version: 66.12
glider: 161
mission: 11
dive: 12
start: 7 20 115 6 34 58
data:
$ID,161
$MISSION,11
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,375
$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,75
$T_MISSION,85
$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,45
$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,83
$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,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
$GPS1,200715,062531,2801.557,-8729.625,39,0.8,49,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.6
$GPS2,200715,063448,2801.638,-8729.686,5,0.9,15,-1.9
$SPEED_LIMITS,0.167,0.261
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,202.7,1167,-26.9,-16.667,-32.74,1522
$D_GRID,375
$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,-1.49,-167.9,157,2647,898,694,0.0,0.0,0,56,0.00,0.00,-39.62,0.000,16386,0.000,0.000,156,2646,2044,1993,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.49,-170.3,158,2647,1994,2096,3.1,-6.7,6,104,9.40,2.05,-28.48,0.000,18948,0.227,0.040,2445,1271,3537,3565,3509,0,0,0,0,0,0,24.85,25.45,25.56
$GC,199,-1.49,-170.3,2445,1271,3566,3509,44.6,-35.3,32,206,0.00,2.15,0.00,0.000,1030,0.000,0.031,2434,2663,3537,3566,3509,0,0,0,0,0,0,28.83,25.50,28.83
$GC,265,-1.49,-170.3,2436,2663,3568,3509,68.7,-36.4,40,269,0.00,1.70,0.00,0.000,260,0.000,0.039,2427,3759,3537,3566,3509,0,0,0,0,0,0,28.83,25.49,28.83
$GC,279,-1.49,-170.3,2429,3760,3566,3510,72.0,-34.7,41,287,0.00,1.62,0.00,0.000,1030,0.000,0.023,2427,2655,3537,3566,3509,0,0,0,0,0,0,28.83,25.61,28.83
$GC,405,-1.49,-170.3,2428,2656,3569,3509,110.3,-28.1,53,409,0.00,2.03,0.00,0.000,516,0.000,0.024,2428,1285,3539,3569,3509,0,0,0,0,0,0,28.83,25.60,28.83
$GC,435,-1.49,-170.3,2428,1286,3569,3510,118.2,-27.1,55,439,0.10,2.15,0.00,0.000,3078,0.179,0.031,2445,2677,3539,3569,3509,0,0,0,0,0,0,25.08,25.60,28.83
$GC,750,-1.49,-170.3,2446,2678,3574,3509,193.8,-23.3,76,754,0.00,2.08,0.00,0.000,516,0.000,0.024,2445,1286,3541,3574,3509,0,0,0,0,0,0,28.83,25.70,28.83
$GC,799,-1.49,-170.3,2444,1286,3575,3509,204.6,-24.1,79,804,0.00,2.15,0.00,0.000,1030,0.000,0.031,2437,2682,3541,3574,3509,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1110,-1.49,-170.3,2437,2683,3576,3510,279.7,-23.7,100,1114,0.00,2.10,0.00,0.000,516,0.000,0.024,2437,1279,3541,3574,3509,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1194,-1.49,-170.3,2438,1280,3574,3509,297.3,-23.6,105,1202,0.00,2.15,0.00,0.000,1030,0.000,0.031,2427,2674,3541,3574,3509,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1500,-1.49,-170.3,2427,2675,3575,3507,373.3,-24.2,126,1504,0.00,2.08,0.00,0.000,516,0.000,0.024,2427,1293,3540,3574,3507,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,1514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1514,begin apogee
$GC,1518,-0.24,0.0,2421,2306,3574,3507,376.7,-23.9,127,1654,1.42,0.00,131.75,0.636,10246,0.137,0.000,2852,2305,2838,2942,2734,0,0,0,0,0,0,25.25,28.83,24.22
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1656,1.49,170.3,2853,2306,2941,2735,382.9,0.0,136,1793,1.52,0.00,132.23,0.635,10758,0.061,0.000,3392,2305,2144,2235,2053,0,0,0,0,0,0,24.84,28.83,24.12
$GC,2085,1.49,170.3,3393,2306,2224,2049,323.2,17.8,165,2089,0.00,2.10,0.00,0.000,516,0.000,0.029,3401,922,2136,2225,2047,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2145,1.49,170.3,3401,923,2225,2048,312.5,17.7,169,2149,0.00,2.10,0.00,0.000,1030,0.000,0.027,3401,2298,2135,2224,2047,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2460,1.49,170.3,3401,2299,2221,2046,256.5,18.1,190,2464,0.00,2.08,0.00,0.000,516,0.000,0.029,3410,926,2132,2220,2045,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2539,1.49,170.3,3412,926,2218,2045,242.9,18.2,195,2544,0.00,2.10,0.00,0.000,1030,0.000,0.028,3411,2302,2132,2219,2045,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2850,1.49,170.3,3412,2303,2215,2042,186.1,18.3,216,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2302,2128,2215,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,1.49,170.3,3411,2303,2212,2041,135.3,17.1,236,3154,0.00,2.10,0.00,0.000,516,0.000,0.029,3421,922,2126,2212,2040,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3190,1.49,172.8,3421,923,2212,2040,130.3,16.5,238,3197,0.00,2.12,0.00,0.000,1030,0.000,0.026,3421,2304,2125,2211,2040,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3500,1.57,237.9,3420,2304,2211,2039,84.9,12.3,263,3555,0.00,2.20,49.22,0.445,8452,0.000,0.037,3420,3705,1866,1956,1777,0,0,0,0,0,0,28.83,25.40,24.85
$GC,3780,1.66,307.8,3420,3705,1946,1777,45.6,11.9,294,3842,0.00,2.10,53.45,0.414,9222,0.000,0.022,3431,2294,1581,1676,1486,0,0,0,0,0,0,28.83,25.63,24.75
$GC,3902,1.70,338.0,3430,2294,1673,1485,30.0,14.6,316,3934,0.10,2.20,24.55,0.392,10500,0.100,0.035,3470,3709,1458,1552,1364,0,0,0,0,0,0,25.39,25.30,24.70
$GC,3993,1.70,338.0,3470,3710,1549,1364,13.1,20.6,333,4000,0.00,2.10,0.00,0.000,1030,0.000,0.022,3479,2312,1453,1543,1363,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4059,1.86,475.1,3480,2311,1546,1363,3.8,7.4,346,4080,0.10,0.00,13.88,0.103,10754,0.109,0.000,3533,2309,1414,1509,1320,0,0,0,0,1,0,25.45,28.83,25.37
$STATE,4081,end climb,SURFACE_DEPTH_REACHED
$STATE,4081,begin surface coast
$FINISH,1.4,1.020055
$STATE,4118,end surface coast,CONTROL_FINISHED_OK
$STATE,4118,begin surface
$SM_CCo,4136,103.47,0.373,1,0,801,500.16
$SM_GC,1.94,9.60,0.55,103.47,0.069,0.037,0.373,159,2682,801,-8.61,-1.50,500.16,0,0,0,0,1,0,25.44,25.56,24.56
$IRIDIUM_FIX,2722.64,-8719.43,150508,195651
$TT8_MAMPS,0.096621,0.096621
$HUMID,39.32
$INTERNAL_PRESSURE,9.1846
$TCM_TEMP,24.20
$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,3.5/516052/497981
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424286
$24V_AH,24.12,45.968
$10V_AH,10.26,13.575
$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,22.250,45.550,405.075,103.475,0.000,31.524,40.181,166.008,0.000,4814.000,17.088,0.000,2783.067,574.972,1191.964,67.484,0.000,978.354,0.000,653.715,0.000,0.000,0.000
$DEVICE_MAMPS,227.205,39.780,636.480,372.555,0.000,61.970,160.000,223.000,0.000,37.773,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,234.165,0.000,0.000,0.000,0.000,0.000,4814.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.857,0.000,0.000,0.000
$MEM,296132
$DATA_FILE_SIZE,13454,357
$CAP_FILE_SIZE,64115,0
$CFSIZE,260034560,256507904
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,11401.71,0x236bc6,7,5
$INTR,1,74.79,0x23381e,0,24
$GPS,200715,074613,2800.617,-8729.500,3,0.8,13,-1.9