version: 66.12
glider: 161
mission: 11
dive: 23
start: 7 21 115 3 18 59
data:
$ID,161
$MISSION,11
$DIVE,23
$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,230
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,1800
$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,99
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,210715,030956,2800.159,-8729.840,14,0.9,24,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.8
$GPS2,210715,031849,2800.081,-8729.935,5,0.9,16,-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,1.7,1793,-30.0,-11.892,-36.36,1020
$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,-1.53,-80.2,158,2692,890,701,0.0,0.0,0,57,0.00,0.00,-40.00,0.000,16386,0.000,0.000,158,2692,2088,2045,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.57,-109.5,158,2693,2049,2133,3.5,-8.9,6,97,9.55,2.03,-21.83,0.000,18948,0.238,0.035,2421,1297,3289,3316,3262,0,0,0,0,0,0,25.00,25.57,25.67
$GC,636,-1.57,-109.5,2421,1297,3328,3261,151.7,-19.1,68,640,0.00,2.05,0.00,0.000,1030,0.000,0.029,2414,2677,3293,3326,3260,0,0,0,0,0,0,28.83,25.79,28.83
$GC,951,-1.57,-109.5,2415,2678,3328,3261,214.2,-20.4,89,955,0.00,2.05,0.00,0.000,516,0.000,0.022,2414,1285,3294,3328,3260,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1350,-1.57,-109.5,2414,1286,3328,3260,290.2,-19.2,115,1358,0.00,2.12,0.00,0.000,1030,0.000,0.030,2404,2674,3294,3329,3259,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1656,-1.57,-109.5,2403,2675,3329,3256,353.3,-20.3,136,1660,0.00,2.05,0.00,0.000,516,0.000,0.023,2404,1296,3291,3328,3255,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1881,-1.57,-109.5,2403,1296,3329,3252,399.2,-20.5,151,1885,0.10,2.12,0.00,0.000,3078,0.176,0.031,2421,2679,3289,3328,3251,0,0,0,0,0,0,25.17,25.75,28.83
$GC,2196,-1.57,-109.5,2422,2680,3328,3247,460.8,-19.8,172,2200,0.00,2.08,0.00,0.000,516,0.000,0.024,2421,1291,3287,3328,3246,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2430,-1.57,-109.5,2423,1291,3327,3243,505.1,-20.5,187,2438,0.00,2.15,0.00,0.000,1030,0.000,0.033,2413,2677,3285,3327,3243,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2736,-1.57,-109.5,2415,2678,3325,3239,567.9,-20.2,208,2740,0.00,2.08,0.00,0.000,516,0.000,0.025,2414,1302,3281,3325,3238,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2886,-1.57,-109.5,2413,1303,3325,3237,597.9,-19.9,218,2890,0.00,2.12,0.00,0.000,1030,0.000,0.031,2404,2677,3280,3324,3237,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,3200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3200,begin apogee
$GC,3204,-0.24,0.0,2404,2327,3322,3232,660.1,-19.2,239,3294,1.48,0.00,84.72,0.835,10246,0.136,0.000,2852,2326,2838,2929,2748,0,0,0,0,0,0,25.28,28.83,24.18
$STATE,3294,end apogee,CONTROL_FINISHED_OK
$STATE,3294,begin loiter
$GC,3591,-0.21,19.7,2852,2327,2924,2747,669.1,-2.0,265,3611,0.00,2.17,16.20,0.778,8708,0.000,0.029,2852,901,2756,2843,2670,0,0,0,0,0,0,28.83,25.52,24.63
$GC,4151,-0.20,34.5,2852,901,2834,2670,677.1,-1.5,302,4167,0.00,2.15,11.90,0.769,9222,0.000,0.030,2852,2301,2698,2782,2614,0,0,0,0,0,0,28.83,25.68,24.77
$GC,4471,-0.18,47.6,2852,2302,2777,2615,680.4,-1.3,324,4489,0.00,2.10,11.07,0.766,8708,0.000,0.031,2852,912,2646,2721,2572,0,0,0,0,0,0,28.83,25.62,24.66
$GC,5028,-0.19,41.6,2852,913,2709,2572,677.7,0.6,361,5031,0.00,2.17,0.00,0.000,1030,0.000,0.029,2852,2305,2640,2708,2572,0,0,0,0,0,0,28.83,25.34,28.83
$STATE,5101,end loiter,LOITER_COMPLETE
$STATE,5101,begin climb
$GC,5103,1.57,109.5,2854,2306,2706,2572,677.4,0.0,366,5159,1.58,2.22,50.30,0.858,10756,0.066,0.031,3427,905,2390,2463,2318,0,0,0,0,0,0,25.49,25.10,24.28
$GC,5698,1.57,109.5,3428,902,2450,2313,609.0,12.0,405,5702,0.00,2.15,0.00,0.000,1030,0.000,0.028,3427,2309,2381,2450,2313,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6013,1.57,109.5,3427,2310,2450,2313,569.5,12.8,426,6017,0.00,2.15,0.00,0.000,516,0.000,0.031,3437,902,2380,2448,2312,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6558,1.57,109.5,3438,902,2444,2311,502.6,12.3,462,6562,0.00,2.15,0.00,0.000,1030,0.000,0.028,3437,2306,2376,2445,2308,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6869,1.57,109.5,3438,2307,2443,2311,464.6,12.2,483,6872,0.00,2.15,0.00,0.000,516,0.000,0.031,3446,902,2376,2443,2310,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7413,1.57,109.5,3446,903,2443,2310,399.1,12.2,519,7417,0.00,2.12,0.00,0.000,1030,0.000,0.028,3446,2294,2375,2441,2309,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7723,1.57,109.5,3447,2294,2440,2310,360.8,12.3,540,7727,0.00,2.12,0.00,0.000,516,0.000,0.031,3456,899,2374,2440,2309,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8268,1.57,109.5,3456,900,2440,2309,294.3,12.0,576,8272,0.00,2.17,0.00,0.000,1030,0.000,0.026,3456,2303,2373,2438,2309,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8578,1.57,109.5,3456,2304,2440,2309,256.6,11.8,597,8582,0.00,2.15,0.00,0.000,516,0.000,0.030,3465,902,2373,2438,2309,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8778,1.57,109.5,3465,903,2439,2309,233.3,11.6,610,8782,0.10,2.12,0.00,0.000,5126,0.149,0.027,3436,2298,2372,2437,2308,0,0,0,0,0,0,25.28,25.65,28.83
$GC,9089,1.59,109.5,3436,2298,2437,2309,197.7,10.8,631,9092,0.00,2.08,0.00,0.000,516,0.000,0.030,3444,908,2373,2437,2309,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9633,1.62,109.5,3444,908,2439,2309,140.9,10.1,667,9637,0.00,2.12,0.00,0.000,1030,0.000,0.025,3444,2308,2372,2437,2308,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9944,1.69,161.4,3443,2308,2439,2309,116.0,6.7,688,9991,0.00,2.17,37.95,0.481,8708,0.000,0.029,3454,900,2179,2249,2109,0,0,0,0,0,0,28.83,25.53,24.89
$GC,10505,1.79,243.8,3454,901,2244,2106,66.7,3.6,739,10578,0.08,2.12,63.08,0.443,11270,0.081,0.025,3496,2304,1841,1920,1762,0,0,0,0,0,0,25.48,25.56,24.74
$GC,10695,1.79,243.8,3496,2305,1914,1762,45.9,13.7,760,10702,0.00,2.15,0.00,0.000,260,0.000,0.034,3502,3691,1836,1912,1760,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11242,1.93,358.9,3497,3692,1906,1761,8.6,0.3,869,11353,0.10,2.08,98.65,0.404,11270,0.096,0.021,3555,2242,1374,1465,1283,0,0,0,0,1,0,25.65,25.68,24.64
$STATE,11370,end climb,SURFACE_DEPTH_REACHED
$STATE,11371,begin surface coast
$FINISH,0.6,1.009516
$STATE,11401,end surface coast,CONTROL_FINISHED_OK
$STATE,11401,begin surface
$SM_CCo,11418,95.40,0.363,1,0,799,500.16
$SM_GC,2.04,9.12,0.65,95.40,0.035,0.034,0.363,158,2673,799,-8.60,-1.64,500.16,0,0,0,0,1,0,25.27,25.31,24.44
$IRIDIUM_FIX,2722.64,-8719.43,160508,164105
$TT8_MAMPS,0.09737,0.09737
$HUMID,37.71
$INTERNAL_PRESSURE,9.20413
$TCM_TEMP,25.30
$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,3.5/516052/497974
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/423936
$24V_AH,24.18,47.778
$10V_AH,10.16,14.990
$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,22.100,64.825,373.875,95.400,0.000,31.053,35.212,160.105,0.000,12056.400,16.541,0.000,7945.654,536.031,3286.427,105.827,0.000,1718.550,0.000,2438.229,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,35.190,857.565,362.610,0.000,61.970,160.000,223.000,0.000,36.466,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,603.866,0.000,0.000,0.000,0.000,0.000,12056.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.944,0.000,0.000,0.000
$MEM,296120
$DATA_FILE_SIZE,30106,897
$CAP_FILE_SIZE,129919,0
$CFSIZE,260034560,255934464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,9671.39,0x236bc6,7,5
$GPS,210715,063208,2759.585,-8729.432,42,0.9,52,-1.9