version: 66.12
glider: 161
mission: 11
dive: 5
start: 7 19 115 4 9 45
data:
$ID,161
$MISSION,11
$DIVE,5
$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,270
$T_MISSION,300
$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,275
$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,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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,2950
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,75
$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
$GPS1,190715,035537,2757.639,-8725.786,37,0.9,47,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.1
$GPS2,190715,040935,2757.728,-8725.712,5,0.9,16,-2.0
$SPEED_LIMITS,0.122,0.292
$TGT_NAME,T315
$TGT_LATLONG,2759.880,-8728.797
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,310.3,6429,-13.0,-12.222,-22.73,3166
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.95,-267.6,157,2624,1035,780,0.0,0.0,0,61,0.00,0.00,-43.72,0.000,16386,0.000,0.000,157,2624,2303,2272,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.95,-267.6,159,2624,2272,2336,3.7,-8.2,7,106,10.88,1.70,-25.65,0.000,18692,0.249,0.059,2631,3726,3935,3971,3900,0,0,0,0,0,0,24.70,25.09,25.22
$GC,171,-0.95,-267.6,2630,3726,3970,3905,44.5,-37.6,27,178,0.00,1.67,0.00,0.000,1030,0.000,0.024,2630,2599,3936,3968,3904,0,0,0,0,0,0,28.83,25.30,28.83
$GC,237,-0.95,-267.6,2632,2599,3967,3905,63.6,-26.0,35,241,0.00,2.08,0.00,0.000,516,0.000,0.024,2631,1200,3936,3968,3904,0,0,0,0,0,0,28.83,25.46,28.83
$GC,251,-0.95,-267.6,2630,1200,3969,3905,65.9,-24.5,36,259,0.00,2.15,0.00,0.000,1030,0.000,0.032,2623,2565,3935,3967,3904,0,0,0,0,0,0,28.83,25.15,28.83
$GC,377,-0.95,-267.6,2623,2566,3967,3906,94.0,-19.6,49,381,0.00,1.88,0.00,0.000,260,0.000,0.043,2615,3761,3937,3968,3906,0,0,0,0,0,0,28.83,25.46,28.83
$GC,431,-0.95,-267.6,2614,3762,3970,3907,103.0,-20.0,54,439,0.00,1.75,0.00,0.000,1030,0.000,0.023,2615,2580,3937,3968,3906,0,0,0,0,0,0,28.83,25.57,28.83
$GC,737,-0.95,-267.6,2616,2580,3967,3910,156.3,-15.6,75,741,0.00,1.88,0.00,0.000,260,0.000,0.041,2608,3765,3938,3968,3909,0,0,0,0,0,0,28.83,25.57,28.83
$GC,777,-0.95,-267.6,2607,3766,3969,3910,161.3,-16.0,77,785,0.10,1.73,0.00,0.000,3078,0.128,0.024,2640,2605,3938,3968,3909,0,0,0,0,0,0,25.23,25.68,28.83
$GC,1082,-0.95,-267.6,2640,2605,3967,3909,202.8,-12.4,98,1086,0.00,1.85,0.00,0.000,260,0.000,0.041,2633,3769,3938,3967,3909,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1146,-0.95,-267.6,2633,3769,3967,3909,211.1,-13.7,102,1151,0.00,1.75,0.00,0.000,1030,0.000,0.025,2632,2585,3938,3968,3908,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1457,-0.95,-267.6,2634,2585,3967,3906,253.2,-13.5,123,1461,0.00,1.88,0.00,0.000,260,0.000,0.043,2628,3764,3937,3968,3906,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1521,-0.95,-267.6,2629,3764,3966,3906,261.8,-14.2,127,1526,0.00,1.75,0.00,0.000,1030,0.000,0.024,2628,2582,3935,3965,3905,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1832,-0.95,-267.6,2629,2582,3966,3904,304.8,-13.4,148,1836,0.00,1.88,0.00,0.000,260,0.000,0.042,2621,3761,3934,3966,3903,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1931,-0.95,-267.6,2620,3762,3967,3903,317.6,-14.2,154,1939,0.00,1.73,0.00,0.000,1030,0.000,0.025,2621,2599,3933,3965,3902,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2237,-0.95,-267.6,2620,2603,3965,3900,359.1,-12.9,175,2241,0.00,1.85,0.00,0.000,260,0.000,0.043,2618,3760,3931,3964,3899,0,0,0,0,0,0,28.83,25.55,28.83
$GC,2301,-0.95,-267.6,2618,3761,3964,3899,367.1,-13.2,179,2306,0.00,1.73,0.00,0.000,1030,0.000,0.025,2618,2603,3931,3963,3899,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2612,-0.95,-267.6,2619,2603,3960,3895,408.1,-13.2,200,2616,0.00,1.88,0.00,0.000,260,0.000,0.044,2613,3770,3927,3960,3895,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2687,-0.95,-267.6,2612,3771,3960,3895,418.2,-13.6,205,2691,0.08,1.75,0.00,0.000,3078,0.129,0.028,2638,2604,3926,3959,3894,0,0,0,0,0,0,25.17,25.71,28.83
$GC,3003,-0.95,-267.6,2638,2605,3958,3892,454.5,-11.5,226,3006,0.00,1.85,0.00,0.000,260,0.000,0.044,2631,3760,3923,3956,3891,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3052,-0.95,-267.6,2631,3760,3958,3892,459.7,-11.4,229,3056,0.00,1.75,0.00,0.000,1030,0.000,0.025,2632,2585,3923,3956,3891,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3362,-0.95,-267.6,2631,2586,3954,3888,496.5,-11.7,250,3366,0.00,1.92,-0.10,0.000,16644,0.000,0.063,2629,3766,3947,3974,3920,0,0,0,0,0,0,28.83,25.34,25.81
$GC,3437,-0.95,-267.6,2630,3767,3974,3918,505.9,-12.5,255,3441,0.00,1.77,0.00,0.000,1030,0.000,0.027,2629,2598,3947,3974,3920,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3752,-0.95,-267.6,2630,2596,3972,3917,544.8,-12.4,276,3756,0.00,1.90,0.00,0.000,260,0.000,0.044,2623,3770,3944,3972,3917,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3822,-0.95,-267.6,2624,3770,3971,3916,552.5,-13.0,280,3829,0.00,1.77,0.00,0.000,1030,0.000,0.028,2623,2594,3943,3972,3915,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4127,-0.95,-267.6,2624,2594,3969,3913,592.7,-12.7,301,4131,0.00,1.88,0.00,0.000,260,0.000,0.046,2618,3754,3940,3968,3912,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4202,-0.95,-267.6,2618,3755,3969,3912,602.6,-13.2,306,4206,0.00,1.75,0.00,0.000,1030,0.000,0.028,2618,2596,3940,3969,3912,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4517,-0.95,-267.6,2618,2596,3967,3911,642.1,-12.5,327,4521,0.00,1.90,0.00,0.000,260,0.000,0.047,2618,3764,3938,3966,3910,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4596,-0.95,-267.6,2618,3764,3967,3910,651.6,-12.6,332,4601,0.00,1.77,0.00,0.000,1030,0.000,0.028,2618,2586,3937,3965,3909,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4907,-0.95,-267.6,2619,2586,3963,3912,690.0,-12.3,353,4911,0.00,1.92,0.00,0.000,260,0.000,0.048,2613,3766,3934,3963,3906,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4957,-0.95,-267.6,2621,3767,3964,3907,695.8,-12.5,356,4961,0.00,1.77,0.00,0.000,1030,0.000,0.029,2617,2594,3934,3963,3906,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5268,-0.95,-267.6,2619,2594,3960,3905,734.6,-12.2,377,5271,0.00,1.90,0.00,0.000,260,0.000,0.048,2617,3758,3932,3960,3905,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5342,-0.95,-267.6,2617,3759,3961,3904,744.1,-12.7,382,5346,0.00,1.77,0.00,0.000,1030,0.000,0.029,2617,2588,3931,3960,3903,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5657,-0.95,-267.6,2618,2589,3958,3901,783.0,-12.5,403,5661,0.00,1.92,0.00,0.000,260,0.000,0.049,2616,3761,3929,3958,3901,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5712,-0.95,-267.6,2616,3761,3959,3901,788.4,-12.2,406,5719,0.00,1.75,0.00,0.000,1030,0.000,0.028,2616,2600,3928,3957,3900,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6018,-0.95,-267.6,2616,2601,3957,3899,826.0,-11.8,427,6021,0.00,1.90,0.00,0.000,260,0.000,0.047,2610,3768,3927,3956,3899,0,0,0,0,0,0,28.83,25.43,28.83
$GC,6087,-0.95,-267.6,2609,3768,3957,3899,833.4,-12.4,431,6095,0.08,1.77,0.00,0.000,3078,0.129,0.030,2635,2608,3926,3955,3898,0,0,0,0,0,0,25.06,25.63,28.83
$GC,6393,-0.95,-267.6,2637,2609,3953,3896,866.5,-9.6,452,6396,0.00,1.90,0.00,0.000,260,0.000,0.050,2631,3761,3924,3953,3895,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6467,-0.95,-267.6,2632,3761,3953,3895,874.5,-10.6,457,6471,0.00,1.77,0.00,0.000,1030,0.000,0.028,2631,2587,3924,3953,3895,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6783,-0.95,-267.6,2630,2583,3953,3894,907.0,-10.2,478,6786,0.00,2.00,0.00,0.000,260,0.000,0.047,2631,3765,3922,3952,3893,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6857,-0.95,-267.6,2632,3766,3951,3893,915.1,-10.8,483,6861,0.00,1.80,0.00,0.000,1030,0.000,0.029,2631,2592,3922,3951,3893,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7173,-0.95,-267.6,2631,2593,3950,3891,949.1,-11.1,504,7176,0.00,1.95,0.00,0.000,260,0.000,0.050,2631,3765,3920,3950,3890,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7257,-0.95,-267.6,2632,3766,3949,3891,957.4,-10.9,509,7264,0.00,1.77,0.00,0.000,1030,0.000,0.030,2631,2604,3919,3949,3890,0,0,0,0,0,0,28.83,25.56,28.83
$STATE,7561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7561,begin apogee
$GC,7564,-0.24,0.0,2632,2398,3947,3889,991.3,-10.5,530,7790,0.73,0.00,220.15,1.080,10246,0.097,0.000,2867,2398,2836,2906,2766,0,0,0,0,0,0,25.15,28.83,23.30
$STATE,7791,end apogee,CONTROL_FINISHED_OK
$STATE,7791,begin climb
$GC,7792,0.95,267.6,2868,2399,2905,2767,1005.9,0.0,545,8036,1.10,2.25,233.35,1.052,10756,0.050,0.031,3268,1005,1741,1821,1661,0,0,0,0,0,0,24.27,24.10,23.25
$GC,8166,0.95,267.6,3269,1005,1812,1657,970.7,15.4,570,8171,0.00,2.22,0.00,0.000,1030,0.000,0.031,3268,2406,1734,1812,1656,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8477,0.95,267.6,3268,2406,1811,1654,921.0,16.0,591,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2405,1731,1809,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8777,0.95,267.6,3269,2406,1808,1653,873.8,15.8,611,8781,0.00,2.17,0.00,0.000,516,0.000,0.034,3277,1002,1730,1808,1653,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8832,0.95,267.6,3278,1002,1808,1653,866.6,15.9,614,8839,0.00,2.17,0.00,0.000,1030,0.000,0.031,3274,2400,1730,1808,1653,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9137,0.95,267.6,3277,2401,1809,1653,816.2,16.1,635,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2400,1729,1807,1652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9437,0.95,267.6,3278,2400,1807,1651,767.3,16.2,655,9441,0.00,2.15,0.00,0.000,516,0.000,0.034,3284,1008,1729,1807,1651,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9532,0.95,267.6,3286,1008,1806,1652,752.7,16.2,661,9536,0.00,2.17,0.00,0.000,1030,0.000,0.031,3285,2406,1729,1807,1651,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9842,0.95,267.6,3284,2407,1806,1652,701.1,15.9,682,9846,0.00,2.17,0.00,0.000,516,0.000,0.034,3292,1003,1728,1805,1651,0,0,0,0,0,0,28.83,25.57,28.83
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$STATE,14665,end climb,SURFACE_DEPTH_REACHED
$STATE,14665,begin surface coast
$FINISH,0.8,1.007289
$STATE,14695,end surface coast,CONTROL_FINISHED_OK
$STATE,14695,begin surface
$SM_CCo,14715,14.62,0.187,1,0,798,500.16
$SM_GC,1.37,8.70,2.53,14.62,0.038,0.027,0.187,158,2608,798,-8.67,-1.13,500.16,0,0,0,0,1,0,25.11,24.97,24.39
$IRIDIUM_FIX,2722.64,-8719.43,140508,173108
$TT8_MAMPS,0.098868,0.098868
$HUMID,41.69
$INTERNAL_PRESSURE,9.10647
$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,104
$MI_LOG,3.5/516052/497987
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.7/436550/424901
$24V_AH,23.25,44.100
$10V_AH,10.01,12.174
$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,21.925,151.400,639.275,14.625,0.000,61.403,73.978,200.538,0.000,15669.800,17.407,0.000,11199.030,785.571,3174.417,128.364,0.000,1941.846,0.000,2082.593,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,83.385,1080.180,186.660,0.000,61.970,160.000,223.000,0.000,37.497,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,723.439,0.000,0.000,0.000,0.000,0.000,15669.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.132,0.000,0.000,0.000
$MEM,296120
$DATA_FILE_SIZE,36704,1072
$CAP_FILE_SIZE,166026,0
$CFSIZE,260034560,256835584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,190715,081613,2758.377,-8726.864,26,0.8,36,-2.0