version: 66.12
glider: 161
mission: 11
dive: 48
start: 7 25 115 5 29 11
data:
$ID,161
$MISSION,11
$DIVE,48
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,600
$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,150
$T_MISSION,160
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51942
$MASS_COMP,0
$NAV_MODE,0
$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,45
$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,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
$GPS1,250715,052117,2757.064,-8726.250,3,1.2,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-65.9
$GPS2,250715,052901,2756.975,-8726.101,6,1.1,16,-2.0
$SPEED_LIMITS,0.231,0.246
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,332.3,16507,-20.9,-13.333,-28.42,1905
$D_GRID,600
$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,14,-1.21,-170.3,150,2683,885,702,0.0,0.0,0,81,0.00,0.00,-64.30,0.000,16386,0.000,0.000,149,2683,2888,2869,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.21,-170.3,149,2684,2872,2908,5.5,-12.3,10,108,9.93,2.05,-9.75,0.000,18948,0.233,0.033,2534,1262,3536,3563,3510,0,0,0,0,0,0,24.91,25.59,25.70
$GC,242,-1.21,-170.3,2535,1262,3566,3511,62.1,-27.4,36,250,0.00,2.20,0.00,0.000,1030,0.000,0.030,2527,2676,3538,3566,3510,0,0,0,0,0,0,28.83,25.60,28.83
$GC,367,-1.21,-170.3,2526,2678,3570,3510,93.5,-23.3,49,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2677,3539,3568,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,487,-1.21,-170.3,2526,2677,3572,3511,119.7,-21.7,58,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2677,3540,3570,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,787,-1.21,-170.3,2526,2678,3576,3510,179.1,-19.5,78,791,0.00,2.08,0.00,0.000,516,0.000,0.022,2526,1274,3543,3574,3513,0,0,0,0,0,0,28.83,25.73,28.83
$GC,882,-1.21,-170.3,2526,1274,3576,3511,195.8,-18.5,84,886,0.00,2.20,0.00,0.000,1030,0.000,0.030,2517,2684,3542,3574,3510,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1192,-1.21,-170.3,2516,2685,3576,3510,255.7,-18.6,105,1196,0.00,2.10,0.00,0.000,516,0.000,0.024,2517,1278,3540,3575,3506,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1257,-1.21,-170.3,2518,1279,3574,3510,266.9,-18.7,109,1262,0.10,2.15,0.00,0.000,3078,0.153,0.031,2538,2672,3542,3574,3510,0,0,0,0,0,0,25.33,25.77,28.83
$GC,1568,-1.21,-170.3,2539,2673,3574,3510,321.3,-16.8,130,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2672,3541,3574,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-1.21,-170.3,2539,2673,3574,3507,372.8,-17.0,150,1871,0.00,2.10,0.00,0.000,516,0.000,0.024,2538,1267,3540,3574,3507,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1932,-1.21,-170.3,2539,1267,3574,3507,382.5,-16.2,154,1936,0.00,2.20,0.00,0.000,1030,0.000,0.032,2531,2684,3540,3574,3506,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2242,-1.21,-170.3,2531,2685,3575,3504,435.4,-16.9,175,2246,0.00,2.12,0.00,0.000,516,0.000,0.025,2531,1278,3538,3574,3502,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2282,-1.21,-170.3,2532,1278,3572,3503,440.3,-16.7,177,2290,0.00,2.17,0.00,0.000,1030,0.000,0.031,2523,2678,3537,3573,3502,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2587,-1.21,-170.3,2522,2679,3572,3500,495.1,-17.6,198,2591,0.00,2.10,0.00,0.000,516,0.000,0.025,2522,1281,3534,3570,3499,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2627,-1.21,-170.3,2523,1282,3571,3500,500.3,-17.5,200,2635,0.00,2.17,0.00,0.000,1030,0.000,0.032,2514,2678,3534,3569,3499,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2933,-1.21,-170.3,2513,2679,3568,3498,557.1,-17.9,221,2936,0.00,2.10,0.00,0.000,516,0.000,0.025,2514,1284,3532,3567,3497,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2997,-1.21,-170.3,2513,1284,3568,3497,567.5,-17.4,225,3002,0.10,2.17,0.00,0.000,3078,0.150,0.034,2535,2673,3531,3566,3496,0,0,0,0,0,0,25.22,25.75,28.83
$STATE,3201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3201,begin apogee
$GC,3205,-0.24,0.0,2536,2312,3565,3494,601.9,-16.1,239,3342,1.00,0.00,134.02,0.793,10246,0.116,0.000,2853,2312,2838,2936,2741,0,0,0,0,0,0,25.33,28.83,24.03
$STATE,3343,end apogee,CONTROL_FINISHED_OK
$STATE,3343,begin climb
$GC,3344,1.21,170.3,2853,2312,2937,2741,606.8,0.0,248,3491,1.30,2.17,136.20,0.783,10756,0.062,0.028,3327,904,2142,2226,2059,0,0,0,0,0,0,24.87,24.77,23.94
$GC,3671,1.21,170.3,3327,905,2222,2055,576.2,14.1,270,3674,0.00,2.17,0.00,0.000,1030,0.000,0.029,3327,2304,2136,2219,2054,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3985,1.21,170.3,3327,2305,2217,2052,531.3,13.9,291,3989,0.00,2.12,0.00,0.000,516,0.000,0.031,3336,917,2134,2216,2052,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4065,1.21,170.3,3336,917,2216,2052,520.8,14.1,296,4069,0.00,2.15,0.00,0.000,1030,0.000,0.028,3337,2316,2132,2214,2051,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4375,1.21,170.3,3336,2317,2213,2050,475.0,14.8,317,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2316,2130,2212,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4675,1.21,170.3,3336,2317,2211,2049,430.3,15.2,337,4679,0.00,2.15,0.00,0.000,516,0.000,0.031,3346,913,2129,2210,2048,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4770,1.21,170.3,3347,919,2209,2048,417.0,14.8,343,4774,0.00,2.12,0.00,0.000,1030,0.000,0.028,3346,2293,2128,2208,2048,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5080,1.21,170.3,3346,2294,2209,2047,369.5,15.0,364,5084,0.00,2.12,0.00,0.000,516,0.000,0.031,3355,905,2127,2207,2047,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5200,1.21,170.3,3356,905,2206,2047,351.6,15.1,372,5205,0.10,2.15,0.00,0.000,5126,0.140,0.028,3325,2306,2126,2206,2046,0,0,0,0,0,0,25.22,25.72,28.83
$GC,5516,1.21,170.3,3325,2306,2205,2046,307.3,14.6,393,5519,0.00,2.12,0.00,0.000,260,0.000,0.039,3325,3697,2125,2205,2045,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5545,1.21,170.3,3325,3698,2201,2046,302.5,15.4,395,5549,0.00,2.10,0.00,0.000,1030,0.000,0.024,3334,2297,2124,2204,2045,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5860,1.21,170.3,3335,2296,2205,2045,255.7,15.2,416,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2295,2123,2203,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,1.21,170.3,3335,2295,2202,2044,210.7,14.4,436,6164,0.00,2.08,0.00,0.000,516,0.000,0.030,3343,912,2122,2201,2043,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6215,1.21,170.3,3344,913,2201,2044,204.0,15.0,439,6223,0.00,2.12,0.00,0.000,1030,0.000,0.027,3343,2302,2122,2202,2043,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6520,1.21,170.3,3344,2302,2201,2044,157.1,14.9,460,6524,0.00,2.12,0.00,0.000,516,0.000,0.030,3353,915,2122,2201,2043,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6950,1.23,192.8,3352,915,2202,2043,102.8,12.1,488,6973,0.00,2.12,15.55,0.436,9222,0.000,0.025,3352,2311,2048,2130,1966,0,0,0,0,0,0,28.83,25.67,24.93
$GC,7270,1.31,256.4,3352,2312,2127,1970,65.9,9.9,520,7323,0.00,0.00,48.85,0.438,8198,0.000,0.000,3352,2311,1792,1872,1712,0,0,0,0,0,0,28.83,28.83,24.79
$GC,7440,1.39,323.9,3352,2311,1867,1710,48.9,9.7,538,7503,0.00,2.17,53.40,0.422,8452,0.000,0.036,3352,3690,1515,1603,1428,0,0,0,0,0,0,28.83,25.26,24.58
$GC,7617,1.40,328.9,3351,3691,1597,1428,27.4,13.1,571,7625,0.00,2.10,4.93,0.316,9222,0.000,0.021,3352,2294,1497,1583,1412,0,0,0,0,0,0,28.83,25.51,24.59
$GC,7685,1.43,354.6,3353,2294,1579,1410,19.6,11.9,584,7728,0.08,0.00,32.53,0.312,10246,0.123,0.000,3381,2289,1391,1479,1303,0,0,0,0,1,0,25.15,28.83,24.63
$GC,7788,1.43,354.6,3382,2289,1477,1302,6.5,15.2,603,7795,0.00,2.08,0.00,0.000,516,0.000,0.028,3390,918,1390,1478,1302,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,7818,end climb,SURFACE_DEPTH_REACHED
$STATE,7818,begin surface coast
$FINISH,0.9,1.021231
$STATE,7843,end surface coast,CONTROL_FINISHED_OK
$STATE,7843,begin surface
$SM_CCo,7862,84.75,0.356,1,0,799,500.16
$SM_GC,1.78,8.68,2.72,84.75,0.033,0.026,0.356,146,2677,799,-8.61,-1.41,500.16,0,0,0,0,1,0,25.52,25.53,24.43
$IRIDIUM_FIX,2722.64,-8719.43,200508,185136
$TT8_MAMPS,0.098119,0.098119
$HUMID,39.56
$INTERNAL_PRESSURE,9.1553
$TCM_TEMP,24.40
$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,3.5/516052/497957
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422457
$24V_AH,23.94,54.318
$10V_AH,10.00,20.789
$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,21.275,69.350,425.475,84.750,0.000,31.293,35.395,141.772,0.000,8434.700,17.536,0.000,5752.980,600.691,1846.417,88.555,0.000,1263.062,0.000,1197.165,0.000,0.000,0.000
$DEVICE_MAMPS,233.325,39.015,792.540,355.725,0.000,61.970,160.000,223.000,0.000,37.470,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,409.581,0.000,0.000,0.000,0.000,0.000,8434.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.874,0.000,0.000,0.000
$MEM,296100
$DATA_FILE_SIZE,20064,614
$CAP_FILE_SIZE,92575,0
$CFSIZE,260034560,254304256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,6848.77,0x236bc6,7,5
$GPS,250715,074243,2757.544,-8726.230,33,1.1,43,-2.0