version: 66.12
glider: 161
mission: 11
dive: 50
start: 7 25 115 10 13 40
data:
$ID,161
$MISSION,11
$DIVE,50
$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,83
$R_STBD_OVSHOOT,55
$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
$GPS1,250715,100502,2758.116,-8726.132,18,0.7,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.3
$GPS2,250715,101330,2758.046,-8725.970,5,0.8,15,-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,327.9,14934,-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,-170.3,156,2714,891,694,0.0,0.0,0,87,0.00,0.00,-70.00,0.000,16386,0.000,0.000,154,2714,3117,3098,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.21,-170.3,155,2715,3098,3138,6.7,-15.7,11,108,9.88,2.12,-5.88,0.000,18948,0.232,0.036,2533,1256,3537,3558,3516,0,0,0,0,0,0,24.91,25.60,25.71
$GC,198,-1.21,-170.3,2534,1256,3564,3514,51.1,-32.9,31,205,0.00,2.17,0.00,0.000,1030,0.000,0.030,2527,2667,3539,3564,3514,0,0,0,0,0,0,28.83,25.63,28.83
$GC,322,-1.21,-170.3,2527,2668,3565,3514,88.0,-26.0,44,327,0.00,2.08,0.00,0.000,516,0.000,0.023,2526,1275,3539,3565,3514,0,0,0,0,0,0,28.83,25.71,28.83
$GC,352,-1.21,-170.3,2525,1276,3568,3514,94.9,-23.7,47,356,0.00,2.15,0.00,0.000,1030,0.000,0.030,2516,2674,3540,3566,3514,0,0,0,0,0,0,28.83,25.70,28.83
$GC,487,-1.21,-170.3,2517,2674,3568,3514,123.2,-20.9,57,491,0.00,2.08,0.00,0.000,516,0.000,0.022,2516,1279,3541,3569,3513,0,0,0,0,0,0,28.83,25.76,28.83
$GC,582,-1.21,-170.3,2517,1279,3569,3514,140.2,-18.8,63,587,0.10,2.12,0.00,0.000,3078,0.157,0.029,2535,2670,3542,3570,3514,0,0,0,0,0,0,25.21,25.76,28.83
$GC,893,-1.21,-170.3,2534,2672,3574,3514,199.5,-19.1,84,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2671,3543,3572,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-1.21,-170.3,2535,2671,3574,3514,253.7,-18.0,104,1196,0.00,2.08,0.00,0.000,516,0.000,0.022,2535,1265,3542,3572,3513,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1267,-1.21,-170.3,2535,1266,3574,3514,266.8,-17.4,109,1271,0.00,2.25,0.00,0.000,1030,0.000,0.031,2528,2676,3542,3572,3513,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1582,-1.21,-170.3,2529,2676,3572,3513,324.2,-18.1,130,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2676,3542,3572,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1882,-1.21,-170.3,2527,2677,3573,3510,378.1,-18.7,150,1886,0.00,2.10,0.00,0.000,516,0.000,0.023,2528,1273,3539,3569,3509,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1952,-1.21,-170.3,2528,1274,3574,3509,389.0,-18.1,154,1960,0.00,2.20,0.00,0.000,1030,0.000,0.031,2520,2673,3540,3572,3508,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2257,-1.21,-170.3,2520,2675,3573,3506,446.6,-18.6,175,2262,0.00,2.10,0.00,0.000,516,0.000,0.024,2520,1273,3538,3572,3505,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2327,-1.21,-170.3,2521,1273,3570,3506,457.7,-18.5,179,2335,0.08,2.17,0.00,0.000,3078,0.155,0.031,2533,2676,3537,3570,3505,0,0,0,0,0,0,25.29,25.74,28.83
$GC,2633,-1.21,-170.3,2533,2676,3568,3502,512.4,-17.3,200,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2675,3535,3568,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,-1.21,-170.3,2533,2676,3568,3499,563.0,-16.9,220,2936,0.00,2.10,0.00,0.000,516,0.000,0.024,2533,1275,3532,3566,3499,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3002,-1.21,-170.3,2533,1276,3567,3499,572.9,-16.5,224,3010,0.00,2.17,0.00,0.000,1030,0.000,0.032,2525,2679,3531,3565,3498,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,3156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3156,begin apogee
$GC,3160,-0.24,0.0,2526,2303,3564,3497,601.0,-17.4,235,3297,1.02,0.00,134.15,0.788,10246,0.116,0.000,2849,2302,2839,2940,2738,0,0,0,0,0,0,25.34,28.83,24.03
$STATE,3298,end apogee,CONTROL_FINISHED_OK
$STATE,3298,begin climb
$GC,3299,1.21,170.3,2848,2304,2940,2738,606.3,0.0,244,3446,1.33,2.15,136.60,0.781,10756,0.063,0.028,3330,901,2141,2229,2053,0,0,0,0,0,0,24.87,24.79,23.95
$GC,3551,1.21,170.3,3330,902,2226,2050,585.6,14.9,261,3554,0.00,2.17,0.00,0.000,1030,0.000,0.028,3330,2304,2136,2224,2049,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3865,1.21,170.3,3331,2307,2218,2047,538.7,15.0,282,3870,0.00,2.12,0.00,0.000,516,0.000,0.030,3339,914,2133,2219,2047,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3960,1.21,170.3,3339,914,2220,2046,525.5,14.8,288,3965,0.00,2.12,0.00,0.000,1030,0.000,0.027,3336,2304,2132,2219,2046,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4270,1.21,170.3,3340,2306,2215,2045,479.3,14.5,309,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2305,2129,2215,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,1.21,170.3,3343,2306,2213,2043,434.5,14.9,329,4574,0.00,2.12,0.00,0.000,516,0.000,0.030,3349,906,2127,2212,2043,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4635,1.21,170.3,3350,909,2211,2043,425.5,15.0,333,4639,0.10,2.15,0.00,0.000,5126,0.140,0.028,3319,2309,2127,2211,2043,0,0,0,0,0,0,25.28,25.78,28.83
$GC,4946,1.21,170.3,3320,2310,2210,2041,381.7,14.4,354,4949,0.00,2.12,0.00,0.000,516,0.000,0.029,3327,901,2129,2217,2041,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5060,1.21,170.3,3328,902,2209,2041,366.6,14.2,361,5068,0.00,2.17,0.00,0.000,1030,0.000,0.027,3327,2298,2125,2209,2041,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5366,1.21,170.3,3327,2299,2208,2041,321.3,14.3,382,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2298,2123,2207,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,1.21,170.3,3329,2299,2206,2040,279.2,14.2,402,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2298,2122,2206,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5965,1.21,170.3,3328,2299,2204,2038,237.3,13.9,422,5969,0.00,2.12,0.00,0.000,516,0.000,0.029,3336,910,2121,2204,2038,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6225,1.21,170.3,3338,911,2203,2038,202.2,13.8,439,6229,0.00,2.12,0.00,0.000,1030,0.000,0.026,3337,2297,2120,2203,2037,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6535,1.21,170.3,3336,2298,2203,2037,159.4,14.0,460,6539,0.00,2.17,0.00,0.000,260,0.000,0.037,3336,3696,2119,2202,2037,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6671,1.21,170.3,3337,3697,2202,2038,137.1,16.5,469,6674,0.00,2.10,0.00,0.000,1030,0.000,0.021,3347,2287,2119,2202,2037,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6981,1.22,180.9,3348,2284,2202,2037,94.5,12.8,491,6993,0.00,2.00,5.88,0.365,8708,0.000,0.027,3354,914,2099,2183,2015,0,0,0,0,0,0,28.83,25.85,24.85
$GC,7313,1.38,310.6,3353,915,2182,2015,58.5,6.3,524,7421,0.00,2.05,99.50,0.443,9222,0.000,0.024,3354,2309,1569,1661,1477,0,0,0,0,0,0,28.83,25.72,24.60
$GC,7480,1.40,328.7,3354,2310,1657,1477,41.1,12.4,547,7500,0.00,0.00,15.15,0.398,8198,0.000,0.000,3354,2309,1495,1585,1406,0,0,0,0,0,0,28.83,28.83,24.54
$GC,7559,1.40,328.7,3355,2310,1582,1405,31.1,13.6,562,7566,0.00,2.17,0.00,0.000,260,0.000,0.036,3354,3694,1493,1582,1404,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7630,1.40,330.6,3353,3695,1582,1405,21.5,13.2,576,7638,0.00,2.08,0.00,0.000,1030,0.000,0.021,3361,2301,1492,1580,1404,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7697,1.45,365.9,3361,2301,1582,1404,13.7,11.4,589,7747,0.00,0.00,40.78,0.335,8710,0.000,0.000,3362,2299,1347,1442,1252,0,0,0,0,1,0,28.83,28.83,24.70
$STATE,7790,end climb,SURFACE_DEPTH_REACHED
$STATE,7790,begin surface coast
$FINISH,1.0,1.001979
$STATE,7815,end surface coast,CONTROL_FINISHED_OK
$STATE,7815,begin surface
$SM_CCo,7832,82.35,0.348,1,0,798,500.16
$SM_GC,1.73,8.57,0.57,82.35,0.034,0.035,0.348,140,2687,798,-8.64,-1.41,500.16,0,0,0,0,1,0,25.52,25.55,24.52
$IRIDIUM_FIX,2722.64,-8719.43,200508,233557
$TT8_MAMPS,0.098119,0.098119
$HUMID,40.35
$INTERNAL_PRESSURE,9.14553
$TCM_TEMP,24.10
$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,3.5/516052/497955
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422579
$24V_AH,23.95,54.689
$10V_AH,10.10,21.077
$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,21.075,64.975,432.050,82.350,0.000,33.605,42.680,146.395,0.000,8477.100,16.565,0.000,5716.021,592.629,1875.979,88.410,0.000,1267.773,0.000,1208.487,0.000,0.000,0.000
$DEVICE_MAMPS,231.795,37.485,787.950,348.075,0.000,61.970,160.000,223.000,0.000,36.423,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,407.717,0.000,0.000,0.000,0.000,0.000,8477.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.929,0.000,0.000,0.000
$MEM,296112
$DATA_FILE_SIZE,20072,611
$CAP_FILE_SIZE,91956,0
$CFSIZE,260034560,254205952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,8513.25,0x236bc6,7,5
$GPS,250715,122627,2758.668,-8726.174,18,0.8,28,-2.0