version: 66.12
glider: 161
mission: 11
dive: 26
start: 7 21 115 13 25 31
data:
$ID,161
$MISSION,11
$DIVE,26
$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,82
$R_STBD_OVSHOOT,53
$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
$GPS1,210715,131427,2759.920,-8729.541,18,0.8,28,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.9
$GPS2,210715,132522,2759.847,-8729.302,6,0.8,16,-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,336.8,2458,-20.2,-11.892,-28.23,1834
$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,-1.14,-146.7,151,2689,893,699,0.0,0.0,0,63,0.00,0.00,-46.00,0.000,16386,0.000,0.000,151,2690,2265,2240,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.17,-170.3,153,2690,2240,2291,3.6,-7.8,7,104,9.95,2.08,-23.98,0.000,18948,0.230,0.038,2549,1279,3535,3563,3508,0,0,0,0,0,0,24.91,25.48,25.60
$GC,317,-1.17,-170.3,2549,1279,3568,3508,72.4,-26.0,47,325,0.00,2.12,0.00,0.000,1030,0.000,0.028,2541,2670,3536,3564,3508,0,0,0,0,0,0,28.83,25.59,28.83
$GC,443,-1.17,-170.3,2540,2671,3569,3509,100.8,-20.2,60,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2670,3537,3567,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,743,-1.17,-170.3,2539,2671,3571,3508,159.7,-18.9,80,747,0.00,2.10,0.00,0.000,516,0.000,0.022,2542,1272,3539,3571,3508,0,0,0,0,0,0,28.83,25.46,28.83
$GC,818,-1.17,-170.3,2541,1273,3572,3509,172.7,-17.2,85,821,0.00,2.15,0.00,0.000,1030,0.000,0.030,2532,2674,3539,3571,3508,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1133,-1.17,-170.3,2532,2675,3573,3509,229.5,-18.5,106,1136,0.00,2.08,0.00,0.000,516,0.000,0.023,2532,1277,3540,3572,3508,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1182,-1.17,-170.3,2532,1277,3572,3507,237.5,-18.0,109,1187,0.00,2.15,0.00,0.000,1030,0.000,0.029,2524,2676,3539,3571,3507,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1493,-1.17,-170.3,2524,2677,3573,3508,297.0,-19.1,130,1497,0.12,2.08,0.00,0.000,2564,0.179,0.022,2551,1262,3538,3571,3506,0,0,0,0,0,0,25.37,25.73,28.83
$GC,1562,-1.17,-170.3,2551,1263,3573,3508,307.4,-17.3,134,1570,0.00,2.17,0.00,0.000,1030,0.000,0.029,2544,2677,3539,3572,3506,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1868,-1.17,-170.3,2545,2677,3571,3504,360.7,-17.1,155,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2676,3537,3571,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-1.17,-170.3,2545,2677,3568,3501,412.2,-17.5,175,2171,0.00,2.10,0.00,0.000,516,0.000,0.024,2544,1270,3534,3568,3500,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2203,-1.17,-170.3,2543,1270,3570,3501,417.4,-17.5,177,2207,0.00,2.15,0.00,0.000,1030,0.000,0.031,2536,2667,3534,3568,3500,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2513,-1.17,-170.3,2535,2668,3567,3498,473.0,-17.9,198,2517,0.00,2.08,0.00,0.000,516,0.000,0.025,2535,1284,3531,3565,3497,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2552,-1.17,-170.3,2535,1285,3566,3498,478.4,-17.8,200,2560,0.00,2.15,0.00,0.000,1030,0.000,0.031,2527,2674,3531,3565,3497,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2858,-1.17,-170.3,2528,2674,3562,3494,534.4,-18.0,221,2861,0.00,2.10,0.00,0.000,516,0.000,0.024,2527,1279,3528,3562,3494,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2882,-1.17,-170.3,2527,1280,3562,3494,537.1,-18.0,222,2890,0.10,2.17,0.00,0.000,3078,0.149,0.032,2548,2685,3528,3562,3494,0,0,0,0,0,0,25.21,25.72,28.83
$GC,3188,-1.17,-170.3,2547,2685,3562,3491,588.0,-15.7,243,3191,0.00,2.12,0.00,0.000,516,0.000,0.026,2547,1284,3524,3558,3490,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3218,-1.17,-170.3,2547,1285,3561,3490,592.6,-15.6,245,3222,0.00,2.17,0.00,0.000,1030,0.000,0.032,2540,2681,3525,3560,3490,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3533,-1.17,-170.3,2540,2682,3557,3487,644.1,-16.6,266,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2681,3520,3555,3486,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3637,begin apogee
$GC,3640,-0.24,0.0,2541,2309,3555,3486,661.5,-16.4,273,3776,0.98,0.00,132.88,0.849,10246,0.115,0.000,2848,2309,2839,2942,2736,0,0,0,0,0,0,25.29,28.83,23.96
$STATE,3777,end apogee,CONTROL_FINISHED_OK
$STATE,3777,begin loiter
$GC,4073,-0.17,57.4,2847,2309,2934,2736,677.9,-3.2,302,4123,0.00,2.17,45.08,0.840,8708,0.000,0.029,2848,911,2603,2683,2523,0,0,0,0,0,0,28.83,25.08,24.24
$GC,4662,-0.17,57.4,2848,911,2671,2523,669.7,2.0,341,4667,0.00,2.15,0.00,0.000,1030,0.000,0.028,2848,2302,2595,2669,2522,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4973,-0.17,57.4,2848,2305,2667,2521,664.9,1.3,362,4976,0.00,2.15,0.00,0.000,516,0.000,0.030,2848,900,2592,2665,2520,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4988,-0.17,57.4,2848,901,2667,2521,664.6,1.5,363,4991,0.00,2.17,0.00,0.000,1030,0.000,0.029,2848,2302,2592,2665,2520,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5303,-0.17,57.4,2847,2303,2664,2520,660.8,1.3,384,5306,0.00,2.20,0.00,0.000,260,0.000,0.042,2848,3696,2590,2662,2519,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,5572,end loiter,LOITER_COMPLETE
$STATE,5572,begin climb
$GC,5573,1.17,170.3,2848,3697,2661,2520,657.2,0.0,402,5669,1.17,2.10,89.88,0.848,11270,0.060,0.023,3294,2289,2143,2229,2057,0,0,0,0,0,0,25.45,25.75,24.01
$GC,5974,1.17,170.3,3294,2290,2224,2050,612.3,13.1,429,5978,0.00,2.25,0.00,0.000,260,0.000,0.037,3294,3709,2135,2221,2049,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6219,1.17,170.3,3295,3709,2217,2049,577.8,14.2,445,6223,0.00,2.12,0.00,0.000,1030,0.000,0.024,3306,2297,2133,2217,2049,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6529,1.17,170.3,3305,2296,2217,2048,536.4,12.9,466,6533,0.00,2.08,0.00,0.000,516,0.000,0.031,3315,916,2132,2217,2047,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6554,1.17,170.3,3315,916,2215,2047,534.5,13.0,467,6561,0.00,2.12,0.00,0.000,1030,0.000,0.027,3314,2304,2131,2216,2047,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6859,1.17,170.3,3315,2305,2213,2047,491.4,14.2,488,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2304,2130,2214,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,1.17,170.3,3314,2305,2214,2047,449.9,13.6,508,7163,0.00,2.12,0.00,0.000,516,0.000,0.030,3324,917,2129,2212,2046,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7254,1.17,170.3,3324,918,2212,2046,437.4,13.8,514,7258,0.00,2.10,0.00,0.000,1030,0.000,0.027,3323,2293,2128,2212,2045,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7564,1.17,170.3,3325,2293,2211,2045,393.2,14.1,535,7568,0.00,2.20,0.00,0.000,260,0.000,0.037,3324,3701,2128,2211,2045,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7589,1.17,170.3,3323,3701,2213,2046,391.1,14.2,536,7596,0.00,2.10,0.00,0.000,1030,0.000,0.023,3335,2298,2128,2211,2045,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7894,1.17,170.3,3334,2299,2212,2045,345.1,14.6,557,7898,0.00,2.08,0.00,0.000,516,0.000,0.030,3344,919,2127,2211,2044,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7979,1.17,170.3,3344,920,2212,2045,334.4,14.5,562,7987,0.10,2.15,0.00,0.000,5126,0.142,0.026,3314,2311,2124,2205,2044,0,0,0,0,0,0,24.99,25.36,28.83
$GC,8285,1.17,170.3,3315,2312,2210,2044,291.0,13.8,583,8288,0.00,2.12,0.00,0.000,516,0.000,0.029,3322,905,2127,2210,2044,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8344,1.17,170.3,3323,905,2209,2044,282.7,13.8,587,8348,0.00,2.12,0.00,0.000,1030,0.000,0.026,3322,2294,2124,2205,2044,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8659,1.17,170.3,3323,2295,2209,2044,238.3,13.8,608,8663,0.00,2.12,0.00,0.000,516,0.000,0.029,3331,909,2126,2209,2044,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8774,1.17,170.3,3331,906,2210,2044,223.5,14.0,615,8782,0.00,2.15,0.00,0.000,1030,0.000,0.026,3331,2309,2125,2208,2043,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9079,1.17,170.3,3331,2309,2210,2044,178.4,14.2,636,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2308,2126,2208,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9379,1.17,170.3,3332,2308,2208,2044,137.2,12.8,656,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2308,2126,2209,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9679,1.17,170.3,3331,2308,2208,2044,100.5,11.7,676,9683,0.00,2.12,0.00,0.000,516,0.000,0.028,3340,913,2126,2208,2044,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9904,1.27,255.0,3342,912,2208,2044,79.6,7.1,698,9972,0.00,2.10,62.53,0.451,9222,0.000,0.024,3341,2295,1797,1882,1712,0,0,0,0,0,0,28.83,25.57,24.73
$GC,10090,1.27,255.0,3340,2295,1874,1710,58.0,12.4,717,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2294,1790,1872,1709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10209,1.34,311.9,3341,2295,1868,1710,47.5,8.7,732,10259,0.00,0.00,44.55,0.418,8198,0.000,0.000,3340,2295,1564,1657,1472,0,0,0,0,0,0,28.83,28.83,24.70
$GC,10318,1.34,311.9,3341,2295,1653,1471,36.3,12.3,752,10326,0.00,2.12,0.00,0.000,516,0.000,0.028,3350,910,1561,1653,1470,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10339,1.34,311.9,3350,910,1651,1471,33.7,12.3,756,10347,0.00,2.12,0.00,0.000,1030,0.000,0.024,3350,2302,1561,1652,1470,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10406,1.34,311.9,3351,2302,1651,1470,25.5,12.3,769,10413,0.00,2.20,0.00,0.000,260,0.000,0.037,3350,3701,1560,1651,1470,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10437,1.34,311.9,3351,3702,1651,1470,21.4,13.0,775,10445,0.00,2.10,0.00,0.000,1030,0.000,0.021,3352,2301,1560,1651,1469,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10504,1.39,348.7,3352,2301,1652,1470,14.3,9.8,788,10554,0.00,2.08,40.40,0.341,8708,0.000,0.029,3352,914,1416,1510,1322,0,0,0,0,1,0,28.83,25.44,24.73
$STATE,10628,end climb,SURFACE_DEPTH_REACHED
$STATE,10628,begin surface coast
$FINISH,0.9,1.020851
$STATE,10667,end surface coast,CONTROL_FINISHED_OK
$STATE,10668,begin surface
$SM_CCo,10686,96.72,0.364,1,0,799,500.16
$SM_GC,1.55,8.52,2.72,96.72,0.033,0.024,0.364,154,2692,799,-8.60,-1.36,500.16,0,0,0,0,1,0,25.43,25.48,24.52
$IRIDIUM_FIX,2722.64,-8719.43,170508,024639
$TT8_MAMPS,0.096621,0.096621
$HUMID,38.54
$INTERNAL_PRESSURE,9.14553
$TCM_TEMP,24.60
$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,3.5/516052/497972
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/423683
$24V_AH,23.96,48.460
$10V_AH,10.05,15.588
$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,20.950,94.875,415.300,96.725,0.000,30.265,38.837,214.623,0.000,11495.100,17.984,0.000,8003.993,633.093,2499.740,109.778,0.000,1499.553,0.000,1615.676,0.000,0.000,0.000
$DEVICE_MAMPS,230.265,42.075,849.150,364.140,0.000,61.970,160.000,223.000,0.000,36.465,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,550.281,0.000,0.000,0.000,0.000,0.000,11495.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.973,0.000,0.000,0.000
$MEM,296036
$DATA_FILE_SIZE,30035,819
$CAP_FILE_SIZE,123838,0
$CFSIZE,260034560,255741952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,11693.22,0x236bc6,7,5
$GPS,210715,162613,2759.880,-8729.734,26,0.8,36,-1.9