version: 66.12
glider: 161
mission: 11
dive: 22
start: 7 21 115 0 37 47
data:
$ID,161
$MISSION,11
$DIVE,22
$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,95
$R_STBD_OVSHOOT,52
$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
$GPS1,210715,002910,2800.130,-8729.801,21,0.9,31,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.3
$GPS2,210715,003737,2759.977,-8729.870,5,0.9,15,-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,358.7,1988,-26.7,-11.892,-33.58,1220
$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,-1.39,-96.3,145,2649,670,417,0.0,0.0,0,69,0.00,0.00,-51.45,0.000,16386,0.000,0.000,146,2649,2202,2182,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.44,-135.4,147,2650,2182,2222,3.8,-8.6,8,104,9.65,0.00,-21.42,0.000,18950,0.236,0.000,2457,2649,3393,3423,3363,0,0,0,0,0,0,24.91,28.83,25.60
$GC,163,-1.44,-135.4,2457,2650,3428,3363,31.6,-33.2,25,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2650,3394,3426,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,228,-1.44,-135.4,2457,2650,3428,3363,54.8,-34.4,37,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2649,3394,3426,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,348,-1.44,-135.4,2457,2650,3431,3363,88.9,-26.0,49,352,0.00,2.00,0.00,0.000,516,0.000,0.022,2457,1284,3395,3429,3362,0,0,0,0,0,0,28.83,25.65,28.83
$GC,458,-1.44,-135.4,2458,1284,3429,3363,111.5,-20.5,58,462,0.00,2.12,0.00,0.000,1030,0.000,0.030,2449,2673,3396,3430,3362,0,0,0,0,0,0,28.83,25.67,28.83
$GC,768,-1.44,-135.4,2449,2673,3434,3363,176.7,-20.1,79,772,0.00,2.05,0.00,0.000,516,0.000,0.022,2449,1284,3397,3433,3362,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1003,-1.44,-135.4,2449,1284,3435,3363,220.3,-19.3,94,1011,0.00,2.12,0.00,0.000,1030,0.000,0.028,2439,2678,3397,3433,3362,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1309,-1.44,-135.4,2438,2679,3435,3363,284.4,-21.0,115,1312,0.00,2.08,0.00,0.000,516,0.000,0.024,2439,1284,3397,3433,3361,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1463,-1.44,-135.4,2440,1284,3433,3361,314.9,-20.0,125,1467,0.10,2.12,0.00,0.000,3078,0.164,0.030,2458,2675,3396,3433,3360,0,0,0,0,0,0,25.19,25.79,28.83
$GC,1774,-1.44,-135.4,2457,2676,3435,3357,375.1,-19.1,146,1777,0.00,2.08,0.00,0.000,516,0.000,0.025,2458,1281,3395,3435,3356,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1953,-1.44,-135.4,2459,1281,3433,3354,409.1,-18.8,158,1957,0.00,2.12,0.00,0.000,1030,0.000,0.030,2450,2674,3393,3433,3353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2268,-1.44,-135.4,2449,2674,3432,3350,471.5,-20.1,179,2272,0.00,2.08,0.00,0.000,516,0.000,0.024,2450,1288,3390,3431,3349,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2348,-1.44,-135.4,2451,1289,3430,3349,486.2,-19.5,184,2352,0.00,2.12,0.00,0.000,1030,0.000,0.032,2440,2670,3389,3430,3349,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2658,-1.44,-135.4,2440,2671,3430,3346,551.4,-20.5,205,2662,0.00,2.08,0.00,0.000,516,0.000,0.025,2441,1294,3386,3428,3345,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2794,-1.44,-135.4,2440,1294,3427,3345,578.1,-20.0,214,2798,0.10,2.15,0.00,0.000,3078,0.155,0.034,2468,2679,3385,3426,3344,0,0,0,0,0,0,25.12,25.70,28.83
$GC,3109,-1.44,-135.4,2468,2680,3424,3341,636.3,-18.4,235,3112,0.00,2.12,0.00,0.000,516,0.000,0.026,2468,1259,3381,3422,3341,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3228,-1.44,-135.4,2468,1259,3422,3341,658.2,-17.8,243,3232,0.00,2.22,0.00,0.000,1030,0.000,0.032,2460,2676,3380,3421,3340,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,3242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3242,begin apogee
$GC,3246,-0.24,0.0,2461,2312,3421,3340,660.9,-17.8,244,3354,1.25,0.00,105.30,0.844,10246,0.127,0.000,2847,2311,2838,2934,2743,0,0,0,0,0,0,25.34,28.83,24.03
$STATE,3355,end apogee,CONTROL_FINISHED_OK
$STATE,3355,begin climb
$GC,3356,1.44,135.4,2847,2312,2935,2744,665.0,0.0,251,3474,1.55,2.20,109.28,0.836,10756,0.065,0.029,3399,912,2285,2360,2210,0,0,0,0,0,0,24.80,24.71,23.92
$GC,3514,1.44,135.4,3398,913,2357,2209,655.0,12.6,262,3517,0.00,2.17,0.00,0.000,1030,0.000,0.026,3398,2307,2282,2355,2209,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3828,1.44,135.4,3398,2307,2350,2206,606.8,15.2,283,3832,0.00,2.15,0.00,0.000,516,0.000,0.029,3408,908,2276,2348,2205,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3928,1.44,135.4,3408,904,2348,2205,592.8,15.8,289,3936,0.00,2.12,0.00,0.000,1030,0.000,0.027,3408,2297,2275,2347,2204,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4233,1.44,135.4,3408,2298,2345,2203,544.3,15.5,310,4237,0.00,2.10,0.00,0.000,516,0.000,0.030,3418,914,2273,2344,2202,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4453,1.44,135.4,3419,915,2349,2201,512.6,15.1,324,4461,0.00,2.10,0.00,0.000,1030,0.000,0.027,3418,2298,2271,2343,2200,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4758,1.44,135.4,3419,2298,2339,2199,464.9,15.4,345,4762,0.00,2.10,0.00,0.000,516,0.000,0.031,3427,915,2270,2341,2199,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4858,1.44,135.4,3428,915,2338,2199,451.3,15.1,351,4866,0.10,2.10,0.00,0.000,5126,0.155,0.026,3398,2302,2268,2338,2198,0,0,0,0,0,0,25.10,25.70,28.83
$GC,5164,1.44,135.4,3398,2303,2338,2198,407.3,13.9,372,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2302,2267,2337,2198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5463,1.44,135.4,3397,2303,2336,2198,366.2,13.9,392,5467,0.00,2.10,0.00,0.000,516,0.000,0.030,3407,917,2265,2334,2196,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5738,1.44,135.4,3407,918,2333,2195,326.8,15.1,410,5742,0.00,2.10,0.00,0.000,1030,0.000,0.026,3406,2295,2264,2333,2195,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6048,1.44,135.4,3407,2295,2332,2195,281.1,14.3,431,6052,0.00,2.10,0.00,0.000,516,0.000,0.029,3416,913,2263,2332,2194,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6343,1.44,135.4,3416,913,2332,2194,239.3,14.6,450,6351,0.00,2.12,0.00,0.000,1030,0.000,0.025,3416,2309,2262,2331,2193,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6648,1.44,135.4,3416,2310,2331,2194,192.1,14.9,471,6652,0.00,2.17,0.00,0.000,516,0.000,0.028,3426,912,2264,2330,2199,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6963,1.44,135.4,3422,913,2330,2194,147.4,13.7,492,6967,0.10,2.10,0.00,0.000,5126,0.152,0.025,3397,2299,2261,2329,2193,0,0,0,0,0,0,25.06,25.64,28.83
$GC,7279,1.46,151.6,3398,2300,2330,2193,110.5,10.5,513,7296,0.00,2.12,9.70,0.432,8708,0.000,0.030,3405,908,2219,2290,2149,0,0,0,0,0,0,28.83,25.54,24.86
$GC,7835,1.56,236.4,3406,908,2287,2149,69.9,4.8,565,7905,0.00,2.10,65.12,0.451,9222,0.000,0.024,3405,2301,1873,1954,1792,0,0,0,0,0,0,28.83,25.63,24.73
$GC,8030,1.59,253.3,3406,2301,1946,1790,51.2,10.5,585,8053,0.05,2.08,13.62,0.403,10756,0.166,0.027,3451,909,1802,1878,1727,0,0,0,0,0,0,25.13,25.45,24.73
$GC,8247,1.61,270.2,3451,910,1876,1725,29.2,10.5,626,8267,0.00,2.10,14.10,0.389,9222,0.000,0.024,3451,2297,1735,1814,1656,0,0,0,0,0,0,28.83,25.55,24.89
$GC,8326,1.62,283.6,3452,2298,1810,1656,21.0,10.8,641,8346,0.00,2.17,11.65,0.375,8452,0.000,0.035,3451,3699,1680,1762,1599,0,0,0,0,0,0,28.83,25.53,24.82
$GC,8885,1.79,421.4,3451,3700,1760,1599,4.6,0.3,752,9003,0.05,2.08,107.05,0.393,11266,0.099,0.020,3489,2268,1178,1280,1076,0,0,0,0,1,0,25.48,25.73,25.42
$STATE,9004,end climb,SURFACE_DEPTH_REACHED
$STATE,9005,begin surface coast
$FINISH,2.5,1.019257
$STATE,9007,end surface coast,CONTROL_FINISHED_OK
$STATE,9007,begin surface
$SM_CCo,9024,58.28,0.358,1,0,799,500.16
$SM_GC,1.39,9.38,0.62,58.28,0.059,0.034,0.358,158,2686,799,-8.61,-1.36,500.16,0,0,0,0,1,0,25.19,25.27,24.59
$IRIDIUM_FIX,2722.64,-8719.43,160508,135956
$TT8_MAMPS,0.095872,0.095872
$HUMID,37.32
$INTERNAL_PRESSURE,9.25296
$TCM_TEMP,25.70
$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,3.5/516052/497975
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/424036
$24V_AH,23.92,47.569
$10V_AH,10.10,14.779
$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,22.325,73.000,435.825,58.275,0.000,29.818,34.886,158.262,0.000,9821.900,16.763,0.000,6324.216,567.326,2444.106,103.376,0.000,1455.590,0.000,1690.008,0.000,0.000,0.000
$DEVICE_MAMPS,236.385,35.190,843.795,358.020,0.000,61.970,160.000,223.000,0.000,36.823,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,515.353,0.000,0.000,0.000,0.000,0.000,9822.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.859,0.000,0.000,0.000
$MEM,296124
$DATA_FILE_SIZE,26704,772
$CAP_FILE_SIZE,110333,0
$CFSIZE,260034560,256016384
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,8650.34,0x236bc6,7,5
$INTR,1,67.31,0x21289c,0,24
$INTR,2,3395.47,0x233820,1,24
$GPS,210715,030956,2800.159,-8729.840,14,0.9,24,-1.9