version: 66.12
glider: 161
mission: 11
dive: 19
start: 7 20 115 17 9 40
data:
$ID,161
$MISSION,11
$DIVE,19
$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,27.983
$TGT_DEFAULT_LON,-87.467003
$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,80
$R_STBD_OVSHOOT,50
$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
$GPS1,200715,170043,2759.916,-8729.489,31,0.9,41,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.7
$GPS2,200715,170931,2759.848,-8729.233,5,0.9,15,-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,334.5,2505,-19.6,-11.892,-27.79,1906
$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,-1.12,-152.7,154,2691,898,693,0.0,0.0,0,75,0.00,0.00,-57.55,0.000,16386,0.000,0.000,154,2691,2543,2521,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.14,-170.3,155,2691,2523,2567,3.3,-6.2,9,114,9.95,2.05,-20.27,0.000,18948,0.233,0.034,2554,1263,3536,3565,3508,0,0,0,0,0,0,25.01,25.56,25.66
$GC,263,-1.14,-170.3,2555,1263,3566,3508,57.5,-31.2,43,267,0.00,2.17,0.00,0.000,1030,0.000,0.030,2546,2675,3536,3566,3507,0,0,0,0,0,0,28.83,25.59,28.83
$GC,393,-1.14,-170.3,2547,2676,3568,3508,90.5,-22.6,56,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2676,3537,3568,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,518,-1.14,-170.3,2547,2675,3570,3508,115.8,-19.8,66,522,0.00,2.08,0.00,0.000,516,0.000,0.022,2546,1265,3538,3570,3507,0,0,0,0,0,0,28.83,25.71,28.83
$GC,598,-1.14,-170.3,2547,1265,3571,3508,129.9,-18.7,71,602,0.00,2.15,0.00,0.000,1030,0.000,0.030,2536,2672,3539,3571,3508,0,0,0,0,0,0,28.83,25.70,28.83
$GC,908,-1.14,-170.3,2537,2673,3574,3509,188.1,-17.8,92,912,0.00,2.10,0.00,0.000,516,0.000,0.022,2536,1266,3541,3573,3509,0,0,0,0,0,0,28.83,25.49,28.83
$GC,973,-1.14,-170.3,2536,1266,3576,3510,198.4,-17.2,96,977,0.10,2.17,0.00,0.000,3078,0.145,0.030,2557,2674,3541,3574,3509,0,0,0,0,0,0,25.13,25.45,28.83
$GC,1284,-1.14,-170.3,2556,2675,3575,3510,248.5,-16.0,117,1287,0.00,2.08,0.00,0.000,516,0.000,0.022,2556,1266,3541,3574,3508,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1328,-1.14,-170.3,2556,1271,3576,3509,255.7,-16.2,120,1332,0.00,2.17,0.00,0.000,1030,0.000,0.030,2549,2682,3541,3574,3509,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1643,-1.14,-170.3,2550,2683,3574,3507,309.5,-17.1,141,1647,0.00,2.10,0.00,0.000,516,0.000,0.024,2549,1271,3540,3573,3507,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1698,-1.14,-170.3,2550,1271,3573,3507,317.1,-17.0,144,1706,0.00,2.15,0.00,0.000,1030,0.000,0.031,2541,2670,3540,3574,3506,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2003,-1.14,-170.3,2541,2671,3574,3505,371.1,-16.6,165,2007,0.00,2.08,0.00,0.000,516,0.000,0.024,2540,1274,3540,3578,3503,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2038,-1.14,-170.3,2541,1275,3574,3504,376.1,-16.8,167,2042,0.00,2.15,0.00,0.000,1030,0.000,0.031,2532,2676,3538,3574,3503,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2348,-1.14,-170.3,2533,2676,3571,3502,430.2,-17.3,188,2352,0.10,2.08,0.00,0.000,2564,0.166,0.024,2560,1269,3536,3571,3501,0,0,0,0,0,0,25.22,25.78,28.83
$GC,2388,-1.14,-170.3,2560,1270,3572,3502,434.9,-16.3,190,2396,0.00,2.15,0.00,0.000,1030,0.000,0.031,2553,2673,3536,3571,3501,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2693,-1.14,-170.3,2552,2674,3569,3499,482.7,-15.3,211,2697,0.00,2.10,0.00,0.000,516,0.000,0.024,2553,1261,3533,3568,3498,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2728,-1.14,-170.3,2553,1262,3569,3499,487.5,-15.6,213,2732,0.00,2.17,0.00,0.000,1030,0.000,0.031,2545,2676,3533,3568,3498,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3038,-1.14,-170.3,2546,2676,3565,3496,538.2,-16.2,234,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2681,3530,3565,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,-1.14,-170.3,2546,2676,3563,3493,586.2,-15.7,254,3342,0.00,2.10,0.00,0.000,516,0.000,0.025,2545,1278,3527,3562,3493,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3408,-1.14,-170.3,2546,1278,3562,3493,595.4,-15.3,258,3416,0.00,2.15,0.00,0.000,1030,0.000,0.031,2537,2675,3527,3562,3492,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3713,-1.14,-170.3,2535,2675,3561,3489,647.0,-16.4,279,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2674,3524,3560,3489,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3802,begin apogee
$GC,3805,-0.24,0.0,2537,2305,3559,3488,661.6,-16.0,285,3942,1.00,0.00,132.77,0.855,10246,0.115,0.000,2852,2305,2838,2940,2736,0,0,0,0,0,0,25.31,28.83,24.00
$STATE,3942,end apogee,CONTROL_FINISHED_OK
$STATE,3942,begin climb
$GC,3943,1.14,170.3,2851,2305,2942,2736,666.9,0.0,294,4092,1.25,2.15,136.90,0.842,10756,0.063,0.030,3302,910,2143,2233,2053,0,0,0,0,0,0,24.75,24.67,23.91
$GC,4220,1.14,170.3,3302,910,2227,2050,645.4,13.8,312,4228,0.00,2.15,0.00,0.000,1030,0.000,0.027,3302,2306,2138,2227,2049,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4526,1.14,170.3,3301,2307,2225,2047,601.9,13.8,333,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2306,2135,2223,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,1.14,170.3,3301,2306,2221,2047,561.3,13.7,353,4830,0.00,2.12,0.00,0.000,516,0.000,0.031,3310,913,2133,2220,2046,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4886,1.14,170.3,3311,914,2219,2046,553.0,13.9,357,4890,0.00,2.12,0.00,0.000,1030,0.000,0.027,3311,2292,2132,2219,2046,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5201,1.14,170.3,3307,2292,2218,2045,509.9,13.5,378,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2291,2130,2217,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,1.14,170.3,3310,2292,2216,2044,470.1,13.8,398,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2292,2128,2214,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,1.14,170.3,3309,2292,2214,2043,428.7,13.8,418,5805,0.00,2.10,0.00,0.000,516,0.000,0.030,3320,907,2127,2212,2042,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5855,1.14,170.3,3320,906,2213,2043,422.8,13.4,421,5863,0.00,2.12,0.00,0.000,1030,0.000,0.027,3320,2301,2127,2212,2042,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6161,1.14,170.3,3321,2301,2211,2041,378.1,14.3,442,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2300,2125,2211,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,1.14,170.3,3321,2301,2209,2041,334.5,14.4,462,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2301,2125,2210,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6761,1.14,170.3,3321,2301,2208,2040,291.9,14.1,482,6765,0.00,2.10,0.00,0.000,516,0.000,0.030,3330,917,2124,2208,2040,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6870,1.14,170.3,3329,917,2209,2041,276.9,14.4,489,6875,0.10,2.10,0.00,0.000,5126,0.144,0.026,3300,2299,2123,2207,2040,0,0,0,0,0,0,25.08,25.63,28.83
$GC,7181,1.14,170.3,3300,2300,2209,2041,233.9,13.8,510,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2299,2123,2207,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7481,1.14,170.3,3300,2300,2208,2040,192.7,13.3,530,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2299,2123,2207,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7781,1.14,170.3,3302,2300,2207,2039,154.6,12.5,550,7785,0.00,2.12,0.00,0.000,516,0.000,0.030,3308,905,2123,2207,2039,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7931,1.14,170.3,3309,905,2206,2039,135.9,12.9,560,7935,0.00,2.12,0.00,0.000,1030,0.000,0.027,3308,2298,2122,2206,2039,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8246,1.18,196.8,3309,2298,2206,2035,99.9,10.5,581,8269,0.00,2.08,18.58,0.451,8708,0.000,0.029,3316,910,2033,2118,1949,0,0,0,0,0,0,28.83,25.65,24.91
$GC,8443,1.23,237.8,3316,910,2113,1949,80.1,9.7,600,8481,0.00,2.12,31.95,0.455,9222,0.000,0.025,3315,2311,1869,1956,1782,0,0,0,0,0,0,28.83,25.56,24.81
$GC,8599,1.24,250.0,3316,2311,1949,1780,62.7,11.2,616,8614,0.00,2.15,10.60,0.409,8708,0.000,0.028,3323,912,1817,1905,1729,0,0,0,0,0,0,28.83,25.51,24.77
$GC,8679,1.35,337.5,3324,912,1899,1732,56.0,7.2,624,8758,0.05,2.12,68.72,0.433,11270,0.080,0.024,3361,2296,1460,1553,1367,0,0,0,0,0,0,25.22,25.24,24.60
$GC,8816,1.35,337.5,3360,2297,1550,1365,40.3,12.5,644,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2296,1456,1548,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8877,1.35,337.5,3362,2296,1546,1365,32.7,13.3,656,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2296,1456,1548,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8936,1.35,337.5,3361,2297,1547,1364,24.6,13.2,668,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2296,1455,1546,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,1.35,337.5,3360,2297,1554,1364,16.2,14.3,680,9004,0.00,2.10,0.00,0.000,516,0.000,0.027,3365,907,1454,1545,1364,0,0,0,0,0,0,28.83,25.50,28.83
$STATE,9097,end climb,SURFACE_DEPTH_REACHED
$STATE,9097,begin surface coast
$FINISH,0.9,1.008601
$STATE,9117,end surface coast,CONTROL_FINISHED_OK
$STATE,9118,begin surface
$SM_CCo,9136,88.85,0.369,1,0,799,500.16
$SM_GC,1.76,8.52,2.72,88.85,0.033,0.025,0.369,151,2686,799,-8.61,-1.22,500.16,0,0,0,0,1,0,25.51,25.58,24.64
$IRIDIUM_FIX,2722.64,-8719.43,160508,063145
$TT8_MAMPS,0.09737,0.09737
$HUMID,40.11
$INTERNAL_PRESSURE,9.14553
$TCM_TEMP,24.20
$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,3.5/516052/497977
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/423982
$24V_AH,23.91,47.000
$10V_AH,10.10,14.317
$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,21.075,73.225,399.525,88.850,0.000,29.560,37.933,160.473,0.000,9802.100,16.563,0.000,6904.701,579.239,2013.432,89.306,0.000,1292.013,0.000,1290.304,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,34.425,854.505,368.730,0.000,61.970,160.000,223.000,0.000,35.278,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,472.333,0.000,0.000,0.000,0.000,0.000,9802.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.878,0.000,0.000,0.000
$MEM,296120
$DATA_FILE_SIZE,23468,704
$CAP_FILE_SIZE,102611,0
$CFSIZE,260034560,256172032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,10552.28,0x236bc6,7,5
$GPS,200715,194414,2800.078,-8729.636,15,0.9,25,-1.9