version: 66.12
glider: 161
mission: 11
dive: 18
start: 7 20 115 14 13 47
data:
$ID,161
$MISSION,11
$DIVE,18
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,185
$T_MISSION,200
$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,175
$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,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,87
$R_STBD_OVSHOOT,55
$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
$GPS1,200715,140731,2800.008,-8728.961,5,0.9,15,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.6
$GPS2,200715,141338,2759.990,-8728.797,5,0.9,20,-1.9
$SPEED_LIMITS,0.119,0.237
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,318.3,2707,-18.1,-11.892,-26.61,2116
$D_GRID,660
$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,-1.07,-170.3,157,2685,893,694,0.0,0.0,0,69,0.00,0.00,-52.05,0.000,16386,0.000,0.000,155,2685,2369,2342,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.07,-170.3,157,2685,2343,2397,3.2,-6.5,8,115,9.95,2.08,-25.17,0.000,18948,0.233,0.038,2578,1284,3536,3565,3507,0,0,0,0,0,0,25.13,25.67,25.78
$GC,239,-1.07,-170.3,2579,1284,3567,3507,46.5,-28.7,40,246,0.00,2.10,0.00,0.000,1030,0.000,0.030,2570,2660,3537,3567,3507,0,0,0,0,0,0,28.83,25.70,28.83
$GC,305,-1.07,-170.3,2571,2661,3567,3508,66.6,-29.8,48,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2660,3537,3567,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,425,-1.07,-170.3,2570,2662,3571,3508,93.1,-19.5,60,429,0.00,2.03,0.00,0.000,516,0.000,0.024,2570,1284,3538,3569,3507,0,0,0,0,0,0,28.83,25.82,28.83
$GC,460,-1.07,-170.3,2571,1285,3570,3508,98.7,-18.9,63,467,0.00,2.12,0.00,0.000,1030,0.000,0.029,2561,2671,3539,3570,3508,0,0,0,0,0,0,28.83,25.57,28.83
$GC,585,-1.07,-170.3,2561,2672,3574,3508,123.1,-17.8,72,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2671,3539,3572,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-1.07,-170.3,2561,2672,3576,3510,174.8,-17.7,92,889,0.00,2.05,0.00,0.000,516,0.000,0.022,2561,1273,3542,3575,3509,0,0,0,0,0,0,28.83,25.79,28.83
$GC,985,-1.07,-170.3,2561,1273,3575,3509,189.3,-15.8,98,993,0.10,2.15,0.00,0.000,3078,0.138,0.030,2582,2676,3542,3575,3509,0,0,0,0,0,0,25.18,25.48,28.83
$GC,1291,-1.07,-170.3,2583,2677,3575,3509,235.7,-15.0,119,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2677,3542,3575,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-1.07,-170.3,2583,2677,3575,3509,280.2,-14.6,139,1594,0.00,2.05,0.00,0.000,516,0.000,0.024,2582,1284,3542,3576,3508,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1645,-1.07,-170.3,2582,1285,3576,3509,286.9,-14.6,142,1653,0.00,2.12,0.00,0.000,1030,0.000,0.030,2576,2683,3542,3576,3508,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1950,-1.07,-170.3,2576,2684,3577,3507,334.0,-14.5,163,1954,0.00,2.08,0.00,0.000,516,0.000,0.025,2577,1287,3540,3575,3506,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1980,-1.07,-170.3,2578,1287,3575,3507,338.5,-14.7,165,1984,0.00,2.12,0.00,0.000,1030,0.000,0.031,2567,2679,3540,3575,3506,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2295,-1.07,-170.3,2569,2675,3574,3504,386.1,-15.4,186,2299,0.00,2.08,0.00,0.000,516,0.000,0.025,2568,1283,3538,3574,3503,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2345,-1.07,-170.3,2567,1284,3576,3504,393.0,-15.5,189,2349,0.00,2.12,0.00,0.000,1030,0.000,0.031,2559,2670,3538,3574,3503,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2655,-1.07,-170.3,2560,2670,3571,3502,442.3,-15.5,210,2659,0.00,2.08,0.00,0.000,516,0.000,0.026,2560,1280,3536,3571,3501,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2690,-1.07,-170.3,2559,1281,3572,3502,447.1,-15.8,212,2694,0.10,2.15,0.00,0.000,3078,0.135,0.032,2581,2680,3536,3571,3501,0,0,0,0,0,0,25.40,25.80,28.83
$GC,3001,-1.07,-170.3,2581,2681,3570,3499,491.4,-13.8,233,3004,0.00,2.05,0.00,0.000,516,0.000,0.026,2582,1283,3533,3568,3498,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3035,-1.07,-170.3,2582,1280,3568,3498,495.5,-13.7,235,3039,0.00,2.15,0.00,0.000,1030,0.000,0.032,2576,2674,3533,3568,3498,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3345,-1.07,-170.3,2575,2675,3567,3496,541.1,-14.5,256,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2675,3531,3566,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-1.07,-170.3,2575,2676,3564,3493,583.2,-13.7,276,3649,0.00,2.10,0.00,0.000,516,0.000,0.027,2576,1280,3527,3563,3492,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3720,-1.07,-170.3,2575,1280,3564,3493,593.0,-13.0,281,3724,0.00,2.15,0.00,0.000,1030,0.000,0.033,2567,2675,3527,3563,3492,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4036,-1.07,-170.3,2567,2675,3562,3490,637.3,-14.0,302,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2674,3525,3561,3489,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4199,begin apogee
$GC,4202,-0.24,0.0,2567,2313,3561,3487,660.6,-14.5,313,4338,0.88,0.00,131.68,0.852,10246,0.112,0.000,2847,2312,2840,2942,2738,0,0,0,0,0,0,25.46,28.83,24.06
$STATE,4339,end apogee,CONTROL_FINISHED_OK
$STATE,4339,begin climb
$GC,4340,1.07,170.3,2848,2312,2941,2744,666.2,0.0,322,4489,1.20,2.20,136.88,0.830,10756,0.063,0.031,3281,919,2141,2230,2052,0,0,0,0,0,0,24.74,24.76,24.02
$GC,4632,1.07,170.3,3282,919,2224,2048,645.0,12.9,341,4640,0.00,2.12,0.00,0.000,1030,0.000,0.027,3281,2299,2136,2225,2047,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4938,1.07,170.3,3281,2299,2220,2047,604.4,12.7,362,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2299,2133,2220,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5238,1.07,170.3,3280,2299,2220,2046,566.2,12.6,382,5241,0.00,2.10,0.00,0.000,516,0.000,0.031,3290,915,2131,2218,2045,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5272,1.07,170.3,3290,915,2217,2045,562.3,12.5,384,5277,0.00,2.10,0.00,0.000,1030,0.000,0.028,3290,2297,2131,2217,2045,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5583,1.07,170.3,3290,2297,2215,2044,521.0,12.8,405,5586,0.00,2.10,0.00,0.000,516,0.000,0.031,3298,918,2129,2215,2044,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5632,1.07,170.3,3300,918,2214,2044,515.0,13.4,408,5637,0.00,2.10,0.00,0.000,1030,0.000,0.028,3298,2296,2129,2214,2044,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5943,1.07,170.3,3299,2297,2212,2043,473.0,13.4,429,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2296,2127,2212,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6243,1.07,170.3,3305,2296,2211,2042,432.7,13.1,449,6246,0.00,2.10,0.00,0.000,516,0.000,0.031,3307,916,2126,2211,2041,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6273,1.07,170.3,3308,917,2213,2042,428.8,13.1,451,6277,0.10,2.10,0.00,0.000,5126,0.136,0.028,3277,2302,2126,2211,2041,0,0,0,0,0,0,25.22,25.72,28.83
$GC,6588,1.07,170.3,3278,2303,2210,2040,390.5,12.4,472,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2302,2125,2210,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6888,1.07,170.3,3278,2303,2209,2040,354.1,12.2,492,6891,0.00,2.12,0.00,0.000,516,0.000,0.031,3285,915,2124,2208,2040,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6952,1.07,170.3,3286,915,2208,2040,346.8,12.2,496,6956,0.00,2.12,0.00,0.000,1030,0.000,0.027,3285,2306,2124,2208,2040,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7263,1.07,170.3,3285,2306,2209,2041,306.3,13.3,517,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2307,2123,2207,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,1.07,170.3,3285,2307,2208,2040,267.2,13.0,537,7567,0.00,2.12,0.00,0.000,516,0.000,0.031,3293,916,2123,2207,2039,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7617,1.07,170.3,3294,916,2207,2039,261.7,12.4,540,7625,0.00,2.10,0.00,0.000,1030,0.000,0.027,3293,2297,2123,2207,2039,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7923,1.07,170.3,3294,2298,2206,2039,219.9,13.2,561,7926,0.00,2.17,0.00,0.000,260,0.000,0.038,3293,3696,2122,2206,2039,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7957,1.07,170.3,3293,3697,2207,2040,215.6,14.0,563,7962,0.08,2.08,0.00,0.000,5126,0.151,0.023,3281,2304,2122,2206,2039,0,0,0,0,0,0,25.08,25.70,28.83
$GC,8268,1.07,170.3,3281,2302,2207,2040,175.1,12.7,584,8271,0.00,2.05,0.00,0.000,516,0.000,0.031,3289,910,2122,2206,2039,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8313,1.07,170.7,3288,910,2207,2039,169.8,11.9,587,8316,0.00,2.12,0.00,0.000,1030,0.000,0.027,3289,2302,2122,2206,2039,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8628,1.07,170.7,3289,2303,2205,2039,131.9,12.2,608,8631,0.00,2.12,0.00,0.000,516,0.000,0.030,3297,910,2122,2205,2039,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8722,1.08,173.3,3297,911,2207,2039,121.1,11.8,614,8726,0.00,2.10,0.00,0.000,1030,0.000,0.026,3297,2295,2122,2205,2039,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9028,1.13,220.2,3297,2295,2207,2039,89.1,9.6,638,9071,0.00,2.05,35.92,0.468,8708,0.000,0.028,3304,915,1937,2023,1852,0,0,0,0,0,0,28.83,25.60,24.97
$GC,9384,1.26,322.7,3305,915,2017,1852,56.6,6.9,673,9472,0.00,2.10,78.47,0.441,9222,0.000,0.024,3304,2305,1518,1612,1425,0,0,0,0,0,0,28.83,25.55,24.72
$GC,9591,1.31,366.9,3305,2305,1605,1423,37.3,9.7,706,9631,0.10,2.15,34.95,0.412,10500,0.096,0.037,3355,3694,1342,1439,1245,0,0,0,0,0,0,25.45,25.31,24.71
$GC,9660,1.31,366.9,3356,3694,1436,1245,28.3,15.5,718,9667,0.00,2.08,0.00,0.000,1030,0.000,0.021,3355,2301,1340,1435,1245,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9726,1.31,366.9,3355,2300,1434,1244,19.0,14.2,731,9734,0.00,2.10,0.00,0.000,516,0.000,0.028,3356,912,1338,1433,1243,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9842,begin surface coast
$FINISH,0.9,1.017295
$STATE,9862,end surface coast,CONTROL_FINISHED_OK
$STATE,9862,begin surface
$SM_CCo,9880,71.55,0.352,1,0,798,500.16
$SM_GC,1.86,8.55,2.70,71.55,0.035,0.024,0.352,155,2678,798,-8.61,-1.44,500.16,0,0,0,0,1,0,25.47,25.56,24.73
$IRIDIUM_FIX,2722.64,-8719.43,160508,033652
$TT8_MAMPS,0.096621,0.096621
$HUMID,40.43
$INTERNAL_PRESSURE,9.14553
$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,3.5/516052/497978
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/424047
$24V_AH,24.02,46.802
$10V_AH,10.09,14.155
$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,21.050,89.500,417.900,71.550,0.000,35.716,36.767,95.033,0.000,10365.700,21.711,0.000,7479.172,594.237,2055.200,96.422,0.000,1363.956,0.000,1384.452,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,38.250,852.210,351.900,0.000,61.970,160.000,223.000,0.000,34.551,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,508.491,0.000,0.000,0.000,0.000,0.000,10365.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.807,0.000,0.000,0.000
$MEM,296132
$DATA_FILE_SIZE,26746,758
$CAP_FILE_SIZE,106898,0
$CFSIZE,260034560,256221184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4567.81,0x236bc6,7,5
$GPS,200715,170043,2759.916,-8729.489,31,0.9,41,-1.9