version: 66.12
glider: 161
mission: 11
dive: 11
start: 7 20 115 3 24 56
data:
$ID,161
$MISSION,11
$DIVE,11
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,2930
$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,2675
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,92
$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
$GPS1,200715,031356,2800.590,-8729.791,15,0.9,25,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.0
$GPS2,200715,032445,2800.510,-8729.889,5,0.9,15,-1.9
$SPEED_LIMITS,0.212,0.268
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,357.2,1002,-22.5,-12.222,-30.00,1608
$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,14,-1.23,-131.4,148,2660,905,692,0.0,0.0,0,62,0.00,0.00,-45.58,0.000,16386,0.000,0.000,148,2660,2239,2201,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.34,-219.0,147,2661,2203,2278,3.3,-6.3,7,108,9.77,1.67,-27.85,0.000,18692,0.231,0.052,2486,3759,3732,3751,3714,0,0,0,0,0,0,24.82,25.34,25.49
$GC,262,-1.34,-219.0,2488,3759,3751,3716,74.0,-36.6,39,266,0.00,1.58,0.00,0.000,1030,0.000,0.024,2487,2689,3734,3752,3716,0,0,0,0,0,0,28.83,25.56,28.83
$GC,397,-1.34,-219.0,2486,2690,3756,3715,113.3,-26.1,51,401,0.00,2.10,0.00,0.000,516,0.000,0.024,2487,1264,3734,3754,3715,0,0,0,0,0,0,28.83,25.60,28.83
$GC,487,-1.34,-219.0,2489,1264,3757,3716,136.3,-25.2,57,491,0.00,2.15,0.00,0.000,1030,0.000,0.031,2479,2666,3735,3755,3716,0,0,0,0,0,0,28.83,25.60,28.83
$GC,802,-1.34,-219.0,2478,2668,3759,3716,210.9,-22.9,78,806,0.00,2.08,0.00,0.000,516,0.000,0.024,2479,1267,3736,3757,3716,0,0,0,0,0,0,28.83,25.70,28.83
$GC,907,-1.34,-219.0,2478,1268,3759,3717,234.4,-21.9,85,911,0.08,2.15,0.00,0.000,3078,0.161,0.031,2492,2670,3736,3757,3716,0,0,0,0,0,0,25.21,25.68,28.83
$GC,1223,-1.34,-219.0,2491,2670,3758,3717,303.8,-22.1,106,1226,0.00,2.05,0.00,0.000,516,0.000,0.024,2492,1262,3736,3757,3716,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1262,-1.34,-219.0,2493,1263,3757,3716,310.3,-22.0,108,1269,0.00,2.17,0.00,0.000,1030,0.000,0.031,2484,2674,3735,3756,3715,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1567,-1.34,-219.0,2485,2675,3754,3715,379.9,-22.5,129,1571,0.00,2.10,0.00,0.000,516,0.000,0.024,2483,1266,3734,3754,3714,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1606,-1.34,-219.0,2485,1267,3754,3715,386.6,-22.5,131,1615,0.00,2.17,0.00,0.000,1030,0.000,0.033,2474,2678,3734,3754,3714,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1912,-1.34,-219.0,2474,2678,3753,3712,459.2,-23.2,152,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2678,3731,3751,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-1.34,-219.0,2474,2678,3750,3708,526.6,-22.4,172,2216,0.00,2.10,0.00,0.000,516,0.000,0.025,2474,1279,3728,3749,3707,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2291,-1.34,-219.0,2474,1279,3749,3707,542.7,-21.3,177,2296,0.10,2.17,0.00,0.000,3078,0.150,0.033,2495,2679,3727,3749,3705,0,0,0,0,0,0,25.13,25.65,28.83
$GC,2602,-1.34,-219.0,2495,2679,3747,3702,606.3,-19.8,198,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2679,3723,3745,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2902,-1.34,-219.0,2496,2680,3743,3698,667.8,-20.5,218,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2680,3721,3744,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3202,-1.34,-219.0,2496,2680,3740,3694,730.2,-20.8,238,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2680,3716,3741,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3502,-1.34,-219.0,2495,2680,3739,3691,791.0,-20.0,258,3506,0.00,2.12,0.00,0.000,516,0.000,0.028,2495,1286,3713,3737,3690,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3611,-1.34,-219.0,2495,1286,3738,3690,811.1,-18.9,265,3616,0.00,2.20,0.00,0.000,1030,0.000,0.037,2487,2676,3712,3736,3689,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3922,-1.34,-219.0,2488,2676,3734,3685,873.9,-19.7,286,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2676,3709,3734,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4222,-1.34,-219.0,2488,2677,3731,3683,933.7,-19.8,306,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2676,3707,3731,3684,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4506,begin apogee
$GC,4509,-0.24,0.0,2487,2307,3731,3679,990.2,-19.6,325,4690,1.15,0.00,176.90,1.067,10246,0.121,0.000,2846,2306,2839,2949,2730,0,0,0,0,0,0,25.22,28.83,23.49
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4692,1.34,219.0,2847,2306,2947,2730,999.2,0.0,337,4888,1.50,2.22,187.07,1.053,10756,0.060,0.032,3367,911,1943,2033,1853,0,0,0,0,0,0,24.40,24.22,23.33
$GC,4972,1.34,219.0,3368,911,2026,1852,969.1,19.1,356,4976,0.00,2.22,0.00,0.000,1030,0.000,0.030,3367,2308,1938,2026,1851,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5287,1.34,219.0,3367,2309,2021,1848,908.4,19.4,377,5291,0.00,2.17,0.00,0.000,516,0.000,0.033,3376,906,1934,2021,1848,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5397,1.34,219.0,3378,907,2020,1848,887.9,19.3,384,5401,0.00,2.15,0.00,0.000,1030,0.000,0.031,3376,2298,1934,2020,1848,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5707,1.34,219.0,3376,2298,2019,1847,825.4,20.1,405,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2298,1931,2017,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,1.34,219.0,3376,2298,2017,1846,765.4,19.9,425,6011,0.00,2.12,0.00,0.000,516,0.000,0.034,3386,914,1930,2015,1845,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6182,1.34,219.0,3390,914,2016,1846,732.6,19.9,436,6189,0.00,2.15,0.00,0.000,1030,0.000,0.030,3386,2306,1929,2014,1845,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6487,1.34,219.0,3381,2307,2014,1845,669.5,19.7,457,6491,0.00,2.17,0.00,0.000,516,0.000,0.034,3395,901,1928,2012,1844,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6496,1.34,219.0,3394,901,2014,1845,669.5,19.7,457,6505,0.10,2.15,0.00,0.000,5126,0.139,0.031,3365,2300,1928,2012,1844,0,0,0,0,0,0,25.40,25.71,28.83
$GC,6802,1.34,219.0,3364,2301,2013,1844,611.3,18.4,478,6806,0.00,2.15,0.00,0.000,516,0.000,0.035,3372,883,1927,2012,1843,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6897,1.34,219.0,3373,883,2011,1844,594.8,18.3,484,6901,0.00,2.20,0.00,0.000,1030,0.000,0.031,3372,2298,1927,2011,1843,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7207,1.34,219.0,3372,2298,2010,1843,536.9,18.4,505,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2299,1926,2010,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7507,1.34,219.0,3372,2295,2009,1842,481.9,18.2,525,7511,0.00,2.15,0.00,0.000,516,0.000,0.034,3381,913,1926,2010,1842,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7652,1.34,219.0,3380,914,2011,1842,457.1,18.2,534,7659,0.00,2.15,0.00,0.000,1030,0.000,0.030,3381,2304,1925,2009,1842,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7957,1.34,219.0,3381,2304,2004,1842,399.3,18.7,555,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2304,1925,2008,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8257,1.34,219.0,3381,2304,2010,1842,343.1,19.0,575,8261,0.00,2.15,0.00,0.000,516,0.000,0.034,3390,915,1924,2008,1841,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8402,1.34,219.0,3391,915,2008,1842,317.5,19.1,584,8409,0.00,2.15,0.00,0.000,1030,0.000,0.029,3390,2302,1924,2008,1841,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8707,1.34,219.0,3391,2302,2008,1841,255.6,20.0,605,8711,0.00,2.15,0.00,0.000,516,0.000,0.033,3399,909,1924,2008,1841,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8852,1.34,219.0,3398,910,2009,1842,229.3,19.6,614,8860,0.12,2.15,0.00,0.000,5126,0.136,0.030,3362,2302,1924,2008,1841,0,0,0,0,0,0,25.01,25.50,28.83
$GC,9157,1.34,219.0,3363,2302,2008,1841,170.5,18.5,635,9161,0.00,2.12,0.00,0.000,516,0.000,0.032,3370,891,1924,2008,1841,0,0,0,0,0,0,28.83,25.50,28.83
$GC,9347,1.34,219.0,3369,892,2009,1842,137.9,17.8,647,9354,0.00,2.17,0.00,0.000,1030,0.000,0.028,3370,2302,1924,2008,1841,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9657,1.34,219.0,3370,2303,2008,1841,87.6,14.1,671,9661,0.00,2.17,0.00,0.000,516,0.000,0.031,3379,891,1924,2007,1841,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9797,1.34,219.0,3380,896,2007,1842,70.0,12.5,685,9801,0.00,2.15,0.00,0.000,1030,0.000,0.027,3379,2296,1926,2007,1846,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9927,1.38,250.3,3379,2297,2009,1841,56.2,10.2,698,9953,0.00,2.10,22.17,0.432,8708,0.000,0.029,3387,897,1816,1906,1727,0,0,0,0,0,0,28.83,25.61,24.94
$GC,10372,1.48,330.0,3387,897,1899,1728,17.8,7.1,780,10459,0.00,2.17,73.57,0.406,9222,0.000,0.025,3388,2310,1492,1589,1396,0,0,0,0,1,0,28.83,25.22,24.59
$GC,10518,1.61,438.8,3388,2310,1585,1393,8.2,5.3,806,10630,0.15,2.17,98.15,0.405,10500,0.083,0.035,3456,3704,1049,1166,932,0,0,0,0,1,0,25.27,24.94,24.36
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FINISH,0.6,1.006888
$STATE,10703,end surface coast,CONTROL_FINISHED_OK
$STATE,10703,begin surface
$SM_CCo,10722,42.35,0.350,1,0,799,500.16
$SM_GC,2.26,8.95,1.58,42.35,0.036,0.023,0.350,157,2654,799,-8.61,1.89,500.16,0,0,0,0,1,0,25.13,25.23,24.43
$IRIDIUM_FIX,2722.64,-8719.43,150508,164559
$TT8_MAMPS,0.098119,0.098119
$HUMID,39.09
$INTERNAL_PRESSURE,9.1553
$TCM_TEMP,25.00
$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,3.5/516052/497982
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424314
$24V_AH,23.33,45.831
$10V_AH,10.04,13.488
$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,21.925,80.625,557.875,42.350,0.000,31.167,33.802,223.901,0.000,11525.100,17.514,0.000,7982.450,672.695,2469.991,107.141,0.000,1539.817,0.000,1591.004,0.000,0.000,0.000
$DEVICE_MAMPS,231.030,52.020,1067.175,349.605,0.000,61.970,160.000,223.000,0.000,37.059,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,563.099,0.000,0.000,0.000,0.000,0.000,11525.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.069,0.000,0.000,0.000
$MEM,296136
$DATA_FILE_SIZE,30065,839
$CAP_FILE_SIZE,117229,0
$CFSIZE,260034560,256495616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,11486.32,0x236bc6,7,5
$GPS,200715,062531,2801.557,-8729.625,39,0.8,49,-1.9