version: 66.12
glider: 161
mission: 11
dive: 49
start: 7 25 115 7 51 46
data:
$ID,161
$MISSION,11
$DIVE,49
$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,175
$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,79
$R_STBD_OVSHOOT,47
$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
$GPS1,250715,074243,2757.544,-8726.230,33,1.1,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.4
$GPS2,250715,075136,2757.458,-8726.048,5,0.8,15,-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,330.5,15780,-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,-170.3,145,2688,891,698,0.0,0.0,0,81,0.00,0.00,-63.95,0.000,16386,0.000,0.000,145,2688,2862,2843,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.21,-170.3,145,2689,2845,2883,5.4,-12.0,10,108,9.82,2.15,-10.38,0.000,18948,0.229,0.037,2535,1260,3538,3564,3512,0,0,0,0,0,0,24.93,25.58,25.70
$GC,207,-1.21,-170.3,2534,1261,3567,3512,52.0,-30.9,34,211,0.00,2.17,0.00,0.000,1030,0.000,0.030,2527,2674,3539,3566,3512,0,0,0,0,0,0,28.83,25.63,28.83
$GC,338,-1.21,-170.3,2527,2675,3569,3513,87.0,-24.7,47,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2674,3539,3567,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,457,-1.21,-170.3,2527,2675,3571,3512,114.5,-21.3,57,461,0.00,2.08,0.00,0.000,516,0.000,0.023,2527,1277,3540,3570,3511,0,0,0,0,0,0,28.83,25.76,28.83
$GC,547,-1.21,-170.3,2531,1277,3573,3512,132.9,-19.8,63,551,0.00,2.15,0.00,0.000,1030,0.000,0.030,2518,2681,3541,3571,3512,0,0,0,0,0,0,28.83,25.75,28.83
$GC,862,-1.21,-170.3,2518,2683,3581,3512,193.8,-19.6,84,866,0.00,2.08,0.00,0.000,516,0.000,0.024,2518,1278,3543,3574,3512,0,0,0,0,0,0,28.83,25.82,28.83
$GC,942,-1.21,-170.3,2518,1278,3574,3513,208.6,-19.6,89,947,0.10,2.15,0.00,0.000,3078,0.155,0.030,2538,2678,3543,3574,3512,0,0,0,0,0,0,25.29,25.77,28.83
$GC,1253,-1.21,-170.3,2538,2683,3575,3513,264.5,-17.9,110,1256,0.00,2.05,0.00,0.000,516,0.000,0.024,2539,1260,3543,3574,3512,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1337,-1.21,-170.3,2538,1261,3576,3512,277.5,-17.0,115,1345,0.00,2.17,0.00,0.000,1030,0.000,0.031,2533,2676,3543,3574,3512,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1642,-1.21,-170.3,2534,2677,3574,3510,331.7,-17.2,136,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2676,3541,3573,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-1.21,-170.3,2534,2676,3574,3507,384.1,-17.8,156,1946,0.00,2.10,0.00,0.000,516,0.000,0.024,2533,1277,3539,3573,3506,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2007,-1.21,-170.3,2534,1277,3574,3507,394.4,-17.2,160,2011,0.00,2.17,0.00,0.000,1030,0.000,0.031,2524,2678,3540,3574,3506,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2318,-1.21,-170.3,2523,2679,3573,3504,450.1,-17.7,181,2321,0.00,2.10,0.00,0.000,516,0.000,0.025,2524,1281,3537,3572,3503,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2392,-1.21,-170.3,2525,1281,3571,3503,463.3,-17.3,186,2396,0.00,2.17,0.00,0.000,1030,0.000,0.032,2514,2679,3537,3571,3503,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2707,-1.21,-170.3,2515,2680,3568,3500,521.1,-18.4,207,2711,0.00,2.12,0.00,0.000,516,0.000,0.026,2514,1282,3533,3568,3499,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2742,-1.21,-170.3,2515,1283,3568,3500,526.8,-18.5,209,2746,0.10,2.17,0.00,0.000,3078,0.148,0.033,2536,2674,3533,3568,3499,0,0,0,0,0,0,25.31,25.72,28.83
$GC,3053,-1.21,-170.3,2537,2674,3566,3496,581.0,-17.5,230,3056,0.00,2.12,0.00,0.000,516,0.000,0.025,2536,1255,3530,3565,3495,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3117,-1.21,-170.3,2537,1256,3565,3496,591.0,-16.9,234,3121,0.00,2.20,0.00,0.000,1030,0.000,0.031,2528,2672,3530,3565,3495,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,3171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3171,begin apogee
$GC,3175,-0.24,0.0,2528,2293,3566,3495,601.3,-17.2,238,3312,1.02,0.00,134.12,0.791,10246,0.116,0.000,2851,2297,2840,2941,2740,0,0,0,0,0,0,25.27,28.83,23.98
$STATE,3313,end apogee,CONTROL_FINISHED_OK
$STATE,3313,begin climb
$GC,3314,1.21,170.3,2852,2293,2940,2741,607.2,0.0,247,3461,1.30,2.20,137.50,0.783,10756,0.062,0.030,3326,912,2140,2229,2051,0,0,0,0,0,0,24.84,24.76,23.90
$GC,3650,1.21,170.3,3327,913,2222,2051,576.4,14.6,269,3658,0.00,2.17,0.00,0.000,1030,0.000,0.027,3326,2320,2136,2222,2050,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3955,1.21,170.3,3326,2321,2220,2049,529.4,14.7,290,3959,0.00,2.15,0.00,0.000,516,0.000,0.029,3335,905,2133,2218,2048,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4030,1.21,170.3,3335,906,2218,2049,518.6,14.4,295,4034,0.00,2.15,0.00,0.000,1030,0.000,0.028,3335,2303,2132,2217,2048,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4346,1.21,170.3,3335,2304,2215,2046,472.3,14.4,316,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2303,2130,2214,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,1.21,170.3,3336,2304,2211,2046,428.7,14.6,336,4649,0.00,2.12,0.00,0.000,516,0.000,0.031,3345,916,2128,2211,2045,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4765,1.21,170.3,3346,916,2210,2045,410.9,14.9,344,4769,0.00,2.12,0.00,0.000,1030,0.000,0.027,3345,2297,2128,2211,2045,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5081,1.21,170.3,3345,2299,2210,2044,364.2,14.6,365,5084,0.00,2.12,0.00,0.000,516,0.000,0.030,3354,878,2126,2208,2044,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5195,1.21,170.3,3354,878,2209,2044,349.3,14.1,372,5203,0.10,2.17,0.00,0.000,5126,0.139,0.028,3325,2298,2125,2207,2043,0,0,0,0,0,0,25.18,25.72,28.83
$GC,5501,1.21,174.8,3325,2299,2206,2041,307.5,13.1,393,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2300,2124,2206,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,1.21,175.1,3324,2299,2206,2041,267.5,13.3,413,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2298,2123,2205,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6100,1.21,175.1,3323,2299,2205,2041,226.6,13.8,433,6104,0.00,2.20,0.00,0.000,516,0.000,0.030,3332,908,2122,2204,2040,0,0,0,0,0,0,28.83,24.94,28.83
$GC,6131,1.21,175.1,3331,908,2206,2041,222.4,14.0,435,6134,0.00,2.12,0.00,0.000,1030,0.000,0.027,3332,2303,2122,2204,2041,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6445,1.21,175.1,3332,2302,2203,2041,177.7,14.5,456,6450,0.00,2.12,0.00,0.000,516,0.000,0.029,3341,918,2121,2203,2040,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6535,1.21,175.1,3341,918,2204,2041,165.2,14.0,462,6540,0.00,2.12,0.00,0.000,1030,0.000,0.025,3341,2293,2121,2202,2041,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6850,1.21,175.1,3342,2293,2202,2040,120.9,14.0,483,6854,0.00,2.12,0.00,0.000,516,0.000,0.028,3350,907,2121,2202,2040,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7001,1.23,194.0,3351,908,2201,2040,101.6,12.3,493,7024,0.00,2.12,16.10,0.439,9222,0.000,0.026,3350,2304,2045,2128,1963,0,0,0,0,0,0,28.83,25.71,24.71
$GC,7141,1.28,229.9,3351,2304,2124,1963,84.9,11.4,507,7174,0.00,2.12,28.98,0.453,8708,0.000,0.029,3352,912,1899,1982,1817,0,0,0,0,0,0,28.83,25.49,24.72
$GC,7298,1.29,240.6,3352,912,1979,1817,66.3,12.8,522,7316,0.00,2.12,9.52,0.392,9222,0.000,0.025,3353,2302,1855,1939,1772,0,0,0,0,0,0,28.83,25.56,24.69
$GC,7433,1.37,307.4,3352,2303,1938,1772,51.7,9.7,536,7491,0.00,2.12,52.20,0.428,8708,0.000,0.028,3356,911,1584,1675,1494,0,0,0,0,0,0,28.83,25.37,24.66
$GC,7520,1.43,355.0,3355,912,1672,1495,43.5,10.8,549,7564,0.00,2.12,38.83,0.417,9222,0.000,0.025,3356,2288,1388,1481,1296,0,0,0,0,0,0,28.83,25.39,24.49
$GC,7623,1.43,355.0,3355,2290,1478,1295,30.6,13.6,568,7624,0.05,0.00,0.00,0.000,2054,0.169,0.000,3380,2289,1386,1477,1295,0,0,0,0,0,0,25.13,28.83,28.83
$GC,7684,1.43,355.0,3381,2290,1475,1295,22.3,14.3,580,7691,0.00,2.22,0.00,0.000,260,0.000,0.036,3380,3712,1384,1475,1294,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7700,1.43,355.0,3380,3712,1476,1295,20.0,14.2,583,7707,0.00,2.12,0.00,0.000,1030,0.000,0.021,3387,2291,1384,1474,1294,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7766,1.44,359.0,3387,2290,1474,1300,11.0,13.1,596,7774,0.00,2.05,0.00,0.000,516,0.000,0.027,3397,920,1383,1473,1293,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,7827,end climb,SURFACE_DEPTH_REACHED
$STATE,7827,begin surface coast
$FINISH,0.9,1.021603
$STATE,7847,end surface coast,CONTROL_FINISHED_OK
$STATE,7847,begin surface
$SM_CCo,7866,79.38,0.350,1,0,798,500.16
$SM_GC,1.74,8.60,2.72,79.38,0.034,0.024,0.350,156,2700,798,-8.60,-0.99,500.16,0,0,0,0,1,0,25.57,25.65,24.63
$IRIDIUM_FIX,2722.64,-8719.43,200508,211345
$TT8_MAMPS,0.098119,0.098119
$HUMID,40.11
$INTERNAL_PRESSURE,9.14553
$TCM_TEMP,24.30
$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,3.5/516052/497956
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422396
$24V_AH,23.90,54.505
$10V_AH,10.01,20.934
$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,21.100,82.375,417.250,79.375,0.000,33.789,62.999,152.789,0.000,8551.300,16.553,0.000,5746.461,590.704,1905.061,91.408,0.000,1262.904,0.000,1198.593,0.000,0.000,0.000
$DEVICE_MAMPS,228.735,37.485,791.010,349.605,0.000,61.970,160.000,223.000,0.000,37.290,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,408.635,0.000,0.000,0.000,0.000,0.000,8551.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.917,0.000,0.000,0.000
$MEM,296028
$DATA_FILE_SIZE,20134,612
$CAP_FILE_SIZE,98092,0
$CFSIZE,260034560,254246912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,8554.41,0x236bc6,7,5
$GPS,250715,100502,2758.116,-8726.132,18,0.7,28,-2.0