version: 66.12
glider: 161
mission: 11
dive: 10
start: 7 20 115 0 13 29
data:
$ID,161
$MISSION,11
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,270
$T_MISSION,300
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51942
$MASS_COMP,0
$NAV_MODE,1
$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,25.6
$TGT_DEFAULT_LON,126.45
$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,84
$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,0
$PITCH_W_DBAND,0
$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
$GPS1,200715,000137,2759.886,-8729.563,41,0.8,51,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.4
$GPS2,200715,001319,2759.749,-8729.531,5,0.9,15,-1.9
$SPEED_LIMITS,0.212,0.268
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,346.4,2499,-22.5,-12.222,-30.00,1608
$D_GRID,990
$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,-1.23,-131.4,151,2688,910,690,0.0,0.0,0,62,0.00,0.00,-45.72,0.000,16386,0.000,0.000,151,2688,2247,2215,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.34,-219.0,152,2688,2215,2279,3.4,-6.6,7,108,9.85,2.10,-26.17,0.000,18948,0.234,0.039,2491,1267,3736,3752,3720,0,0,0,0,0,0,24.81,25.37,25.47
$GC,412,-1.34,-219.0,2490,1267,3757,3721,113.5,-24.0,50,420,0.00,2.17,0.00,0.000,1030,0.000,0.031,2483,2674,3738,3756,3720,0,0,0,0,0,0,28.83,25.49,28.83
$GC,717,-1.34,-219.0,2482,2674,3759,3721,189.6,-23.4,71,721,0.00,2.17,0.00,0.000,516,0.000,0.022,2482,1281,3739,3758,3720,0,0,0,0,0,0,28.83,24.13,28.83
$GC,812,-1.34,-219.0,2484,1281,3758,3721,209.8,-22.1,77,816,0.00,2.15,0.00,0.000,1030,0.000,0.031,2473,2677,3737,3758,3717,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1122,-1.34,-219.0,2472,2677,3760,3721,285.4,-23.8,98,1126,0.00,2.08,0.00,0.000,516,0.000,0.024,2473,1284,3739,3758,3720,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1187,-1.34,-219.0,2474,1284,3758,3720,298.9,-22.5,102,1191,0.10,2.15,0.00,0.000,3078,0.155,0.031,2494,2678,3738,3758,3719,0,0,0,0,0,0,25.20,25.65,28.83
$GC,1498,-1.34,-219.0,2493,2679,3759,3720,367.9,-22.1,123,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2678,3738,3757,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-1.34,-219.0,2493,2679,3757,3716,432.6,-21.2,143,1801,0.00,2.10,0.00,0.000,516,0.000,0.024,2494,1272,3735,3755,3716,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1847,-1.34,-219.0,2495,1273,3755,3716,441.8,-20.7,146,1851,0.00,2.17,0.00,0.000,1030,0.000,0.033,2486,2678,3734,3754,3715,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2157,-1.34,-219.0,2485,2679,3753,3714,509.7,-21.8,167,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2678,3732,3752,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-1.34,-219.0,2486,2678,3751,3709,573.0,-21.0,187,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2678,3729,3749,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,-1.34,-219.0,2486,2679,3748,3704,637.2,-21.5,207,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2678,3724,3745,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3057,-1.34,-219.0,2487,2679,3745,3701,701.0,-21.2,227,3061,0.00,2.12,0.00,0.000,516,0.000,0.027,2486,1276,3722,3744,3700,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3092,-1.34,-219.0,2486,1276,3745,3701,707.3,-21.1,229,3096,0.00,2.17,0.00,0.000,1030,0.000,0.034,2478,2673,3724,3743,3706,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3402,-1.34,-219.0,2479,2673,3740,3697,774.0,-21.1,250,3406,0.00,2.12,0.00,0.000,516,0.000,0.027,2478,1273,3718,3740,3696,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3427,-1.34,-219.0,2479,1274,3740,3697,777.1,-21.1,251,3435,0.08,2.30,0.00,0.000,3078,0.157,0.033,2490,2677,3718,3740,3696,0,0,0,0,0,0,24.86,24.17,28.83
$GC,3733,-1.34,-219.0,2489,2678,3736,3694,839.8,-19.8,272,3736,0.00,2.12,0.00,0.000,516,0.000,0.028,2490,1280,3715,3737,3693,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3767,-1.34,-219.0,2489,1280,3739,3693,845.4,-19.2,274,3771,0.00,2.22,0.00,0.000,1030,0.000,0.034,2482,2687,3715,3737,3693,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4077,-1.34,-219.0,2483,2687,3734,3688,907.2,-20.0,295,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2686,3711,3735,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4377,-1.34,-219.0,2482,2693,3734,3686,966.6,-20.2,315,4381,0.00,2.15,0.00,0.000,516,0.000,0.029,2482,1291,3708,3732,3685,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4417,-1.34,-219.0,2482,1292,3732,3685,972.4,-19.9,317,4424,0.00,2.17,0.00,0.000,1030,0.000,0.036,2472,2672,3708,3732,3685,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,4511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4511,begin apogee
$GC,4514,-0.24,0.0,2472,2316,3733,3685,992.9,-19.7,324,4697,1.23,0.00,178.93,1.071,10246,0.124,0.000,2852,2314,2838,2953,2724,0,0,0,0,0,0,25.20,28.83,23.44
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4699,1.34,219.0,2851,2315,2953,2725,1001.4,0.0,336,4892,1.45,0.00,188.20,1.044,10758,0.057,0.000,3357,2313,1946,2042,1850,0,0,0,0,0,0,24.37,28.83,23.32
$GC,5187,1.34,219.0,3358,2314,2028,1845,931.5,19.2,369,5191,0.00,2.17,0.00,0.000,516,0.000,0.034,3367,903,1935,2027,1844,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5277,1.34,219.0,3368,904,2025,1845,914.4,19.2,375,5281,0.00,2.17,0.00,0.000,1030,0.000,0.030,3367,2305,1934,2025,1844,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5592,1.34,219.0,3366,2306,2024,1843,854.6,19.1,396,5596,0.00,2.15,0.00,0.000,516,0.000,0.033,3376,907,1932,2023,1842,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5667,1.34,219.0,3375,907,2024,1843,840.4,18.9,401,5671,0.00,2.15,0.00,0.000,1030,0.000,0.031,3376,2298,1932,2022,1842,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5982,1.34,219.0,3376,2298,2020,1841,779.8,19.0,422,5986,0.00,2.15,0.00,0.000,516,0.000,0.034,3385,901,1930,2020,1841,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6107,1.34,219.0,3386,901,2020,1841,756.8,19.3,430,6111,0.00,2.15,0.00,0.000,1030,0.000,0.030,3385,2299,1933,2026,1841,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6417,1.34,219.0,3385,2300,2019,1841,696.8,18.9,451,6421,0.00,2.15,0.00,0.000,516,0.000,0.033,3394,908,1929,2019,1840,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6522,1.34,219.0,3395,908,2017,1840,676.4,19.5,458,6526,0.10,2.15,0.00,0.000,5126,0.142,0.030,3364,2303,1928,2017,1840,0,0,0,0,0,0,25.15,25.60,28.83
$GC,6838,1.34,219.0,3364,2304,2018,1839,617.6,18.8,479,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2303,1927,2016,1838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7137,1.34,219.0,3366,2304,2015,1838,561.0,18.9,499,7141,0.00,2.17,0.00,0.000,516,0.000,0.033,3372,908,1926,2015,1837,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7192,1.34,219.0,3372,908,2017,1838,552.6,18.6,502,7200,0.00,2.17,0.00,0.000,1030,0.000,0.029,3372,2299,1926,2015,1838,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7497,1.34,219.0,3372,2299,2016,1838,494.0,18.9,523,7501,0.00,2.17,0.00,0.000,516,0.000,0.033,3382,909,1926,2015,1837,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7577,1.34,219.0,3381,913,2016,1838,480.0,18.6,528,7581,0.00,2.17,0.00,0.000,1030,0.000,0.029,3381,2306,1925,2014,1837,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7887,1.34,219.0,3381,2307,2015,1838,419.2,19.6,549,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2306,1925,2013,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8187,1.34,219.0,3383,2306,2012,1837,361.3,19.4,569,8191,0.00,2.17,0.00,0.000,516,0.000,0.032,3391,900,1923,2010,1836,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8347,1.34,219.0,3390,901,2014,1837,331.9,19.6,579,8355,0.08,2.15,0.00,0.000,5126,0.145,0.028,3368,2300,1924,2012,1837,0,0,0,0,0,0,25.06,25.51,28.83
$GC,8653,1.34,219.0,3369,2301,2012,1836,271.9,19.3,600,8656,0.00,2.10,0.00,0.000,516,0.000,0.033,3376,909,1924,2012,1836,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8747,1.34,219.0,3376,909,2011,1837,256.0,18.6,606,8754,0.00,2.15,0.00,0.000,1030,0.000,0.028,3375,2307,1924,2012,1836,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9052,1.34,219.0,3376,2307,2011,1836,195.1,19.3,627,9056,0.00,2.15,0.00,0.000,516,0.000,0.032,3385,909,1924,2012,1836,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9203,1.34,219.0,3386,909,2011,1837,166.0,19.4,637,9206,0.00,2.10,0.00,0.000,1030,0.000,0.028,3385,2308,1924,2012,1836,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9517,1.34,219.0,3386,2308,2011,1837,108.7,16.7,658,9521,0.00,2.15,0.00,0.000,516,0.000,0.031,3394,912,1924,2012,1836,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9732,1.34,219.0,3394,912,2013,1837,77.0,12.8,677,9740,0.10,2.12,0.00,0.000,5126,0.135,0.026,3364,2302,1923,2011,1836,0,0,0,0,0,0,24.98,25.51,28.83
$GC,9857,1.36,236.1,3365,2303,2012,1837,62.7,11.1,690,9872,0.00,2.12,11.62,0.415,8452,0.000,0.038,3364,3694,1874,1967,1782,0,0,0,0,0,0,28.83,25.66,24.92
$GC,9892,1.38,247.7,3364,3695,1966,1782,59.2,11.5,693,9910,0.00,2.10,10.68,0.418,9222,0.000,0.022,3373,2286,1826,1921,1732,0,0,0,0,0,0,28.83,25.65,24.86
$GC,10028,1.43,287.7,3374,2286,1916,1732,45.1,9.7,711,10066,0.00,2.10,32.30,0.428,8708,0.000,0.030,3381,886,1663,1762,1565,0,0,0,0,0,0,28.83,25.41,24.75
$GC,10240,1.45,308.3,3382,887,1756,1564,23.5,10.9,752,10266,0.00,2.15,17.40,0.396,9222,0.000,0.025,3381,2293,1578,1679,1478,0,0,0,0,0,0,28.83,25.45,24.76
$GC,10325,1.50,347.2,3380,2294,1676,1478,15.0,9.7,768,10382,0.00,2.22,42.78,0.363,8452,0.000,0.036,3381,3706,1422,1525,1320,0,0,0,0,1,0,28.83,25.25,24.58
$STATE,10544,end climb,SURFACE_DEPTH_REACHED
$STATE,10544,begin surface coast
$FINISH,0.6,1.007640
$STATE,10655,end surface coast,CONTROL_FINISHED_OK
$STATE,10655,begin surface
$SM_CCo,10673,105.70,0.383,1,0,800,500.16
$SM_GC,1.89,8.65,1.52,105.70,0.037,0.023,0.383,149,2663,800,-8.62,2.37,500.16,0,0,0,0,1,0,25.45,25.54,24.37
$IRIDIUM_FIX,2722.64,-8719.43,150508,133404
$TT8_MAMPS,0.096621,0.096621
$HUMID,38.18
$INTERNAL_PRESSURE,9.1553
$TCM_TEMP,25.00
$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,3.5/516052/497983
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424399
$24V_AH,23.32,45.562
$10V_AH,10.04,13.296
$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,21.625,90.275,481.900,105.700,0.000,31.042,42.588,240.349,0.000,11505.800,16.530,0.000,8000.209,705.194,2458.576,108.636,0.000,1535.583,0.000,1550.087,0.000,0.000,0.000
$DEVICE_MAMPS,234.090,39.015,1071.000,382.500,0.000,61.970,160.000,223.000,0.000,36.659,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,560.015,0.000,0.000,0.000,0.000,0.000,11505.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.100,0.000,0.000,0.000
$MEM,296124
$DATA_FILE_SIZE,30053,832
$CAP_FILE_SIZE,120392,0
$CFSIZE,260034560,256552960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,14685.84,0x236bc6,7,5
$GPS,200715,031356,2800.590,-8729.791,15,0.9,25,-1.9