version: 66.12
glider: 161
mission: 11
dive: 54
start: 7 25 115 18 51 42
data:
$ID,161
$MISSION,11
$DIVE,54
$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,100
$T_MISSION,120
$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,102
$R_STBD_OVSHOOT,54
$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
$GPS1,250715,184307,2757.914,-8726.751,3,0.8,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.7
$GPS2,250715,185129,2757.740,-8726.630,5,1.1,41,-2.0
$SPEED_LIMITS,0.260,0.270
$TGT_NAME,RECOV
$TGT_LATLONG,2758.418,-8727.309
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,320.5,1676,-22.2,-15.000,-29.07,1909
$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,14,-1.27,-170.3,139,2648,890,696,0.0,0.0,0,81,0.00,0.00,-64.05,0.000,16386,0.000,0.000,138,2648,2930,2910,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.27,-170.3,139,2648,2911,2951,6.3,-15.3,10,108,10.00,1.70,-8.80,0.000,18692,0.240,0.052,2507,3760,3537,3562,3513,0,0,0,0,0,0,25.06,25.55,25.70
$GC,417,-1.27,-170.3,2508,3760,3567,3513,111.8,-24.3,51,421,0.00,1.58,0.00,0.000,1030,0.000,0.022,2507,2674,3540,3567,3513,0,0,0,0,0,0,28.83,25.84,28.83
$GC,732,-1.27,-170.3,2507,2674,3572,3514,182.3,-20.7,72,736,0.00,1.67,0.00,0.000,260,0.000,0.038,2499,3749,3542,3571,3513,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1032,-1.27,-170.3,2498,3750,3573,3513,245.3,-21.4,92,1036,0.00,1.55,0.00,0.000,1030,0.000,0.024,2499,2689,3542,3571,3513,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1347,-1.27,-170.3,2500,2690,3571,3513,308.0,-19.9,113,1351,0.00,2.10,0.00,0.000,516,0.000,0.024,2499,1262,3541,3571,3512,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1427,-1.27,-170.3,2500,1262,3571,3513,322.6,-19.3,118,1431,0.10,2.15,0.00,0.000,3078,0.151,0.031,2519,2663,3541,3571,3512,0,0,0,0,0,0,25.25,25.82,28.83
$GC,1737,-1.27,-170.3,2520,2664,3570,3508,379.4,-17.8,139,1741,0.00,2.10,0.00,0.000,516,0.000,0.024,2519,1263,3539,3571,3508,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1787,-1.27,-170.3,2520,1264,3571,3508,387.4,-17.8,142,1791,0.00,2.20,0.00,0.000,1030,0.000,0.031,2511,2685,3539,3571,3507,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2097,-1.27,-170.3,2512,2685,3570,3505,445.6,-18.1,163,2101,0.00,2.12,0.00,0.000,516,0.000,0.025,2511,1272,3537,3570,3504,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,2126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2126,begin apogee
$GC,2130,-0.24,0.0,2504,2311,3571,3505,451.0,-18.0,165,2266,1.10,0.00,132.40,0.672,10246,0.120,0.000,2850,2310,2838,2939,2738,0,0,0,0,0,0,25.35,28.83,24.24
$STATE,2267,end apogee,CONTROL_FINISHED_OK
$STATE,2267,begin climb
$GC,2268,1.27,170.3,2849,2311,2938,2738,456.0,0.0,174,2409,1.33,2.20,132.95,0.675,10756,0.063,0.027,3337,912,2141,2230,2053,0,0,0,0,0,0,25.02,24.96,24.16
$GC,2498,1.27,170.3,3338,912,2226,2049,437.7,15.3,189,2505,0.00,2.15,0.00,0.000,1030,0.000,0.026,3337,2307,2137,2225,2049,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2803,1.27,170.3,3338,2307,2220,2047,389.5,15.1,210,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2307,2133,2220,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3103,1.27,173.6,3338,2308,2217,2045,345.2,14.8,230,3107,0.00,2.12,0.00,0.000,516,0.000,0.028,3347,915,2130,2217,2044,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3213,1.27,173.6,3348,915,2216,2045,329.4,15.0,237,3217,0.00,2.12,0.00,0.000,1030,0.000,0.026,3347,2291,2130,2216,2044,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3523,1.27,173.6,3348,2295,2212,2041,281.4,15.7,258,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2294,2127,2213,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,1.28,179.7,3347,2295,2211,2041,235.4,14.7,278,3833,0.00,2.08,5.88,0.429,8708,0.000,0.028,3354,903,2105,2192,2019,0,0,0,0,0,0,28.83,25.80,24.77
$GC,3953,1.28,181.2,3355,904,2187,2019,215.8,14.9,286,3957,0.00,2.15,0.00,0.000,1030,0.000,0.026,3354,2312,2103,2188,2019,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4269,1.30,196.6,3354,2312,2186,2018,168.8,14.2,307,4286,0.00,0.00,14.15,0.477,8454,0.000,0.000,3354,2312,2036,2121,1952,0,0,0,0,0,0,28.83,28.83,24.95
$GC,4583,1.30,196.6,3355,2312,2116,1951,118.3,16.2,328,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2312,2033,2115,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,1.36,245.3,3354,2313,2115,1951,76.7,12.4,354,4931,0.00,0.00,38.17,0.439,8454,0.000,0.000,3354,2310,1835,1922,1749,0,0,0,0,0,0,28.83,28.83,24.93
$GC,5048,1.38,267.5,3354,2312,1914,1748,53.5,13.8,370,5071,0.00,2.15,17.75,0.405,8708,0.000,0.028,3356,906,1745,1830,1661,0,0,0,0,0,0,28.83,25.63,24.85
$GC,5180,1.52,380.3,3356,907,1826,1660,37.8,8.9,393,5279,0.12,2.12,88.62,0.415,11270,0.063,0.024,3424,2304,1285,1383,1187,0,0,0,0,0,0,25.60,25.66,24.63
$GC,5338,1.52,380.3,3425,2304,1379,1185,15.2,16.9,421,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2304,1282,1379,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5398,1.54,395.9,3424,2304,1379,1184,5.3,14.2,433,5431,0.00,2.08,23.55,0.241,8452,0.000,0.037,3424,3700,1223,1324,1122,0,0,0,0,1,0,28.83,25.53,24.71
$STATE,5434,end climb,SURFACE_DEPTH_REACHED
$STATE,5434,begin surface coast
$FINISH,0.9,1.008745
$STATE,5464,end surface coast,CONTROL_FINISHED_OK
$STATE,5465,begin surface
$SM_CCo,5483,66.38,0.322,1,0,799,500.40
$SM_GC,2.06,8.80,1.52,66.38,0.038,0.022,0.322,141,2653,799,-8.66,2.26,500.40,0,0,0,0,1,0,25.50,25.63,24.63
$IRIDIUM_FIX,2722.64,-8719.43,210508,081330
$TT8_MAMPS,0.096621,0.096621
$HUMID,41.69
$INTERNAL_PRESSURE,9.16506
$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,3.5/516052/497953
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422366
$24V_AH,24.16,55.345
$10V_AH,10.19,21.568
$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,21.450,39.475,453.475,66.375,0.000,37.501,33.689,144.457,0.000,6106.900,43.540,0.000,3837.559,554.703,1465.892,72.725,0.000,1063.409,0.000,876.849,0.000,0.000,0.000
$DEVICE_MAMPS,240.210,52.020,674.730,322.065,0.000,61.970,160.000,223.000,0.000,37.689,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,294.242,0.000,0.000,0.000,0.000,0.000,6106.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.836,0.000,0.000,0.000
$MEM,296088
$DATA_FILE_SIZE,16793,445
$CAP_FILE_SIZE,69205,1
$CFSIZE,260034560,254042112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,7027.04,0x236bc6,7,5
$INTR,1,2403.68,0x23381e,1,24
$GPS,250715,202448,2757.782,-8726.628,4,1.0,14,-2.0