version: 66.12
glider: 161
mission: 11
dive: 7
start: 7 19 115 12 31 13
data:
$ID,161
$MISSION,11
$DIVE,7
$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,64
$R_STBD_OVSHOOT,48
$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
$GPS1,190715,121601,2759.008,-8727.714,37,0.9,47,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.8
$GPS2,190715,123102,2758.992,-8727.290,5,0.9,15,-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,305.7,2962,-27.1,-12.222,-33.76,1222
$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
$GC,15,-1.41,-99.1,158,2618,912,685,0.0,0.0,0,68,0.00,0.00,-51.38,0.000,16386,0.000,0.000,158,2618,2428,2391,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.48,-157.0,159,2618,2392,2467,3.5,-7.4,8,107,9.70,2.12,-20.60,0.000,18948,0.234,0.037,2466,1174,3482,3514,3450,0,0,0,0,0,0,24.82,25.40,25.51
$GC,226,-1.48,-157.0,2465,1175,3516,3450,53.0,-36.6,38,230,0.00,2.20,0.00,0.000,1030,0.000,0.030,2457,2600,3482,3515,3450,0,0,0,0,0,0,28.83,25.47,28.83
$GC,356,-1.48,-157.0,2458,2602,3516,3450,92.2,-25.7,51,360,0.00,2.12,0.00,0.000,516,0.000,0.024,2457,1180,3483,3516,3450,0,0,0,0,0,0,28.83,25.57,28.83
$GC,446,-1.48,-157.0,2456,1181,3519,3450,114.2,-24.1,59,450,0.00,2.17,0.00,0.000,1030,0.000,0.030,2447,2604,3484,3518,3450,0,0,0,0,0,0,28.83,25.57,28.83
$GC,761,-1.48,-157.0,2448,2605,3520,3450,186.5,-22.2,80,765,0.00,2.12,0.00,0.000,516,0.000,0.024,2451,1182,3485,3521,3450,0,0,0,0,0,0,28.83,25.66,28.83
$GC,841,-1.48,-157.0,2448,1182,3521,3450,202.7,-21.6,85,846,0.10,2.17,0.00,0.000,3078,0.162,0.030,2466,2609,3485,3521,3450,0,0,0,0,0,0,25.10,25.63,28.83
$GC,1152,-1.48,-157.0,2465,2609,3524,3447,267.3,-19.9,106,1155,0.00,2.08,0.00,0.000,516,0.000,0.024,2466,1188,3485,3521,3449,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1201,-1.48,-157.0,2465,1186,3522,3453,276.2,-19.9,109,1205,0.00,2.15,0.00,0.000,1030,0.000,0.029,2457,2599,3485,3521,3450,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1512,-1.48,-157.0,2457,2599,3523,3448,342.1,-21.6,130,1515,0.00,2.12,0.00,0.000,516,0.000,0.026,2458,1185,3484,3521,3447,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1586,-1.48,-157.0,2458,1185,3521,3447,358.2,-21.5,135,1590,0.00,2.17,0.00,0.000,1030,0.000,0.031,2448,2601,3483,3521,3446,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1901,-1.48,-157.0,2449,2601,3521,3442,426.6,-21.5,156,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2601,3481,3520,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-1.48,-157.0,2448,2602,3518,3441,490.2,-21.3,176,2205,0.00,2.12,0.00,0.000,516,0.000,0.026,2448,1193,3479,3517,3441,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2271,-1.48,-157.0,2449,1193,3515,3441,502.5,-20.7,180,2279,0.10,2.17,0.00,0.000,3078,0.155,0.034,2467,2597,3478,3516,3440,0,0,0,0,0,0,25.15,25.60,28.83
$GC,2577,-1.48,-157.0,2466,2598,3514,3439,565.4,-19.9,201,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2597,3474,3512,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,-1.48,-157.0,2466,2597,3511,3435,624.1,-19.6,221,2881,0.00,2.17,0.00,0.000,516,0.000,0.028,2467,1189,3471,3509,3434,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2931,-1.48,-157.0,2467,1189,3509,3434,632.6,-19.0,224,2939,0.00,2.25,0.00,0.000,1030,0.000,0.033,2459,2597,3470,3508,3433,0,0,0,0,0,0,28.83,24.06,28.83
$GC,3236,-1.48,-157.0,2460,2598,3504,3431,695.1,-20.0,245,3240,0.00,2.15,0.00,0.000,516,0.000,0.029,2459,1194,3467,3504,3430,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3271,-1.48,-157.0,2459,1195,3506,3431,701.0,-19.8,247,3275,0.00,2.20,0.00,0.000,1030,0.000,0.034,2450,2603,3466,3504,3429,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3581,-1.48,-157.0,2450,2604,3502,3427,763.2,-19.1,268,3586,0.00,2.15,0.00,0.000,516,0.000,0.028,2450,1196,3462,3500,3425,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3631,-1.48,-157.0,2450,1197,3500,3426,771.7,-19.0,271,3636,0.10,2.20,0.00,0.000,3078,0.153,0.034,2469,2606,3460,3500,3421,0,0,0,0,0,0,25.11,25.60,28.83
$GC,3942,-1.48,-157.0,2470,2606,3498,3424,829.4,-18.6,292,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2606,3460,3498,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4241,-1.48,-157.0,2469,2606,3496,3421,885.2,-18.4,312,4245,0.00,2.15,0.00,0.000,516,0.000,0.029,2469,1200,3457,3495,3420,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4286,-1.48,-157.0,2470,1200,3495,3421,893.5,-18.4,315,4290,0.00,2.20,0.00,0.000,1030,0.000,0.035,2461,2607,3456,3493,3420,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4601,-1.48,-157.0,2461,2608,3495,3417,952.9,-18.8,336,4605,0.00,2.17,0.00,0.000,516,0.000,0.029,2461,1191,3455,3493,3417,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4636,-1.48,-157.0,2461,1191,3494,3418,958.7,-19.4,338,4640,0.00,2.20,0.00,0.000,1030,0.000,0.034,2452,2600,3454,3492,3417,0,0,0,0,0,0,28.83,25.57,28.83
$STATE,4810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4810,begin apogee
$GC,4814,-0.24,0.0,2453,2399,3491,3415,992.9,-19.0,350,4943,1.35,0.00,125.60,1.068,10246,0.129,0.000,2865,2398,2838,2949,2728,0,0,0,0,0,0,25.19,28.83,23.56
$STATE,4943,end apogee,CONTROL_FINISHED_OK
$STATE,4944,begin climb
$GC,4945,1.48,157.0,2867,2399,2948,2729,997.6,0.0,358,5088,1.60,2.22,134.77,1.068,10756,0.056,0.032,3442,1007,2196,2290,2102,0,0,0,0,0,0,24.51,24.24,23.34
$GC,5462,1.48,157.0,3443,1007,2277,2099,924.1,18.2,393,5466,0.00,2.17,0.00,0.000,1030,0.000,0.029,3442,2411,2187,2276,2098,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5772,1.48,157.0,3442,2412,2274,2104,865.8,18.5,414,5776,0.00,2.17,0.00,0.000,516,0.000,0.033,3451,999,2185,2273,2097,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6012,1.48,157.0,3452,999,2271,2097,821.7,18.5,430,6016,0.00,2.17,0.00,0.000,1030,0.000,0.029,3451,2398,2183,2271,2096,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6327,1.48,157.0,3451,2399,2269,2096,761.6,19.0,451,6331,0.00,2.15,0.00,0.000,516,0.000,0.032,3461,1000,2182,2268,2096,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6422,1.48,157.0,3461,1000,2267,2096,744.3,19.5,457,6426,0.10,2.17,0.00,0.000,5126,0.161,0.029,3436,2409,2181,2267,2096,0,0,0,0,0,0,24.98,25.49,28.83
$GC,6733,1.48,157.0,3432,2409,2268,2096,686.8,17.7,478,6736,0.00,2.12,0.00,0.000,516,0.000,0.032,3440,1002,2180,2266,2095,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6982,1.48,157.0,3441,1002,2265,2095,644.6,17.4,494,6990,0.00,2.17,0.00,0.000,1030,0.000,0.028,3440,2411,2179,2265,2094,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7287,1.48,157.0,3440,2411,2265,2095,590.1,17.5,515,7291,0.00,2.17,0.00,0.000,516,0.000,0.033,3450,1004,2178,2263,2094,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7552,1.48,157.0,3449,1005,2264,2094,546.8,17.0,532,7559,0.00,2.15,0.00,0.000,1030,0.000,0.028,3450,2401,2177,2262,2093,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7857,1.48,157.0,3449,2402,2263,2094,491.4,17.5,553,7861,0.00,2.15,0.00,0.000,516,0.000,0.032,3459,1001,2177,2262,2093,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7987,1.48,157.0,3460,1001,2261,2093,469.9,18.0,561,7995,0.10,2.15,0.00,0.000,5126,0.158,0.028,3431,2400,2177,2261,2093,0,0,0,0,0,0,24.87,25.53,28.83
$GC,8293,1.48,157.0,3432,2400,2260,2093,415.9,17.0,582,8296,0.00,2.12,0.00,0.000,516,0.000,0.032,3439,992,2176,2260,2093,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8572,1.48,157.0,3440,993,2260,2093,369.8,16.8,600,8579,0.00,2.17,0.00,0.000,1030,0.000,0.028,3439,2399,2176,2261,2092,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8877,1.48,157.0,3439,2399,2261,2093,315.9,17.3,621,8881,0.00,2.15,0.00,0.000,516,0.000,0.031,3449,1004,2176,2260,2092,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9187,1.48,157.0,3449,1005,2261,2092,265.1,16.6,641,9194,0.00,2.15,0.00,0.000,1030,0.000,0.028,3449,2398,2175,2259,2092,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9492,1.48,157.0,3450,2399,2259,2092,210.7,17.3,662,9496,0.00,2.17,0.00,0.000,516,0.000,0.031,3458,1002,2175,2259,2092,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9762,1.48,157.0,3459,1003,2258,2092,165.2,15.8,680,9766,0.10,2.17,0.00,0.000,5126,0.155,0.028,3430,2399,2175,2259,2092,0,0,0,0,0,0,24.71,25.15,28.83
$GC,10078,1.48,157.0,3429,2399,2260,2093,117.4,13.6,701,10081,0.00,2.10,0.00,0.000,516,0.000,0.030,3438,998,2175,2259,2092,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10622,1.60,249.3,3439,999,2259,2092,71.7,4.5,750,10700,0.00,2.15,68.38,0.451,9222,0.000,0.026,3438,2404,1818,1918,1718,0,0,0,0,0,0,28.83,25.49,24.61
$GC,10817,1.60,250.7,3439,2405,1911,1718,53.3,12.1,770,10821,0.00,2.17,0.00,0.000,516,0.000,0.028,3448,997,1814,1911,1717,0,0,0,0,0,0,28.83,25.29,28.83
$STATE,11266,end climb,SURFACE_DEPTH_REACHED
$STATE,11266,begin surface coast
$FINISH,1.6,1.020702
$STATE,11301,end surface coast,CONTROL_FINISHED_OK
$STATE,11301,begin surface
$SM_CCo,11321,131.52,0.401,1,0,799,500.16
$SM_GC,1.67,9.23,2.47,131.52,0.060,0.025,0.401,165,2618,799,-8.66,-1.10,500.16,0,0,0,0,1,0,25.35,25.48,24.40
$IRIDIUM_FIX,2722.64,-8719.43,150508,015140
$TT8_MAMPS,0.095872,0.095872
$HUMID,37.99
$INTERNAL_PRESSURE,9.13577
$TCM_TEMP,24.70
$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,3.5/516052/497985
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.7/436550/424700
$24V_AH,23.34,44.670
$10V_AH,10.04,12.622
$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,22.475,95.700,328.750,131.525,0.000,63.893,110.681,241.188,0.000,12346.700,16.849,0.000,8447.852,575.233,2992.686,113.884,0.000,1556.987,0.000,1919.922,0.000,0.000,0.000
$DEVICE_MAMPS,234.090,44.370,1067.940,400.860,0.000,61.970,160.000,223.000,0.000,36.797,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,584.514,0.000,0.000,0.000,0.000,0.000,12346.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.115,0.000,0.000,0.000
$MEM,296084
$DATA_FILE_SIZE,30034,864
$CAP_FILE_SIZE,131997,0
$CFSIZE,260034560,256737280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,14596.87,0x236bc6,7,5
$GPS,190715,154257,2758.794,-8727.734,18,0.8,28,-2.0