version: 66.12
glider: 161
mission: 11
dive: 57
start: 7 26 115 0 1 33
data:
$ID,161
$MISSION,11
$DIVE,57
$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,160
$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,200
$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,85
$R_STBD_OVSHOOT,48
$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
$GPS1,250715,235245,2758.069,-8727.048,16,0.8,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.7
$GPS2,260715,000123,2757.984,-8727.153,4,0.9,14,-2.0
$SPEED_LIMITS,0.231,0.262
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,323.7,2094,-22.6,-13.333,-29.81,1701
$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,-1.26,-151.5,150,2709,889,698,0.0,0.0,0,68,0.00,0.00,-52.00,0.000,16386,0.000,0.000,148,2710,2517,2492,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.31,-188.5,148,2711,2495,2542,5.1,-11.1,8,102,10.07,2.15,-16.25,0.000,18948,0.243,0.036,2502,1265,3612,3637,3587,0,0,0,0,0,0,24.96,25.63,25.75
$GC,226,-1.31,-188.5,2502,1265,3640,3587,65.2,-32.9,34,230,0.00,2.17,0.00,0.000,1030,0.000,0.029,2493,2677,3613,3640,3587,0,0,0,0,0,0,28.83,25.70,28.83
$GC,356,-1.31,-188.5,2492,2678,3644,3588,98.7,-26.1,47,360,0.00,2.08,0.00,0.000,516,0.000,0.022,2493,1276,3614,3642,3587,0,0,0,0,0,0,28.83,25.79,28.83
$GC,406,-1.31,-188.5,2493,1276,3644,3588,109.7,-24.3,51,410,0.00,2.15,0.00,0.000,1030,0.000,0.030,2484,2676,3615,3643,3587,0,0,0,0,0,0,28.83,25.76,28.83
$GC,716,-1.31,-188.5,2483,2677,3648,3588,184.0,-23.6,72,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2676,3617,3647,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1016,-1.31,-188.5,2485,2676,3647,3589,251.0,-21.9,92,1020,0.00,2.08,0.00,0.000,516,0.000,0.022,2484,1268,3618,3648,3588,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1141,-1.31,-188.5,2483,1269,3649,3589,275.0,-19.9,100,1145,0.10,2.17,0.00,0.000,3078,0.148,0.031,2504,2679,3618,3648,3588,0,0,0,0,0,0,25.29,25.82,28.83
$GC,1452,-1.31,-188.5,2505,2679,3648,3592,338.2,-20.1,121,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2679,3617,3648,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-1.31,-188.5,2504,2680,3649,3585,398.3,-19.9,141,1755,0.00,2.08,0.00,0.000,516,0.000,0.024,2504,1282,3614,3648,3581,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1821,-1.31,-188.5,2505,1282,3647,3584,410.3,-19.9,145,1828,0.00,2.15,0.00,0.000,1030,0.000,0.031,2497,2672,3615,3647,3583,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2126,-1.31,-188.5,2497,2672,3644,3581,472.2,-19.4,166,2130,0.00,2.08,0.00,0.000,516,0.000,0.024,2496,1284,3613,3645,3581,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2196,-1.31,-188.5,2497,1284,3644,3581,483.8,-19.3,170,2203,0.00,2.17,0.00,0.000,1030,0.000,0.031,2486,2682,3615,3650,3580,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2501,-1.31,-188.5,2486,2684,3642,3581,546.8,-19.9,191,2505,0.00,2.12,0.00,0.000,516,0.000,0.025,2486,1280,3611,3641,3582,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2546,-1.31,-188.5,2486,1281,3642,3578,555.7,-19.7,194,2550,0.08,2.20,0.00,0.000,3078,0.156,0.032,2501,2674,3608,3640,3576,0,0,0,0,0,0,25.07,25.47,28.83
$STATE,2785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2785,begin apogee
$GC,2788,-0.24,0.0,2501,2309,3638,3574,600.3,-17.9,210,2941,1.12,0.00,148.45,0.788,10246,0.120,0.000,2850,2308,2838,2941,2736,0,0,0,0,0,0,25.09,28.83,23.95
$STATE,2941,end apogee,CONTROL_FINISHED_OK
$STATE,2941,begin climb
$GC,2942,1.31,188.5,2850,2313,2942,2736,606.4,0.0,220,3105,1.40,2.15,150.55,0.786,10756,0.062,0.028,3355,909,2067,2155,1979,0,0,0,0,0,0,24.77,24.84,23.98
$GC,3228,1.31,188.5,3356,909,2147,1978,579.1,16.8,239,3233,0.00,2.15,0.00,0.000,1030,0.000,0.027,3355,2304,2062,2148,1977,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3539,1.31,188.5,3355,2305,2145,1975,528.6,15.8,260,3543,0.00,2.12,0.00,0.000,516,0.000,0.029,3365,909,2059,2144,1974,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3674,1.31,188.5,3364,909,2143,1974,506.7,16.2,269,3678,0.00,2.12,0.00,0.000,1030,0.000,0.028,3365,2297,2058,2142,1974,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3989,1.31,188.5,3365,2298,2139,1972,454.0,16.9,290,3993,0.00,2.10,0.00,0.000,516,0.000,0.029,3373,918,2055,2139,1972,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4109,1.31,188.5,3373,919,2140,1973,433.1,17.2,298,4113,0.00,2.12,0.00,0.000,1030,0.000,0.027,3374,2312,2054,2138,1971,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4424,1.31,188.5,3375,2312,2135,1970,378.4,17.6,319,4428,0.00,2.12,0.00,0.000,516,0.000,0.029,3383,908,2053,2136,1970,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4593,1.31,188.5,3383,908,2137,1970,349.0,18.3,330,4598,0.10,2.12,0.00,0.000,5126,0.142,0.028,3353,2298,2052,2135,1969,0,0,0,0,0,0,25.25,25.75,28.83
$GC,4904,1.31,188.5,3354,2298,2133,1968,297.5,16.3,351,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2298,2050,2133,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5204,1.31,188.5,3354,2299,2131,1967,247.5,16.8,371,5208,0.00,2.10,0.00,0.000,516,0.000,0.029,3361,919,2049,2132,1967,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5309,1.31,188.5,3361,920,2132,1968,230.4,16.3,378,5313,0.00,2.12,0.00,0.000,1030,0.000,0.027,3361,2305,2049,2131,1967,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5624,1.31,188.5,3362,2308,2129,1966,179.5,15.3,399,5628,0.00,2.12,0.00,0.000,516,0.000,0.028,3370,909,2048,2130,1966,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5714,1.31,188.5,3371,910,2129,1965,165.7,15.2,405,5718,0.00,2.12,0.00,0.000,1030,0.000,0.027,3370,2303,2047,2129,1965,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6029,1.31,188.5,3370,2305,2129,1965,115.6,15.3,426,6033,0.00,2.15,0.00,0.000,260,0.000,0.037,3370,3696,2046,2128,1964,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6459,1.38,247.4,3370,3697,2129,1965,58.2,9.8,466,6511,0.00,2.08,42.50,0.431,9222,0.000,0.021,3381,2295,1826,1912,1741,0,0,0,0,0,0,28.83,25.75,24.79
$GC,6629,1.46,313.6,3380,2295,1905,1742,44.0,9.3,489,6686,0.00,2.22,51.83,0.418,8452,0.000,0.036,3381,3699,1557,1649,1465,0,0,0,0,0,0,28.83,25.34,24.62
$GC,6905,1.51,349.6,3380,3700,1642,1464,11.3,11.2,542,6955,0.00,2.08,39.60,0.327,9222,0.000,0.021,3389,2306,1412,1505,1320,0,0,0,0,1,0,28.83,25.63,24.60
$GC,7015,1.78,568.3,3390,2304,1502,1319,6.8,0.1,562,7144,0.28,0.00,120.15,0.400,10498,0.059,0.000,3493,2304,856,975,737,0,0,0,0,1,0,25.41,28.83,25.37
$STATE,7145,end climb,SURFACE_DEPTH_REACHED
$STATE,7145,begin surface coast
$FINISH,1.1,1.019446
$STATE,7178,end surface coast,CONTROL_FINISHED_OK
$STATE,7178,begin surface
$SM_CCo,7194,14.35,0.054,0,0,802,500.16
$SM_GC,3.35,8.95,0.57,14.35,0.031,0.037,0.054,138,2674,802,-8.65,-1.36,500.16,0,0,0,0,0,0,25.29,25.29,25.26
$IRIDIUM_FIX,2722.64,-8719.43,210508,132340
$TT8_MAMPS,0.09737,0.09737
$HUMID,41.06
$INTERNAL_PRESSURE,9.19436
$TCM_TEMP,24.90
$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,3.5/516052/497951
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422211
$24V_AH,23.95,55.860
$10V_AH,10.17,21.920
$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,22.100,60.700,553.075,14.350,0.000,35.379,48.672,148.989,0.000,7788.100,15.123,0.000,5057.837,589.705,1840.454,86.764,0.000,1263.889,0.000,1186.194,0.000,0.000,0.000
$DEVICE_MAMPS,242.505,37.485,787.950,54.315,0.000,61.970,160.000,223.000,0.000,37.228,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,391.093,0.000,0.000,0.000,0.000,0.000,7788.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.958,0.000,0.000,0.000
$MEM,296064
$DATA_FILE_SIZE,20082,590
$CAP_FILE_SIZE,86065,0
$CFSIZE,260034560,253894656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,8493.16,0x236bc6,7,5
$GPS,260715,020331,2758.504,-8727.576,80,1.0,90,-2.0