version: 66.12
glider: 161
mission: 11
dive: 38
start: 7 23 115 10 14 3
data:
$ID,161
$MISSION,11
$DIVE,38
$N_DIVES,0
$D_SURF,3
$D_FLARE,50
$D_TGT,990
$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,260
$T_MISSION,290
$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,275
$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,83
$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,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
$GPS1,230715,100013,2757.815,-8727.877,26,0.8,36,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.9
$GPS2,230715,101353,2757.775,-8727.868,5,0.7,15,-2.0
$SPEED_LIMITS,0.127,0.296
$TGT_NAME,SOURCE
$TGT_LATLONG,2759.000,-8728.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,356.6,2278,-35.6,-12.692,-40.99,811
$D_GRID,990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.78,-67.6,159,2689,664,419,0.0,0.0,0,86,0.00,0.00,-68.60,0.000,16390,0.000,0.000,158,2689,3117,3098,3137,0,0,0,0,0,0,28.83,28.83,25.56
$GC,88,-1.78,-67.6,158,2690,3099,3138,9.4,-21.7,11,101,9.25,2.08,0.00,0.000,2564,0.233,0.022,2353,1263,3120,3106,3134,0,0,0,0,0,0,24.69,25.43,28.83
$GC,640,-1.78,-67.6,2354,1263,3123,3124,140.9,-18.0,68,648,0.00,2.15,0.00,0.000,1030,0.000,0.027,2345,2673,3123,3123,3123,0,0,0,0,0,0,28.83,25.66,28.83
$GC,946,-1.78,-67.6,2346,2674,3125,3124,197.7,-17.8,89,949,0.00,2.05,0.00,0.000,516,0.000,0.021,2345,1274,3123,3124,3123,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1125,-1.78,-67.6,2350,1275,3123,3124,229.6,-17.6,101,1129,0.00,2.12,0.00,0.000,1030,0.000,0.028,2336,2671,3124,3125,3123,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1440,-1.78,-67.6,2337,2671,3125,3122,288.2,-19.1,122,1444,0.00,2.05,0.00,0.000,516,0.000,0.023,2336,1277,3122,3124,3121,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1680,-1.78,-67.6,2337,1277,3124,3119,333.1,-18.3,138,1685,0.10,2.15,0.00,0.000,3078,0.178,0.028,2352,2681,3121,3125,3118,0,0,0,0,0,0,25.10,25.76,28.83
$GC,1996,-1.78,-67.6,2352,2682,3126,3115,389.0,-18.1,159,1999,0.00,2.05,0.00,0.000,516,0.000,0.024,2352,1277,3119,3125,3114,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2095,-1.78,-67.6,2352,1276,3126,3113,405.1,-18.0,165,2103,0.00,2.15,0.00,0.000,1030,0.000,0.029,2345,2680,3118,3125,3112,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2400,-1.78,-67.6,2345,2680,3122,3110,462.5,-18.1,186,2405,0.00,2.10,0.00,0.000,516,0.000,0.024,2345,1279,3115,3122,3109,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2551,-1.78,-67.6,2344,1280,3122,3109,489.2,-17.8,196,2554,0.00,2.15,0.00,0.000,1030,0.000,0.030,2335,2675,3114,3120,3108,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2865,-1.78,-67.6,2336,2676,3118,3104,545.6,-18.1,217,2870,0.00,2.10,0.00,0.000,516,0.000,0.024,2335,1275,3111,3118,3104,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3095,-1.78,-67.6,2336,1276,3115,3102,587.1,-18.8,232,3100,0.10,2.15,0.00,0.000,3078,0.174,0.031,2352,2672,3108,3116,3101,0,0,0,0,0,0,24.98,25.74,28.83
$GC,3406,-1.78,-67.6,2351,2673,3115,3098,644.2,-18.8,253,3409,0.00,2.08,0.00,0.000,516,0.000,0.024,2352,1262,3105,3113,3097,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3460,-1.78,-67.6,2351,1262,3114,3097,653.0,-19.3,256,3468,0.00,2.20,0.00,0.000,1030,0.000,0.031,2344,2678,3105,3113,3097,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3765,-1.78,-67.6,2345,2679,3110,3094,712.1,-18.3,277,3769,0.00,2.15,0.00,0.000,516,0.000,0.025,2344,1278,3101,3109,3094,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3890,-1.78,-67.6,2345,1278,3109,3093,734.2,-18.2,285,3894,0.00,2.20,0.00,0.000,1030,0.000,0.031,2335,2673,3101,3109,3093,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4200,-1.78,-67.6,2335,2673,3107,3090,793.9,-18.2,306,4205,0.00,2.12,0.00,0.000,516,0.000,0.025,2335,1271,3097,3106,3089,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4430,-1.78,-67.6,2336,1272,3104,3087,835.8,-18.0,321,4435,0.10,2.20,0.00,0.000,3078,0.172,0.032,2351,2677,3095,3105,3086,0,0,0,0,0,0,25.05,25.66,28.83
$GC,4741,-1.78,-67.6,2352,2678,3102,3084,890.5,-17.4,342,4744,0.00,2.08,0.00,0.000,516,0.000,0.026,2352,1280,3093,3103,3084,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4885,-1.78,-67.6,2351,1281,3104,3083,913.2,-16.7,351,4893,0.00,2.17,0.00,0.000,1030,0.000,0.033,2344,2675,3092,3102,3082,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5190,-1.78,-67.6,2343,2676,3101,3080,965.9,-16.7,372,5194,0.00,2.12,0.00,0.000,516,0.000,0.027,2344,1282,3093,3106,3080,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5310,-1.78,-67.6,2344,1282,3100,3079,986.2,-17.0,380,5315,0.00,2.17,0.00,0.000,1030,0.000,0.033,2334,2675,3088,3099,3078,0,0,0,0,0,0,28.83,25.66,28.83
$STATE,5339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5339,begin apogee
$GC,5343,-0.24,0.0,2334,2300,3099,3079,991.1,-16.9,382,5403,1.75,0.00,51.30,1.063,10246,0.148,0.000,2849,2299,2838,2874,2803,0,0,0,0,0,0,25.16,28.83,23.94
$STATE,5404,end apogee,CONTROL_FINISHED_OK
$STATE,5404,begin climb
$GC,5405,1.78,67.6,2851,2299,2873,2804,993.2,0.0,386,5470,1.83,2.17,58.42,1.051,10756,0.063,0.031,3496,912,2561,2610,2512,0,0,0,0,0,0,24.96,24.63,23.65
$GC,5511,1.85,127.6,3496,913,2609,2512,988.3,5.1,392,5570,0.00,2.20,53.05,1.036,9222,0.000,0.027,3496,2307,2316,2376,2257,0,0,0,0,0,0,28.83,25.00,23.56
$GC,5875,1.85,127.6,3496,2307,2367,2253,925.2,18.3,417,5879,0.00,2.15,0.00,0.000,516,0.000,0.031,3506,913,2308,2365,2252,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6005,1.85,127.6,3505,913,2366,2252,903.3,18.1,425,6013,0.00,2.12,0.00,0.000,1030,0.000,0.028,3506,2296,2308,2365,2251,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6310,1.85,127.6,3507,2297,2363,2250,845.9,18.1,446,6314,0.00,2.12,0.00,0.000,516,0.000,0.031,3515,910,2306,2363,2249,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6600,1.85,127.6,3516,911,2360,2249,795.3,17.5,465,6604,0.00,2.12,0.00,0.000,1030,0.000,0.028,3515,2298,2304,2360,2248,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6910,1.85,127.6,3516,2298,2358,2247,741.6,16.4,486,6914,0.00,2.12,0.00,0.000,516,0.000,0.031,3525,909,2302,2358,2246,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7330,1.85,127.6,3525,910,2356,2246,671.4,16.7,514,7334,0.00,2.17,0.00,0.000,1030,0.000,0.028,3525,2302,2300,2355,2245,0,0,0,0,0,0,28.83,25.26,28.83
$GC,7645,1.85,127.6,3525,2302,2357,2245,619.6,16.4,535,7649,0.00,2.15,0.00,0.000,516,0.000,0.032,3534,912,2300,2355,2245,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7750,1.85,127.6,3534,912,2355,2246,602.0,16.8,542,7754,0.00,2.15,0.00,0.000,1030,0.000,0.028,3534,2306,2298,2353,2244,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8065,1.85,127.6,3534,2307,2355,2245,550.9,16.1,563,8069,0.00,2.15,0.00,0.000,516,0.000,0.032,3544,913,2298,2353,2244,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8395,1.85,127.6,3544,914,2353,2245,497.3,16.4,585,8399,0.00,2.12,0.00,0.000,1030,0.000,0.028,3544,2294,2298,2352,2244,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8710,1.85,127.6,3545,2294,2351,2244,446.1,16.2,606,8714,0.00,2.12,0.00,0.000,516,0.000,0.031,3553,909,2298,2352,2244,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8975,1.85,127.6,3554,910,2350,2244,404.9,16.2,623,8983,0.00,2.15,0.00,0.000,1030,0.000,0.028,3553,2305,2296,2349,2244,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9281,1.85,127.6,3553,2306,2352,2244,352.4,16.9,644,9284,0.00,2.15,0.00,0.000,516,0.000,0.031,3562,914,2296,2350,2243,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9525,1.85,127.6,3564,910,2349,2244,312.5,16.1,660,9529,0.10,2.12,0.00,0.000,5126,0.171,0.027,3535,2298,2296,2350,2243,0,0,0,0,0,0,24.75,25.56,28.83
$GC,9836,1.85,127.6,3535,2298,2351,2244,264.4,15.5,681,9839,0.00,2.10,0.00,0.000,516,0.000,0.031,3543,904,2296,2350,2243,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10245,1.85,127.6,3544,899,2349,2243,200.0,16.3,708,10249,0.00,2.15,0.00,0.000,1030,0.000,0.026,3540,2302,2296,2349,2243,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10556,1.85,127.6,3540,2298,2351,2244,151.6,15.0,729,10559,0.00,2.12,0.00,0.000,516,0.000,0.029,3549,903,2296,2349,2243,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11101,1.90,162.4,3548,904,2350,2244,90.3,8.3,769,11131,0.00,2.17,25.23,0.447,9222,0.000,0.026,3549,2304,2174,2233,2115,0,0,0,0,0,0,28.83,25.15,24.70
$GC,11256,1.94,195.2,3549,2305,2228,2114,76.8,8.5,785,11288,0.00,2.12,26.15,0.441,8708,0.000,0.027,3558,894,2041,2108,1975,0,0,0,0,0,0,28.83,25.39,24.61
$GC,11388,1.97,195.2,3559,894,2104,1975,61.1,10.9,798,11391,0.00,2.15,0.00,0.000,1030,0.000,0.024,3558,2304,2039,2105,1974,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11513,2.03,239.9,3559,2304,2103,1974,48.8,7.0,812,11557,0.00,2.17,35.25,0.418,8452,0.000,0.035,3558,3693,1858,1925,1792,0,0,0,0,0,0,28.83,25.32,24.60
$GC,11656,2.05,239.9,3559,3693,1919,1792,34.4,11.8,839,11663,0.00,2.10,0.00,0.000,1030,0.000,0.021,3568,2289,1855,1919,1791,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11722,2.08,265.5,3567,2290,1921,1791,27.9,9.4,852,11749,0.00,2.10,20.42,0.390,8708,0.000,0.028,3577,913,1754,1820,1688,0,0,0,0,0,0,28.83,25.44,24.67
$GC,11839,2.08,265.5,3578,913,1816,1686,15.1,12.5,874,11845,0.00,2.08,0.00,0.000,1030,0.000,0.025,3577,2309,1751,1816,1686,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11904,2.14,316.4,3577,2310,1818,1686,9.0,6.2,887,11967,0.08,0.00,51.03,0.357,10502,0.138,0.000,3612,2309,1548,1623,1474,0,0,0,0,1,0,25.30,28.83,24.60
$GC,12027,2.23,388.1,3612,2310,1620,1473,5.3,3.6,909,12107,0.00,2.17,68.88,0.373,8452,0.000,0.034,3612,3704,1255,1341,1170,0,0,0,0,1,0,28.83,25.11,24.41
$GC,12186,2.35,486.2,3613,3703,1331,1170,5.1,0.3,938,12268,0.10,2.10,70.95,0.369,11266,0.060,0.021,3670,2294,954,1052,857,0,0,0,0,1,0,25.29,25.37,25.20
$STATE,12268,end climb,SURFACE_DEPTH_REACHED
$STATE,12268,begin surface coast
$FINISH,0.9,1.008375
$STATE,12321,end surface coast,CONTROL_FINISHED_OK
$STATE,12321,begin surface
$SM_CCo,12339,33.28,0.315,1,0,799,500.16
$SM_GC,1.76,9.48,0.57,33.28,0.036,0.037,0.315,153,2670,799,-8.61,-1.64,500.16,0,0,0,0,1,0,25.25,25.27,24.43
$IRIDIUM_FIX,2722.64,-8719.43,180508,233437
$TT8_MAMPS,0.09737,0.09737
$HUMID,37.16
$INTERNAL_PRESSURE,9.19436
$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,3.5/516052/497963
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.1/436550/423016
$24V_AH,23.56,51.730
$10V_AH,9.97,18.272
$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,22.875,107.775,460.675,33.275,0.000,63.440,45.721,246.837,0.000,13449.000,16.621,0.000,8830.830,600.953,3401.490,142.728,0.000,1803.072,0.000,2343.577,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,36.720,1062.585,315.180,0.000,61.970,160.000,223.000,0.000,37.487,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,645.958,0.000,0.000,0.000,0.000,0.000,13449.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.113,0.000,0.000,0.000
$MEM,295916
$DATA_FILE_SIZE,33386,962
$CAP_FILE_SIZE,151153,0
$CFSIZE,260034560,254951424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$INTR,0,14979.26,0x236bc6,7,5
$GPS,230715,134114,2758.094,-8727.749,26,0.9,36,-2.0