version: 66.12
glider: 161
mission: 11
dive: 53
start: 7 25 115 16 54 34
data:
$ID,161
$MISSION,11
$DIVE,53
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,450
$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,120
$T_MISSION,130
$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,91
$R_STBD_OVSHOOT,51
$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
$GPS1,250715,164643,2758.245,-8726.463,2,0.9,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.2
$GPS2,250715,165424,2758.055,-8726.394,3,0.9,13,-2.0
$SPEED_LIMITS,0.217,0.241
$TGT_NAME,RECOV
$TGT_LATLONG,2758.418,-8727.309
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,296.2,1641,-21.0,-12.500,-28.74,1799
$D_GRID,450
$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,15,-1.19,-150.9,150,2655,893,692,0.0,0.0,0,81,0.00,0.00,-63.65,0.000,16386,0.000,0.000,148,2655,2866,2847,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.19,-155.9,148,2653,2850,2886,5.4,-12.2,10,108,9.98,1.70,-9.45,0.000,18692,0.234,0.054,2534,3760,3477,3504,3450,0,0,0,0,0,0,24.94,25.53,25.72
$GC,212,-1.19,-155.9,2533,3761,3508,3450,53.9,-33.4,33,219,0.00,1.60,0.00,0.000,1030,0.000,0.022,2533,2675,3477,3506,3449,0,0,0,0,0,0,28.83,25.72,28.83
$GC,337,-1.19,-155.9,2533,2676,3509,3449,83.4,-21.8,46,341,0.00,2.05,0.00,0.000,516,0.000,0.024,2534,1284,3479,3509,3449,0,0,0,0,0,0,28.83,25.76,28.83
$GC,382,-1.19,-155.9,2533,1285,3512,3450,92.4,-22.7,50,390,0.00,2.12,0.00,0.000,1030,0.000,0.030,2524,2663,3479,3510,3449,0,0,0,0,0,0,28.83,25.72,28.83
$GC,507,-1.19,-155.9,2524,2664,3514,3450,120.4,-21.6,60,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2663,3480,3512,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,807,-1.19,-155.9,2524,2664,3516,3450,175.4,-17.8,80,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2663,3482,3515,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1107,-1.19,-155.9,2525,2664,3515,3450,229.4,-17.1,100,1111,0.00,2.05,0.00,0.000,516,0.000,0.024,2524,1290,3482,3516,3449,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1167,-1.19,-155.9,2525,1290,3515,3450,239.8,-17.2,104,1171,0.08,2.12,0.00,0.000,3078,0.156,0.032,2537,2673,3482,3516,3449,0,0,0,0,0,0,25.29,25.81,28.83
$GC,1483,-1.19,-155.9,2538,2674,3515,3450,292.0,-17.2,125,1486,0.00,2.03,0.00,0.000,516,0.000,0.024,2537,1284,3482,3515,3449,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1552,-1.19,-155.9,2538,1273,3516,3450,302.2,-16.9,129,1559,0.00,2.17,0.00,0.000,1030,0.000,0.031,2532,2682,3482,3516,3448,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1857,-1.19,-155.9,2533,2682,3516,3447,357.4,-17.9,150,1861,0.00,2.08,0.00,0.000,516,0.000,0.024,2532,1293,3481,3516,3446,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1907,-1.19,-155.9,2533,1296,3515,3447,365.1,-17.2,153,1911,0.00,2.12,0.00,0.000,1030,0.000,0.032,2524,2672,3481,3516,3446,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2217,-1.19,-155.9,2523,2674,3517,3443,417.2,-16.6,174,2221,0.00,2.08,0.00,0.000,516,0.000,0.024,2524,1295,3478,3515,3442,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2287,-1.19,-155.9,2523,1297,3516,3442,427.0,-16.4,178,2295,0.08,2.15,0.00,0.000,3078,0.153,0.032,2537,2677,3478,3515,3442,0,0,0,0,0,0,25.22,25.80,28.83
$STATE,2426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2426,begin apogee
$GC,2429,-0.24,0.0,2537,2310,3516,3442,450.5,-15.7,188,2553,0.98,0.00,120.65,0.681,10246,0.115,0.000,2847,2309,2840,2940,2740,0,0,0,0,0,0,25.31,28.83,24.24
$STATE,2554,end apogee,CONTROL_FINISHED_OK
$STATE,2554,begin climb
$GC,2555,1.19,155.9,2847,2310,2941,2741,454.2,0.0,196,2685,1.27,0.00,122.22,0.677,10758,0.064,0.000,3302,2309,2200,2283,2118,0,0,0,0,0,0,24.98,28.83,24.11
$GC,2982,1.19,155.9,3303,2309,2272,2116,409.9,13.1,225,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2309,2194,2273,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3282,1.19,155.9,3303,2309,2268,2114,371.4,12.9,245,3286,0.00,2.12,0.00,0.000,516,0.000,0.028,3311,905,2191,2268,2114,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3352,1.19,155.9,3312,906,2267,2114,363.5,13.1,249,3360,0.00,2.15,0.00,0.000,1030,0.000,0.027,3311,2307,2190,2267,2113,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3658,1.19,155.9,3312,2307,2264,2116,322.6,12.7,270,3661,0.00,2.12,0.00,0.000,516,0.000,0.028,3321,908,2188,2265,2111,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3712,1.19,155.9,3320,908,2265,2112,316.9,12.6,273,3719,0.00,2.12,0.00,0.000,1030,0.000,0.027,3321,2299,2187,2264,2111,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4017,1.19,155.9,3320,2300,2263,2111,275.8,13.1,294,4021,0.00,2.15,0.00,0.000,260,0.000,0.037,3321,3693,2185,2261,2110,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4042,1.19,155.9,3321,3694,2261,2111,273.5,13.7,295,4050,0.00,2.08,0.00,0.000,1030,0.000,0.024,3331,2299,2185,2261,2110,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4347,1.19,155.9,3332,2299,2259,2109,229.6,14.4,316,4351,0.00,2.08,0.00,0.000,516,0.000,0.029,3341,915,2184,2259,2109,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4483,1.19,155.9,3340,915,2259,2109,210.8,13.5,325,4486,0.00,2.08,0.00,0.000,1030,0.000,0.026,3340,2314,2183,2258,2108,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4797,1.19,155.9,3340,2315,2257,2108,167.7,13.9,346,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2314,2181,2256,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,1.19,155.9,3340,2315,2256,2107,128.7,12.8,366,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2314,2180,2254,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,1.22,174.8,3341,2315,2253,2107,92.6,11.4,388,5413,0.00,2.08,12.57,0.415,8452,0.000,0.034,3341,3697,2123,2206,2041,0,0,0,0,0,0,28.83,25.84,24.99
$GC,5542,1.25,198.0,3341,3698,2202,2041,75.8,11.2,402,5566,0.00,2.08,18.83,0.428,9222,0.000,0.021,3350,2289,2031,2114,1948,0,0,0,0,0,0,28.83,25.82,24.91
$GC,5682,1.25,198.0,3350,2290,2111,1947,59.6,12.5,416,5686,0.00,2.05,0.00,0.000,516,0.000,0.027,3352,925,2027,2109,1946,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6047,1.46,375.1,3354,925,2106,1946,36.1,2.4,479,6190,0.08,2.08,135.77,0.414,11270,0.080,0.024,3391,2296,1307,1405,1209,0,0,0,0,0,0,25.65,25.77,24.60
$GC,6250,1.46,375.1,3391,2297,1401,1207,16.4,14.4,514,6257,0.00,2.22,0.00,0.000,260,0.000,0.036,3391,3693,1302,1399,1206,0,0,0,0,0,0,28.83,24.90,28.83
$STATE,6355,end climb,SURFACE_DEPTH_REACHED
$STATE,6355,begin surface coast
$FINISH,0.8,1.021072
$STATE,6380,end surface coast,CONTROL_FINISHED_OK
$STATE,6380,begin surface
$SM_CCo,6398,77.90,0.334,1,0,800,500.16
$SM_GC,1.92,8.70,1.50,77.90,0.035,0.021,0.334,144,2658,800,-8.62,2.52,500.16,0,0,0,0,1,0,25.30,25.62,24.58
$IRIDIUM_FIX,2722.64,-8719.43,210508,061709
$TT8_MAMPS,0.09737,0.09737
$HUMID,40.66
$INTERNAL_PRESSURE,9.17483
$TCM_TEMP,24.60
$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,3.5/516052/497953
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422412
$24V_AH,24.11,55.192
$10V_AH,10.05,21.461
$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,21.150,53.675,410.050,77.900,0.000,30.372,33.706,137.104,0.000,6941.300,15.134,0.000,4622.514,556.801,1548.552,80.507,0.000,1107.460,0.000,961.601,0.000,0.000,0.000
$DEVICE_MAMPS,234.090,54.315,680.850,334.305,0.000,61.970,160.000,223.000,0.000,36.421,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,357.732,0.000,0.000,0.000,0.000,0.000,6941.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.824,0.000,0.000,0.000
$MEM,296104
$DATA_FILE_SIZE,20076,540
$CAP_FILE_SIZE,77337,0
$CFSIZE,260034560,254078976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7028.82,0x236bc6,7,5
$GPS,250715,184307,2757.914,-8726.751,3,0.8,14,-2.0