version: 66.12
glider: 161
mission: 11
dive: 59
start: 7 26 115 4 39 45
data:
$ID,161
$MISSION,11
$DIVE,59
$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,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,275
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,550
$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,69
$R_STBD_OVSHOOT,49
$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
$GPS1,260715,043232,2759.314,-8728.055,16,0.9,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.8
$GPS2,260715,043935,2759.349,-8728.090,4,0.9,14,-2.0
$SPEED_LIMITS,0.167,0.327
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,167.3,916,-40.8,-16.667,-45.00,764
$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,15,-2.05,-83.3,154,2685,815,583,0.0,0.0,0,69,0.00,0.00,-51.78,0.000,16386,0.000,0.000,152,2685,2435,2412,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-2.08,-113.5,154,2685,2413,2459,5.3,-12.6,8,96,9.07,1.65,-12.85,0.000,19204,0.246,0.051,2248,3772,3305,3332,3279,0,0,0,0,0,0,24.87,25.59,25.74
$GC,375,-2.08,-113.5,2247,3773,3342,3279,125.5,-31.3,45,379,0.00,1.62,0.00,0.000,1030,0.000,0.022,2248,2652,3308,3340,3277,0,0,0,0,0,0,28.83,25.77,28.83
$GC,690,-2.08,-113.5,2247,2653,3347,3279,216.2,-27.9,66,694,0.00,2.00,0.00,0.000,516,0.000,0.022,2247,1283,3311,3345,3278,0,0,0,0,0,0,28.83,25.77,28.83
$GC,760,-2.08,-113.5,2249,1283,3346,3278,232.5,-27.1,70,768,0.00,2.15,0.00,0.000,1030,0.000,0.028,2238,2671,3315,3353,3277,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1065,-2.08,-113.5,2239,2672,3347,3278,319.7,-27.8,91,1069,0.00,2.08,0.00,0.000,516,0.000,0.021,2238,1289,3312,3347,3278,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1320,-2.08,-113.5,2237,1290,3349,3278,389.9,-28.1,108,1324,0.10,2.12,0.00,0.000,3078,0.184,0.029,2254,2674,3312,3347,3277,0,0,0,0,0,0,25.15,25.81,28.83
$GC,1636,-2.08,-113.5,2255,2675,3346,3274,476.3,-27.3,129,1639,0.00,2.03,0.00,0.000,516,0.000,0.023,2255,1285,3310,3347,3273,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1795,-2.08,-113.5,2255,1286,3347,3271,516.8,-26.9,139,1803,0.00,2.15,0.00,0.000,1030,0.000,0.030,2246,2679,3308,3347,3270,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,2099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2099,begin apogee
$GC,2103,-0.24,0.0,2248,2308,3347,3265,602.9,-27.3,160,2197,2.08,0.00,90.05,0.776,10246,0.159,0.000,2846,2307,2839,2922,2756,0,0,0,0,0,0,25.22,28.83,24.15
$STATE,2198,end apogee,CONTROL_FINISHED_OK
$STATE,2198,begin climb
$GC,2199,2.08,113.5,2845,2307,2923,2756,608.2,0.0,166,2299,2.08,2.25,90.40,0.773,10500,0.063,0.031,3588,3716,2374,2435,2313,0,0,0,0,0,0,24.99,24.87,24.02
$GC,2423,2.08,113.5,3587,3717,2427,2313,580.9,19.7,181,2427,0.00,2.12,0.00,0.000,1030,0.000,0.021,3598,2296,2368,2425,2312,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2733,2.08,113.5,3598,2296,2423,2310,524.6,18.0,202,2737,0.00,2.05,0.00,0.000,516,0.000,0.028,3608,917,2365,2422,2309,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3028,2.08,113.5,3609,917,2418,2307,474.8,17.3,221,3036,0.00,2.10,0.00,0.000,1030,0.000,0.024,3608,2305,2362,2418,2307,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3333,2.08,113.5,3609,2305,2415,2305,421.3,16.7,242,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,2305,2359,2415,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3633,2.09,117.2,3607,2306,2413,2302,371.0,16.2,262,3637,0.00,2.12,0.00,0.000,516,0.000,0.028,3616,912,2356,2412,2301,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3723,2.09,117.2,3618,913,2411,2301,355.8,16.9,268,3727,0.00,2.10,0.00,0.000,1030,0.000,0.026,3617,2292,2355,2411,2300,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4039,2.10,123.7,3618,2292,2408,2299,302.9,15.8,289,4049,0.00,2.05,6.10,0.477,8708,0.000,0.026,3626,902,2333,2390,2276,0,0,0,0,0,0,28.83,25.84,24.70
$GC,4478,2.10,123.7,3625,902,2387,2275,231.3,16.7,317,4486,0.00,2.12,0.00,0.000,1030,0.000,0.025,3626,2299,2330,2386,2274,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4784,2.10,127.7,3627,2300,2383,2274,178.2,16.1,338,4792,0.00,2.17,4.03,0.360,8452,0.000,0.034,3626,3702,2317,2373,2261,0,0,0,0,0,0,28.83,25.79,24.67
$GC,4833,2.10,127.7,3626,3703,2372,2262,170.2,17.3,341,4837,0.10,2.08,0.00,0.000,5126,0.193,0.022,3611,2313,2316,2371,2261,0,0,0,0,0,0,25.05,25.79,28.83
$GC,5144,2.15,167.7,3611,2311,2371,2262,127.3,11.3,362,5178,0.00,0.00,32.28,0.486,8198,0.000,0.000,3611,2310,2153,2213,2094,0,0,0,0,0,0,28.83,28.83,24.84
$GC,5474,2.17,179.7,3611,2310,2208,2092,76.1,15.1,389,5486,0.00,0.00,10.10,0.407,8454,0.000,0.000,3611,2309,2104,2171,2038,0,0,0,0,0,0,28.83,28.83,24.84
$GC,5604,2.25,248.8,3611,2310,2168,2037,62.7,7.4,402,5666,0.10,2.12,53.30,0.443,10756,0.100,0.028,3662,908,1821,1885,1757,0,0,0,0,0,0,25.67,25.44,24.70
$GC,5976,2.29,279.8,3661,909,1878,1754,14.0,12.5,465,6020,0.00,2.10,34.65,0.308,9222,0.000,0.025,3660,2301,1701,1768,1634,0,0,0,0,1,0,28.83,25.67,24.82
$GC,6080,2.43,392.7,3659,2302,1766,1627,7.5,1.5,484,6191,0.12,2.12,100.00,0.392,10756,0.108,0.028,3714,908,1237,1324,1150,0,0,0,0,1,0,25.47,25.21,24.49
$STATE,6254,end climb,SURFACE_DEPTH_REACHED
$STATE,6254,begin surface coast
$FINISH,0.8,1.019558
$STATE,6284,end surface coast,CONTROL_FINISHED_OK
$STATE,6284,begin surface
$SM_CCo,6303,111.35,0.366,1,0,594,550.20
$SM_GC,1.57,9.52,2.72,111.35,0.036,0.028,0.366,143,2666,594,-8.61,-1.67,550.20,0,0,0,0,1,0,25.48,25.45,24.46
$IRIDIUM_FIX,2722.64,-8719.43,210508,180251
$TT8_MAMPS,0.098868,0.098868
$HUMID,39.13
$INTERNAL_PRESSURE,9.1846
$TCM_TEMP,24.70
$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,3.5/516052/497950
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422339
$24V_AH,23.94,56.205
$10V_AH,10.00,22.191
$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,23.175,46.550,420.900,111.350,0.000,29.944,40.733,98.115,0.000,6829.300,15.476,0.000,4387.418,583.118,1639.270,73.929,0.000,1190.420,0.000,1113.960,0.000,0.000,0.000
$DEVICE_MAMPS,245.565,51.255,776.475,365.670,0.000,61.970,160.000,223.000,0.000,36.772,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,345.996,0.000,0.000,0.000,0.000,0.000,6829.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.923,0.000,0.000,0.000
$MEM,296104
$DATA_FILE_SIZE,16809,521
$CAP_FILE_SIZE,76389,0
$CFSIZE,260034560,253808640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,8884.55,0x236bc6,7,5
$GPS,260715,062716,2758.702,-8727.596,2,0.7,13,-2.0