version: 66.12
glider: 161
mission: 11
dive: 20
start: 7 20 115 19 52 52
data:
$ID,161
$MISSION,11
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,185
$T_MISSION,200
$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,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,75
$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
$GPS1,200715,194414,2800.078,-8729.636,15,0.9,25,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.2
$GPS2,200715,195243,2759.973,-8729.428,5,0.9,15,-1.9
$SPEED_LIMITS,0.119,0.237
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,339.2,2161,-24.1,-11.892,-31.41,1424
$D_GRID,660
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.29,-113.0,153,2691,895,695,0.0,0.0,0,75,0.00,0.00,-57.33,0.000,16386,0.000,0.000,151,2691,2531,2509,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.36,-170.3,151,2692,2511,2554,3.1,-5.5,9,114,9.68,2.08,-20.60,0.000,18948,0.233,0.035,2487,1266,3534,3562,3507,0,0,0,0,0,0,24.97,25.53,25.65
$GC,283,-1.36,-170.3,2488,1266,3564,3508,71.0,-33.8,43,287,0.00,2.15,0.00,0.000,1030,0.000,0.031,2479,2669,3536,3565,3507,0,0,0,0,0,0,28.83,25.61,28.83
$GC,408,-1.36,-170.3,2479,2670,3568,3508,104.6,-25.0,55,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2670,3536,3566,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,708,-1.36,-170.3,2480,2670,3571,3508,171.7,-21.6,75,712,0.00,2.08,0.00,0.000,516,0.000,0.023,2479,1267,3538,3570,3507,0,0,0,0,0,0,28.83,25.73,28.83
$GC,853,-1.36,-170.3,2478,1268,3573,3508,200.0,-20.8,84,861,0.00,2.15,0.00,0.000,1030,0.000,0.031,2469,2673,3542,3578,3507,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1158,-1.36,-170.3,2469,2674,3573,3508,268.3,-22.2,105,1162,0.00,2.08,0.00,0.000,516,0.000,0.022,2469,1266,3540,3572,3508,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1227,-1.36,-170.3,2469,1267,3574,3509,280.9,-20.9,109,1236,0.10,2.15,0.00,0.000,3078,0.153,0.031,2489,2670,3540,3572,3508,0,0,0,0,0,0,25.16,25.72,28.83
$GC,1533,-1.36,-170.3,2490,2671,3572,3508,345.6,-19.7,130,1537,0.00,2.10,0.00,0.000,516,0.000,0.024,2489,1257,3539,3572,3507,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1642,-1.36,-170.3,2489,1258,3573,3507,366.0,-19.2,137,1647,0.00,2.17,0.00,0.000,1030,0.000,0.030,2481,2674,3539,3572,3506,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1953,-1.36,-170.3,2481,2675,3573,3503,431.2,-21.0,158,1957,0.00,2.10,0.00,0.000,516,0.000,0.024,2481,1259,3537,3571,3503,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2028,-1.36,-170.3,2481,1259,3570,3503,446.0,-19.6,163,2032,0.00,2.20,0.00,0.000,1030,0.000,0.031,2471,2676,3536,3571,3502,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2343,-1.36,-170.3,2472,2677,3567,3500,511.0,-21.4,184,2347,0.00,2.10,0.00,0.000,516,0.000,0.024,2471,1272,3533,3568,3499,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2377,-1.36,-170.3,2472,1272,3567,3500,517.3,-20.9,186,2382,0.08,2.17,0.00,0.000,3078,0.160,0.032,2484,2674,3533,3567,3499,0,0,0,0,0,0,25.15,25.64,28.83
$GC,2688,-1.36,-170.3,2485,2674,3571,3498,579.7,-19.5,207,2692,0.00,2.12,0.00,0.000,516,0.000,0.024,2484,1250,3531,3565,3497,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2763,-1.36,-170.3,2483,1250,3566,3498,593.9,-19.0,212,2767,0.00,2.22,0.00,0.000,1030,0.000,0.032,2476,2682,3530,3564,3497,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3078,-1.36,-170.3,2476,2682,3563,3494,656.6,-19.9,233,3082,0.00,2.12,0.00,0.000,516,0.000,0.027,2476,1280,3527,3561,3493,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3111,-0.24,0.0,2470,2306,3560,3493,662.4,-19.5,235,3249,1.23,0.00,134.05,0.848,10246,0.126,0.000,2850,2305,2839,2942,2736,0,0,0,0,0,0,25.32,28.83,23.97
$STATE,3250,end apogee,CONTROL_FINISHED_OK
$STATE,3250,begin climb
$GC,3251,1.36,170.3,2849,2306,2942,2736,668.0,0.0,244,3397,1.45,2.20,137.27,0.835,10756,0.063,0.030,3368,916,2143,2233,2053,0,0,0,0,0,0,24.74,24.65,23.89
$GC,3626,1.36,170.3,3369,915,2226,2047,623.8,16.5,269,3630,0.00,2.12,0.00,0.000,1030,0.000,0.027,3368,2301,2135,2224,2047,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3936,1.36,170.3,3369,2301,2220,2045,571.0,16.9,290,3940,0.00,2.10,0.00,0.000,516,0.000,0.030,3378,916,2133,2221,2045,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4001,1.36,170.3,3377,917,2221,2046,561.2,16.3,294,4005,0.00,2.10,0.00,0.000,1030,0.000,0.027,3378,2296,2132,2219,2045,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4311,1.36,170.3,3378,2297,2216,2044,509.0,16.7,315,4315,0.00,2.10,0.00,0.000,516,0.000,0.030,3387,913,2130,2217,2043,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4416,1.36,170.3,3388,913,2215,2044,492.1,15.9,322,4420,0.00,2.12,0.00,0.000,1030,0.000,0.027,3387,2311,2128,2215,2042,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4731,1.36,170.3,3388,2310,2212,2042,440.2,16.2,343,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2310,2126,2212,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,1.36,170.3,3386,2310,2212,2041,391.0,16.6,363,5035,0.00,2.12,0.00,0.000,516,0.000,0.029,3396,911,2125,2211,2040,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5136,1.36,170.3,3397,912,2209,2041,373.5,16.7,370,5140,0.00,2.12,0.00,0.000,1030,0.000,0.027,3396,2307,2124,2210,2039,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5451,1.36,170.3,3396,2307,2217,2040,318.4,17.3,391,5455,0.00,2.12,0.00,0.000,516,0.000,0.029,3405,912,2123,2208,2039,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5686,1.36,170.3,3406,912,2206,2039,279.9,17.1,406,5694,0.12,2.10,0.00,0.000,5126,0.145,0.027,3368,2295,2122,2207,2038,0,0,0,0,0,0,25.19,25.68,28.83
$GC,5992,1.36,170.3,3370,2295,2206,2037,227.4,16.1,427,5995,0.00,2.08,0.00,0.000,516,0.000,0.029,3376,901,2124,2207,2041,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6106,1.36,170.3,3376,902,2207,2038,210.3,16.2,434,6114,0.00,2.15,0.00,0.000,1030,0.000,0.027,3376,2306,2121,2205,2037,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6411,1.36,170.3,3378,2307,2204,2037,160.8,15.2,455,6415,0.00,2.12,0.00,0.000,516,0.000,0.029,3386,910,2120,2204,2037,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6896,1.36,170.3,3387,911,2202,2037,92.1,13.0,489,6904,0.00,2.10,0.00,0.000,1030,0.000,0.025,3386,2296,2119,2203,2036,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7021,1.40,207.4,3386,2297,2203,2037,78.0,9.2,502,7054,0.00,0.00,25.77,0.451,8710,0.000,0.000,3386,2296,1990,2074,1907,0,0,0,0,0,0,28.83,28.83,24.98
$GC,7171,1.43,227.2,3385,2297,2071,1907,62.9,10.5,517,7194,0.00,2.12,16.45,0.430,8452,0.000,0.034,3386,3702,1908,1994,1822,0,0,0,0,0,0,28.83,25.58,24.88
$GC,7223,1.45,247.0,3386,3703,1992,1827,57.4,10.5,522,7246,0.00,2.10,16.62,0.423,9222,0.000,0.021,3396,2284,1829,1916,1743,0,0,0,0,0,0,28.83,25.57,24.78
$GC,7364,1.47,261.4,3396,2285,1910,1743,44.5,10.9,541,7383,0.00,2.20,11.95,0.402,8452,0.000,0.035,3396,3712,1771,1855,1688,0,0,0,0,0,0,28.83,25.51,24.79
$GC,7422,1.50,287.0,3397,3712,1851,1688,38.3,10.0,552,7449,0.00,2.10,21.45,0.412,9222,0.000,0.021,3407,2296,1666,1755,1577,0,0,0,0,0,0,28.83,25.58,24.77
$GC,7508,1.50,289.4,3407,2297,1753,1576,29.4,11.7,568,7515,0.00,2.22,0.00,0.000,260,0.000,0.036,3407,3699,1662,1751,1574,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7574,1.50,289.4,3406,3700,1752,1576,19.6,14.1,581,7581,0.00,2.08,0.00,0.000,1030,0.000,0.021,3418,2298,1662,1750,1574,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7640,1.51,297.2,3419,2297,1749,1574,11.4,11.3,594,7673,0.00,2.20,19.55,0.213,8452,0.000,0.036,3418,3712,1627,1717,1537,0,0,0,0,1,0,28.83,25.56,24.77
$STATE,7716,end climb,SURFACE_DEPTH_REACHED
$STATE,7716,begin surface coast
$FINISH,0.8,1.021436
$STATE,7736,end surface coast,CONTROL_FINISHED_OK
$STATE,7736,begin surface
$SM_CCo,7754,106.30,0.385,1,0,798,500.16
$SM_GC,1.76,8.68,1.55,106.30,0.034,0.021,0.385,156,2655,798,-8.60,2.12,500.16,0,0,0,0,1,0,25.52,25.61,24.56
$IRIDIUM_FIX,2722.64,-8719.43,160508,091505
$TT8_MAMPS,0.09737,0.09737
$HUMID,40.07
$INTERNAL_PRESSURE,9.1553
$TCM_TEMP,24.50
$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,3.5/516052/497976
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424167
$24V_AH,23.89,47.183
$10V_AH,10.08,14.462
$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,21.325,79.825,383.125,106.300,0.000,29.552,37.018,152.429,0.000,8403.500,16.539,0.000,5546.602,602.659,1978.392,85.835,0.000,1313.745,0.000,1301.704,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,35.955,847.620,384.795,0.000,61.970,160.000,223.000,0.000,35.590,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,408.841,0.000,0.000,0.000,0.000,0.000,8403.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.925,0.000,0.000,0.000
$MEM,296096
$DATA_FILE_SIZE,20096,612
$CAP_FILE_SIZE,98119,0
$CFSIZE,260034560,256135168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,9791.29,0x236bc6,7,5
$GPS,200715,220508,2800.146,-8729.729,41,0.9,51,-1.9