version: 66.12
glider: 161
mission: 11
dive: 51
start: 7 25 115 12 34 52
data:
$ID,161
$MISSION,11
$DIVE,51
$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,86
$R_STBD_OVSHOOT,58
$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
$GPS1,250715,122627,2758.668,-8726.174,18,0.8,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.7
$GPS2,250715,123442,2758.580,-8726.062,4,0.8,14,-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,326.1,14038,-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,-170.3,139,2698,890,694,0.0,0.0,0,81,0.00,0.00,-64.03,0.000,16386,0.000,0.000,139,2699,2846,2825,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.21,-170.3,140,2704,2826,2867,5.2,-10.7,10,109,9.98,2.12,-10.62,0.000,18948,0.233,0.037,2537,1263,3541,3564,3518,0,0,0,0,0,0,24.97,25.32,25.40
$GC,173,-1.21,-170.3,2537,1263,3568,3513,40.3,-32.3,27,180,0.00,2.17,0.00,0.000,1030,0.000,0.031,2530,2666,3539,3566,3513,0,0,0,0,0,0,28.83,25.56,28.83
$GC,244,-1.21,-170.3,2530,2666,3567,3514,62.6,-30.2,37,248,0.00,2.10,0.00,0.000,516,0.000,0.023,2530,1278,3539,3567,3512,0,0,0,0,0,0,28.83,25.36,28.83
$GC,304,-1.21,-170.3,2529,1278,3570,3514,77.3,-22.7,43,308,0.00,2.15,0.00,0.000,1030,0.000,0.029,2520,2672,3540,3568,3513,0,0,0,0,0,0,28.83,25.63,28.83
$GC,429,-1.21,-170.3,2520,2672,3572,3514,105.2,-22.7,55,433,0.00,2.08,0.00,0.000,516,0.000,0.023,2520,1283,3542,3571,3513,0,0,0,0,0,0,28.83,25.68,28.83
$GC,504,-1.21,-170.3,2520,1284,3573,3514,120.6,-20.6,60,508,0.08,2.15,0.00,0.000,3078,0.161,0.030,2532,2677,3542,3572,3513,0,0,0,0,0,0,25.18,25.65,28.83
$GC,820,-1.21,-170.3,2533,2678,3574,3514,179.6,-19.5,81,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2678,3546,3574,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1119,-1.21,-170.3,2533,2679,3574,3514,235.0,-18.7,101,1123,0.00,2.08,0.00,0.000,516,0.000,0.023,2533,1282,3543,3574,3513,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1179,-1.21,-170.3,2533,1282,3575,3513,245.8,-17.9,105,1183,0.00,2.15,0.00,0.000,1030,0.000,0.030,2528,2675,3544,3575,3513,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1494,-1.21,-170.3,2525,2676,3576,3514,302.7,-18.1,126,1498,0.00,2.08,0.00,0.000,516,0.000,0.023,2525,1278,3543,3574,3513,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1539,-1.21,-170.3,2524,1279,3576,3513,310.5,-17.5,129,1543,0.00,2.15,0.00,0.000,1030,0.000,0.031,2516,2673,3543,3574,3513,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1854,-1.21,-170.3,2516,2673,3574,3510,368.0,-18.3,150,1858,0.00,2.08,0.00,0.000,516,0.000,0.024,2516,1272,3542,3575,3509,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1944,-1.21,-170.3,2517,1272,3574,3509,385.2,-18.9,156,1948,0.10,2.17,0.00,0.000,3078,0.147,0.032,2537,2676,3541,3575,3508,0,0,0,0,0,0,25.29,25.79,28.83
$GC,2260,-1.21,-170.3,2538,2677,3573,3507,438.8,-16.6,177,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2677,3540,3574,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-1.21,-170.3,2538,2678,3570,3504,489.2,-16.8,197,2563,0.00,2.10,0.00,0.000,516,0.000,0.024,2537,1279,3537,3571,3503,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2619,-1.21,-170.3,2537,1279,3571,3503,499.1,-16.4,201,2623,0.00,2.17,0.00,0.000,1030,0.000,0.031,2531,2683,3536,3570,3503,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2934,-1.21,-170.3,2532,2684,3567,3500,552.3,-17.0,222,2938,0.00,2.12,0.00,0.000,516,0.000,0.026,2531,1283,3533,3567,3499,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2989,-1.21,-170.3,2532,1283,3566,3500,559.9,-17.1,225,2996,0.00,2.17,0.00,0.000,1030,0.000,0.032,2523,2681,3533,3567,3499,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,3218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3218,begin apogee
$GC,3221,-0.24,0.0,2524,2309,3565,3497,602.4,-17.9,241,3359,1.05,0.00,134.25,0.793,10246,0.118,0.000,2852,2308,2839,2940,2738,0,0,0,0,0,0,25.29,28.83,24.03
$STATE,3360,end apogee,CONTROL_FINISHED_OK
$STATE,3360,begin climb
$GC,3361,1.21,170.3,2853,2309,2940,2738,608.4,0.0,250,3508,1.30,2.17,136.60,0.786,10756,0.063,0.028,3326,894,2141,2230,2053,0,0,0,0,0,0,24.87,24.79,23.93
$GC,3637,1.21,170.3,3327,895,2225,2049,587.4,13.8,268,3644,0.00,2.17,0.00,0.000,1030,0.000,0.026,3326,2299,2136,2225,2048,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3942,1.21,170.3,3327,2300,2220,2047,543.4,14.4,289,3946,0.00,2.15,0.00,0.000,516,0.000,0.030,3335,906,2133,2221,2046,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4096,1.21,170.3,3336,907,2219,2045,521.2,14.9,299,4101,0.00,2.17,0.00,0.000,1030,0.000,0.028,3335,2307,2131,2218,2045,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4407,1.21,170.3,3336,2307,2216,2044,473.1,15.4,320,4411,0.00,2.15,0.00,0.000,516,0.000,0.030,3345,903,2129,2216,2043,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4447,1.21,170.3,3345,904,2216,2044,468.4,15.4,322,4454,0.00,2.17,0.00,0.000,1030,0.000,0.028,3345,2297,2129,2215,2044,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4752,1.21,170.3,3345,2298,2210,2043,419.0,15.7,343,4756,0.00,2.12,0.00,0.000,516,0.000,0.031,3353,908,2127,2213,2042,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4857,1.21,170.3,3352,909,2213,2042,402.9,15.2,350,4861,0.10,2.15,0.00,0.000,5126,0.141,0.028,3323,2309,2126,2212,2041,0,0,0,0,0,0,25.25,25.72,28.83
$GC,5173,1.21,170.3,3323,2310,2212,2041,360.0,13.4,371,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2309,2125,2210,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5472,1.21,172.7,3324,2310,2208,2040,320.1,13.2,391,5476,0.00,2.15,0.00,0.000,516,0.000,0.030,3331,905,2124,2209,2040,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5572,1.21,177.1,3332,905,2207,2040,308.2,13.1,397,5580,0.00,2.15,0.00,0.000,1030,0.000,0.028,3331,2302,2124,2208,2040,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5877,1.21,177.1,3332,2303,2207,2039,264.4,14.6,418,5881,0.00,2.15,0.00,0.000,516,0.000,0.031,3340,908,2123,2207,2039,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5922,1.21,177.1,3341,908,2205,2039,257.6,14.9,421,5926,0.00,2.12,0.00,0.000,1030,0.000,0.027,3337,2298,2122,2207,2038,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6237,1.21,177.1,3340,2298,2207,2039,209.9,15.2,442,6241,0.00,2.15,0.00,0.000,516,0.000,0.030,3350,902,2121,2205,2038,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6367,1.21,177.1,3351,902,2205,2042,192.6,14.4,450,6375,0.08,2.15,0.00,0.000,5126,0.140,0.027,3327,2312,2121,2205,2037,0,0,0,0,0,0,25.12,25.69,28.83
$GC,6673,1.23,191.3,3328,2312,2204,2038,151.9,12.6,471,6690,0.00,2.12,14.10,0.460,8452,0.000,0.037,3327,3697,2057,2141,1973,0,0,0,0,0,0,28.83,25.78,24.89
$GC,6829,1.23,191.3,3326,3698,2139,1974,127.8,16.6,481,6833,0.00,2.10,0.00,0.000,1030,0.000,0.021,3335,2290,2055,2137,1973,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7135,1.25,203.4,3335,2289,2138,1974,86.0,12.7,505,7150,0.00,2.05,10.82,0.415,8708,0.000,0.028,3345,918,2007,2089,1925,0,0,0,0,0,0,28.83,25.81,24.88
$GC,7500,1.38,312.0,3345,919,2089,1924,46.7,7.5,545,7592,0.00,2.10,84.22,0.435,9222,0.000,0.024,3345,2301,1562,1655,1470,0,0,0,0,0,0,28.83,25.66,24.59
$GC,7651,1.45,367.0,3345,2302,1651,1468,34.0,10.4,572,7705,0.12,2.22,44.03,0.415,10500,0.095,0.037,3389,3694,1339,1435,1244,0,0,0,0,0,0,25.29,25.20,24.46
$GC,7759,1.45,367.0,3389,3695,1433,1244,18.4,16.4,591,7766,0.00,2.10,0.00,0.000,1030,0.000,0.022,3398,2306,1337,1431,1243,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7825,1.45,367.0,3399,2305,1430,1242,9.0,14.7,604,7832,0.00,2.25,0.00,0.000,260,0.000,0.036,3399,3698,1336,1430,1242,0,0,0,0,0,0,28.83,25.19,28.83
$STATE,7865,end climb,SURFACE_DEPTH_REACHED
$STATE,7865,begin surface coast
$FINISH,0.9,1.008993
$STATE,7880,end surface coast,CONTROL_FINISHED_OK
$STATE,7880,begin surface
$SM_CCo,7898,72.68,0.340,1,0,799,500.16
$SM_GC,1.63,8.60,1.52,72.68,0.028,0.022,0.340,150,2659,799,-8.61,2.26,500.16,0,0,0,0,1,0,25.22,25.57,24.47
$IRIDIUM_FIX,2722.64,-8719.43,210508,015715
$TT8_MAMPS,0.098868,0.098868
$HUMID,41.25
$INTERNAL_PRESSURE,9.126
$TCM_TEMP,24.00
$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,3.5/516052/497955
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422512
$24V_AH,23.93,54.875
$10V_AH,10.00,21.222
$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,21.400,81.200,424.025,72.675,0.000,31.446,36.339,147.598,0.000,8528.700,15.145,0.000,5747.360,589.542,1892.825,93.395,0.000,1275.203,0.000,1228.082,0.000,0.000,0.000
$DEVICE_MAMPS,233.325,37.485,793.305,340.425,0.000,61.970,160.000,223.000,0.000,37.207,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,410.175,0.000,0.000,0.000,0.000,0.000,8528.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.975,0.000,0.000,0.000
$MEM,296080
$DATA_FILE_SIZE,20085,615
$CAP_FILE_SIZE,96804,0
$CFSIZE,260034560,254152704
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,8471.37,0x236bc6,7,5
$INTR,1,7665.38,0x233820,1,24
$GPS,250715,144844,2759.223,-8726.338,27,0.9,37,-2.0