731,296.7,14.2,1027,14889,0.00,2.17,0.00,0.000,516,0.000,0.033,3258,1106,1825,1921,1730,0,0,0,0,0,0,28.83,25.41,28.83
$GC,14915,0.86,243.3,3259,1107,1921,1731,292.7,14.1,1029,14919,0.00,2.17,0.00,0.000,1030,0.000,0.031,3258,2503,1825,1921,1730,0,0,0,0,0,0,28.83,25.41,28.83
$GC,15231,0.86,243.3,3258,2504,1921,1731,248.3,14.1,1050,15234,0.00,2.12,0.00,0.000,516,0.000,0.033,3258,1113,1826,1922,1731,0,0,0,0,0,0,28.83,25.42,28.83
$GC,15284,0.86,243.3,3258,1103,1921,1731,242.1,13.9,1053,15292,0.00,2.17,0.00,0.000,1030,0.000,0.030,3258,2500,1825,1921,1730,0,0,0,0,0,0,28.83,25.44,28.83
$GC,15590,0.86,243.3,3259,2501,1921,1731,197.3,14.1,1074,15594,0.00,2.15,0.00,0.000,516,0.000,0.034,3258,1111,1825,1921,1730,0,0,0,0,0,0,28.83,25.44,28.83
$GC,15759,0.86,243.3,3258,1111,1923,1731,175.5,12.8,1085,15764,0.00,2.15,0.00,0.000,1030,0.000,0.031,3258,2498,1826,1922,1730,0,0,0,0,0,0,28.83,25.45,28.83
$GC,16070,0.86,243.3,3259,2499,1921,1731,133.9,13.7,1106,16074,0.00,2.10,0.00,0.000,516,0.000,0.032,3258,1109,1825,1921,1730,0,0,0,0,0,0,28.83,25.44,28.83
$GC,16124,0.86,243.3,3257,1110,1923,1731,128.1,12.9,1109,16132,0.00,2.17,0.00,0.000,1030,0.000,0.029,3258,2514,1826,1922,1730,0,0,0,0,0,0,28.83,25.46,28.83
$GC,16431,0.87,253.0,3258,2514,1921,1731,89.3,10.7,1133,16443,0.00,2.10,6.15,0.395,8708,0.000,0.029,3258,1105,1805,1901,1709,0,0,0,0,0,0,28.83,25.69,24.87
$GC,16672,0.96,326.9,3257,1106,1902,1710,67.5,8.6,1157,16737,0.00,2.15,60.75,0.454,9222,0.000,0.028,3258,2507,1505,1613,1397,0,0,0,0,0,0,28.83,25.50,24.67
$GC,16857,1.04,389.1,3259,2508,1603,1392,50.3,9.0,1175,16913,0.12,2.17,51.50,0.433,10756,0.099,0.031,3313,1104,1247,1369,1126,0,0,0,0,0,0,25.20,25.12,24.52
$GC,17037,1.04,389.1,3314,1104,1363,1124,30.0,11.4,1208,17045,0.00,2.17,0.00,0.000,1030,0.000,0.028,3313,2507,1243,1363,1123,0,0,0,0,0,0,28.83,25.29,28.83
$GC,17104,1.04,389.1,3313,2507,1364,1124,22.0,12.3,1221,17111,0.00,1.95,0.00,0.000,260,0.000,0.038,3313,3753,1243,1363,1123,0,0,0,0,0,0,28.83,25.27,28.83
$GC,17135,1.04,389.2,3314,3753,1363,1123,18.4,11.0,1227,17143,0.00,1.88,0.00,0.000,1030,0.000,0.024,3322,2492,1243,1363,1123,0,0,0,0,0,0,28.83,25.43,28.83
$GC,17202,1.08,421.6,3323,2493,1363,1123,12.1,9.9,1240,17252,0.00,2.10,36.38,0.355,8708,0.000,0.029,3325,1117,1120,1248,992,0,0,0,0,1,0,28.83,25.34,24.66
$GC,17291,1.25,559.7,3326,1118,1246,991,6.2,6.5,1256,17355,0.08,2.12,53.17,0.379,11266,0.063,0.026,3365,2505,910,1047,774,0,0,0,0,1,0,25.34,25.34,25.20
$STATE,17355,end climb,SURFACE_DEPTH_REACHED
$STATE,17355,begin surface coast
$FINISH,0.8,1.019974
$STATE,17398,end surface coast,CONTROL_FINISHED_OK
$STATE,17398,begin surface
$SM_CCo,17476,0.00,0.000,0,0,906,474.40
$SM_GC,1.86,8.70,0.00,0.00,0.037,0.000,0.000,158,2505,906,-8.74,0.14,474.40,0,0,0,0,0,0,25.17,28.83,28.83
$IRIDIUM_FIX,2722.64,-8719.43,140508,122527
$TT8_MAMPS,0.098119,0.098119
$HUMID,43.06
$INTERNAL_PRESSURE,9.16506
$TCM_TEMP,24.90
$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,2.6/436550/425017
$24V_AH,23.42,43.761
$10V_AH,10.00,11.916
$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,21.600,186.450,611.725,0.000,0.000,32.014,37.568,153.200,0.000,18007.900,16.506,0.000,13153.497,787.528,3743.245,142.161,0.000,2212.934,0.000,2651.341,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,46.665,1060.290,0.000,0.000,61.970,160.000,223.000,0.000,37.005,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,861.131,0.000,0.000,0.000,0.000,0.000,18007.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.068,0.000,0.000,0.000
$MEM,296176
$DATA_FILE_SIZE,43319,1275
$CAP_FILE_SIZE,197098,0
$CFSIZE,260034560,256876544
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,7960.24,0x236bc6,7,5
$INTR,1,9918.66,0x236bc6,2,5
$INTR,2,17405.05,0x236bc6,7,5
$GPS,190715,035537,2757.639,-8725.786,37,0.9,47,-2.0