version: 66.12
glider: 161
mission: 11
dive: 39
start: 7 23 115 13 57 0
data:
$ID,161
$MISSION,11
$DIVE,39
$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,88
$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
$GPS1,230715,134114,2758.094,-8727.749,26,0.9,36,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.0
$GPS2,230715,135650,2758.118,-8727.648,12,0.8,23,-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,342.6,1732,-40.2,-12.692,-45.00,668
$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,14,begin dive
$GC,15,-1.98,-55.6,153,2677,880,713,0.0,0.0,0,80,0.00,0.00,-59.15,0.000,16390,0.000,0.000,153,2677,3067,3049,3086,0,0,0,0,0,0,28.83,28.83,25.66
$GC,81,-1.98,-55.6,154,2678,3049,3086,11.3,-31.0,10,95,8.88,2.03,0.00,0.000,2564,0.231,0.021,2297,1272,3069,3055,3084,0,0,0,0,0,0,24.79,25.53,28.83
$GC,523,-1.98,-55.6,2294,1273,3070,3077,121.9,-19.1,60,528,0.00,2.12,0.00,0.000,1030,0.000,0.028,2286,2672,3072,3069,3076,0,0,0,0,0,0,28.83,25.72,28.83
$GC,834,-1.98,-55.6,2286,2673,3072,3077,177.8,-17.0,81,837,0.00,2.08,0.00,0.000,516,0.000,0.021,2287,1275,3073,3070,3076,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1074,-1.98,-55.6,2286,1276,3072,3077,224.2,-18.8,97,1078,0.00,2.15,0.00,0.000,1030,0.000,0.028,2277,2672,3072,3071,3073,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1389,-1.98,-55.6,2277,2673,3072,3075,284.9,-19.9,118,1392,0.00,2.08,0.00,0.000,516,0.000,0.022,2277,1269,3072,3071,3074,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1638,-1.98,-55.6,2278,1269,3070,3072,331.9,-19.4,134,1646,0.00,2.15,0.00,0.000,1030,0.000,0.028,2267,2674,3071,3071,3071,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1944,-1.98,-55.6,2267,2674,3072,3068,392.7,-19.4,155,1948,0.00,2.08,0.00,0.000,516,0.000,0.023,2268,1282,3069,3071,3067,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2169,-1.98,-55.6,2268,1282,3069,3066,436.6,-19.6,170,2173,0.08,2.12,0.00,0.000,3078,0.189,0.029,2277,2671,3067,3070,3065,0,0,0,0,0,0,25.14,25.80,28.83
$GC,2484,-1.98,-55.6,2278,2671,3067,3062,497.2,-19.8,191,2488,0.00,2.05,0.00,0.000,516,0.000,0.024,2278,1266,3064,3067,3061,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2694,-1.98,-55.6,2279,1266,3064,3060,538.2,-19.8,205,2698,0.00,2.15,0.00,0.000,1030,0.000,0.031,2270,2669,3060,3064,3056,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3009,-1.98,-55.6,2271,2670,3062,3058,602.1,-20.6,226,3013,0.00,2.08,0.00,0.000,516,0.000,0.024,2270,1287,3059,3062,3057,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3418,-1.98,-55.6,2270,1287,3059,3052,686.8,-20.4,253,3423,0.10,2.15,0.00,0.000,3078,0.183,0.031,2286,2674,3054,3057,3051,0,0,0,0,0,0,24.98,25.75,28.83
$GC,3729,-1.98,-55.6,2287,2675,3055,3049,747.5,-18.9,274,3733,0.00,2.08,0.00,0.000,516,0.000,0.025,2286,1268,3051,3055,3048,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3913,-1.98,-55.6,2287,1268,3054,3047,781.0,-18.1,286,3917,0.00,2.17,0.00,0.000,1030,0.000,0.032,2278,2672,3049,3054,3045,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4224,-1.98,-55.6,2278,2672,3053,3044,838.9,-18.3,307,4228,0.00,2.10,0.00,0.000,516,0.000,0.026,2278,1287,3047,3052,3043,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4369,-1.98,-55.6,2280,1288,3050,3041,863.4,-18.2,316,4376,0.00,2.15,0.00,0.000,1030,0.000,0.033,2270,2672,3045,3050,3041,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4674,-1.98,-55.6,2269,2673,3048,3039,923.4,-19.3,337,4678,0.00,2.12,0.00,0.000,516,0.000,0.027,2269,1287,3042,3047,3038,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4783,-1.98,-55.6,2269,1288,3049,3038,943.6,-18.9,344,4788,0.10,2.17,0.00,0.000,3078,0.181,0.033,2285,2675,3042,3047,3037,0,0,0,0,0,0,24.96,25.63,28.83
$STATE,5032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5033,begin apogee
$GC,5036,-0.24,0.0,2287,2296,3046,3036,990.1,-18.3,361,5082,1.95,0.00,41.92,1.038,10246,0.159,0.000,2845,2295,2838,2869,2808,0,0,0,0,0,0,24.87,28.83,24.01
$STATE,5083,end apogee,CONTROL_FINISHED_OK
$STATE,5083,begin climb
$GC,5084,1.98,55.6,2845,2296,2871,2809,992.7,0.0,364,5142,1.98,2.30,47.83,1.036,10500,0.061,0.037,3565,3712,2611,2649,2574,0,0,0,0,0,0,25.05,24.69,23.69
$GC,5340,2.02,85.0,3566,3713,2642,2573,975.7,8.2,381,5371,0.00,2.15,26.00,0.988,9222,0.000,0.024,3575,2310,2491,2532,2451,0,0,0,0,0,0,28.83,25.47,24.05
$GC,5681,2.02,85.0,3575,2310,2527,2447,931.0,13.6,404,5685,0.00,2.15,0.00,0.000,516,0.000,0.031,3585,901,2485,2525,2446,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6225,2.02,85.0,3586,901,2519,2444,860.0,13.0,440,6230,0.00,2.15,0.00,0.000,1030,0.000,0.028,3585,2301,2481,2520,2443,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6536,2.02,85.0,3586,2301,2518,2442,820.0,12.6,461,6540,0.00,2.15,0.00,0.000,516,0.000,0.031,3594,900,2480,2518,2442,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7081,2.04,85.0,3595,901,2515,2440,754.1,11.7,497,7085,0.00,2.15,0.00,0.000,1030,0.000,0.028,3594,2296,2478,2516,2440,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7392,2.05,85.0,3594,2297,2516,2439,717.0,12.1,518,7395,0.00,2.10,0.00,0.000,516,0.000,0.031,3603,901,2476,2514,2439,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7936,2.07,99.8,3603,901,2511,2438,658.2,10.4,554,7950,0.00,2.15,10.95,0.768,9222,0.000,0.028,3603,2298,2431,2471,2391,0,0,0,0,0,0,28.83,25.57,24.58
$GC,8251,2.07,99.8,3604,2299,2467,2389,617.3,12.7,575,8255,0.00,2.12,0.00,0.000,516,0.000,0.031,3612,898,2431,2473,2389,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8796,2.08,99.8,3613,898,2460,2389,549.3,12.1,611,8800,0.00,2.17,0.00,0.000,1030,0.000,0.028,3612,2308,2426,2464,2388,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9107,2.09,99.8,3612,2309,2466,2388,510.6,12.2,632,9110,0.00,2.15,0.00,0.000,516,0.000,0.031,3621,893,2426,2464,2388,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9651,2.11,99.8,3622,893,2463,2388,445.6,11.8,668,9658,0.00,2.15,0.00,0.000,1030,0.000,0.027,3622,2295,2425,2463,2388,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9956,2.14,99.8,3621,2295,2465,2388,410.1,11.0,689,9960,0.00,2.15,0.00,0.000,516,0.000,0.031,3631,902,2425,2463,2388,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10151,2.17,99.8,3630,902,2464,2388,388.3,11.2,702,10155,0.00,2.15,0.00,0.000,1030,0.000,0.028,3631,2297,2425,2463,2388,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10466,2.20,99.8,3631,2298,2464,2389,352.4,11.5,723,10470,0.00,2.17,0.00,0.000,260,0.000,0.037,3631,3706,2425,2463,2388,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11011,2.20,99.8,3630,3708,2464,2388,281.9,12.8,759,11015,0.00,2.15,0.00,0.000,1030,0.000,0.024,3641,2287,2424,2462,2387,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11322,2.22,99.8,3642,2288,2462,2388,244.3,11.6,780,11325,0.00,2.20,0.00,0.000,260,0.000,0.035,3641,3706,2424,2462,2387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11545,2.22,99.8,3641,3707,2464,2388,217.1,12.6,795,11550,0.00,2.15,0.00,0.000,1030,0.000,0.024,3652,2289,2424,2461,2387,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11857,2.24,113.2,3652,2289,2463,2388,183.4,10.6,816,11874,0.00,2.20,11.38,0.485,8452,0.000,0.033,3652,3715,2376,2416,2336,0,0,0,0,0,0,28.83,25.58,24.65
$GC,11898,2.27,113.2,3652,3716,2417,2336,179.6,11.2,818,11905,0.00,2.15,0.00,0.000,1030,0.000,0.023,3664,2294,2375,2415,2336,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12204,2.30,113.2,3663,2294,2416,2336,139.8,10.8,839,12207,0.00,2.10,0.00,0.000,516,0.000,0.029,3673,901,2374,2414,2335,0,0,0,0,0,0,28.83,25.16,28.83
$GC,12443,2.35,151.9,3673,901,2415,2336,120.9,6.7,855,12479,0.00,2.15,31.90,0.475,9222,0.000,0.025,3673,2314,2218,2266,2170,0,0,0,0,0,0,28.83,25.58,24.58
$GC,12778,2.37,170.2,3673,2314,2262,2168,79.3,9.9,883,12801,0.00,2.10,15.30,0.428,8708,0.000,0.028,3682,913,2143,2191,2095,0,0,0,0,0,0,28.83,25.53,24.68
$GC,13340,2.47,247.8,3683,914,2188,2094,56.5,0.8,939,13406,0.05,2.10,59.62,0.416,11270,0.116,0.024,3706,2306,1826,1882,1771,0,0,0,0,0,0,25.30,25.60,24.70
$GC,13525,2.47,247.8,3707,2306,1874,1770,30.6,18.5,967,13532,0.00,2.12,0.00,0.000,516,0.000,0.028,3716,916,1821,1874,1769,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,13856,end climb,NO_VERTICAL_VELOCITY
$STATE,13856,begin surface
$SM_CCo,13861,197.05,0.411,1,0,550,561.48
$SM_GC,1.61,9.60,2.75,0.00,0.034,0.024,0.000,153,2682,544,-8.60,-1.47,562.22,0,0,0,0,0,0,25.13,25.13,28.83
$IRIDIUM_FIX,2722.64,-8719.43,190508,031949
$TT8_MAMPS,0.09737,0.09737
$HUMID,36.88
$INTERNAL_PRESSURE,9.1846
$TCM_TEMP,25.00
$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,3.5/516052/497962
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.1/436550/423160
$24V_AH,23.69,51.979
$10V_AH,9.98,18.531
$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,22.725,95.100,244.900,197.050,0.000,61.360,77.822,310.536,0.000,14898.600,24.797,0.000,10162.788,550.920,4005.213,156.644,0.000,1894.962,0.000,2792.225,0.000,0.000,0.000
$DEVICE_MAMPS,231.030,37.485,1038.105,410.805,0.000,61.970,160.000,223.000,0.000,36.718,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,701.047,0.000,0.000,0.000,0.000,0.000,14898.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.150,0.000,0.000,0.000
$MEM,295884
$DATA_FILE_SIZE,36710,1033
$CAP_FILE_SIZE,163854,0
$CFSIZE,260034560,254865408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,13376.84,0x236bc6,7,5
$GPS,230715,175414,2757.556,-8727.318,37,0.8,47,-2.0