version: 66.12
glider: 161
mission: 11
dive: 21
start: 7 20 115 22 13 36
data:
$ID,161
$MISSION,11
$DIVE,21
$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,91
$R_STBD_OVSHOOT,47
$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
$GPS1,200715,220508,2800.146,-8729.729,41,0.9,51,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.6
$GPS2,200715,221326,2759.960,-8729.640,5,0.9,15,-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,348.3,2075,-25.4,-11.892,-32.46,1319
$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,-1.34,-104.4,156,2652,897,693,0.0,0.0,0,75,0.00,0.00,-57.50,0.000,16386,0.000,0.000,156,2652,2545,2522,2569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.41,-164.6,156,2653,2525,2570,3.3,-7.2,9,109,9.62,1.98,-18.45,0.000,18948,0.233,0.038,2471,1278,3513,3541,3486,0,0,0,0,0,0,24.96,25.55,25.65
$GC,213,-1.41,-164.6,2470,1278,3545,3487,50.4,-39.8,35,217,0.00,2.15,0.00,0.000,1030,0.000,0.028,2463,2681,3514,3542,3486,0,0,0,0,0,0,28.83,25.59,28.83
$GC,343,-1.41,-164.6,2462,2682,3545,3487,91.5,-27.9,48,347,0.00,2.08,0.00,0.000,516,0.000,0.022,2463,1284,3515,3544,3486,0,0,0,0,0,0,28.83,25.69,28.83
$GC,373,-1.41,-164.6,2462,1284,3547,3487,98.7,-24.4,51,377,0.00,2.12,0.00,0.000,1030,0.000,0.028,2453,2678,3515,3545,3486,0,0,0,0,0,0,28.83,25.65,28.83
$GC,503,-1.41,-164.6,2453,2679,3548,3487,129.3,-23.1,60,507,0.00,2.08,0.00,0.000,516,0.000,0.022,2453,1277,3516,3547,3486,0,0,0,0,0,0,28.83,25.72,28.83
$GC,662,-1.41,-164.6,2454,1277,3549,3486,163.7,-23.0,70,670,0.10,2.12,0.00,0.000,3078,0.158,0.029,2472,2674,3517,3549,3486,0,0,0,0,0,0,25.20,25.70,28.83
$GC,968,-1.41,-164.6,2473,2676,3550,3492,231.4,-20.7,91,972,0.00,2.05,0.00,0.000,516,0.000,0.022,2472,1271,3518,3550,3486,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1037,-1.41,-164.6,2472,1272,3552,3487,243.7,-20.5,95,1045,0.00,2.15,0.00,0.000,1030,0.000,0.030,2464,2678,3517,3550,3484,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1343,-1.41,-164.6,2464,2681,3552,3486,308.6,-20.2,116,1347,0.00,2.05,0.00,0.000,516,0.000,0.022,2464,1285,3518,3550,3486,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1478,-1.41,-164.6,2464,1285,3558,3486,335.9,-20.1,125,1482,0.00,2.17,0.00,0.000,1030,0.000,0.031,2455,2680,3517,3550,3485,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1793,-1.41,-164.6,2455,2680,3549,3482,405.3,-22.2,146,1797,0.00,2.10,0.00,0.000,516,0.000,0.024,2454,1272,3516,3550,3482,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1943,-1.41,-164.6,2456,1273,3550,3482,438.5,-21.8,156,1947,0.00,2.17,0.00,0.000,1030,0.000,0.031,2445,2679,3515,3549,3482,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2258,-1.41,-164.6,2446,2679,3547,3479,509.1,-22.7,177,2262,0.12,2.08,0.00,0.000,2564,0.179,0.024,2473,1273,3510,3547,3474,0,0,0,0,0,0,25.20,25.77,28.83
$GC,2307,-1.41,-164.6,2472,1275,3548,3478,518.4,-21.3,180,2312,0.00,2.17,0.00,0.000,1030,0.000,0.031,2465,2681,3511,3546,3477,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2618,-1.41,-164.6,2468,2681,3544,3476,581.8,-20.1,201,2622,0.00,2.10,0.00,0.000,516,0.000,0.025,2465,1287,3509,3543,3475,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2708,-1.41,-164.6,2466,1285,3542,3475,599.6,-19.6,207,2712,0.00,2.15,0.00,0.000,1030,0.000,0.034,2455,2673,3508,3542,3474,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,3007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3007,begin apogee
$GC,3010,-0.24,0.0,2457,2300,3540,3472,662.3,-20.9,227,3146,1.27,0.00,129.10,0.851,10246,0.127,0.000,2850,2299,2838,2941,2736,0,0,0,0,0,0,25.29,28.83,24.01
$STATE,3146,end apogee,CONTROL_FINISHED_OK
$STATE,3146,begin climb
$GC,3147,1.41,164.6,2849,2300,2943,2737,668.6,0.0,236,3288,1.50,2.12,132.57,0.829,10756,0.062,0.030,3386,919,2166,2248,2084,0,0,0,0,0,0,24.78,24.68,23.92
$GC,3438,1.41,164.6,3386,920,2241,2082,639.7,16.2,255,3442,0.00,2.15,0.00,0.000,1030,0.000,0.027,3386,2310,2160,2239,2081,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3753,1.41,164.6,3386,2310,2236,2080,587.4,17.0,276,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2310,2157,2234,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4053,1.41,164.6,3386,2311,2231,2079,535.5,17.2,296,4057,0.00,2.10,0.00,0.000,516,0.000,0.029,3395,920,2153,2229,2078,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4282,1.41,164.6,3395,920,2229,2077,497.6,16.3,311,4287,0.00,2.10,0.00,0.000,1030,0.000,0.027,3395,2298,2152,2228,2076,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4593,1.41,164.6,3396,2298,2225,2075,444.9,16.8,332,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2302,2150,2226,2074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,1.41,164.6,3395,2298,2225,2074,394.6,16.9,352,4897,0.00,2.10,0.00,0.000,516,0.000,0.029,3410,920,2148,2223,2074,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4987,1.41,164.6,3405,919,2222,2074,379.3,17.1,358,4992,0.00,2.12,0.00,0.000,1030,0.000,0.027,3404,2307,2147,2222,2073,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5298,1.41,164.6,3404,2307,2222,2073,324.1,17.2,379,5302,0.00,2.12,0.00,0.000,516,0.000,0.030,3414,911,2146,2220,2072,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5517,1.41,164.6,3414,910,2221,2071,288.1,16.9,393,5525,0.10,2.12,0.00,0.000,5126,0.151,0.027,3385,2305,2144,2219,2070,0,0,0,0,0,0,25.14,25.65,28.83
$GC,5823,1.41,164.6,3384,2305,2220,2070,236.6,16.3,414,5827,0.00,2.12,0.00,0.000,516,0.000,0.031,3393,880,2144,2218,2070,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5907,1.41,164.6,3394,880,2218,2070,224.3,16.6,419,5915,0.00,2.17,0.00,0.000,1030,0.000,0.027,3393,2304,2143,2218,2069,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6213,1.41,164.6,3394,2303,2217,2070,171.4,16.5,440,6217,0.00,2.10,0.00,0.000,516,0.000,0.030,3403,923,2143,2217,2069,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6372,1.41,164.6,3403,923,2217,2070,147.5,16.1,450,6380,0.00,2.10,0.00,0.000,1030,0.000,0.026,3402,2308,2143,2217,2069,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6678,1.41,164.6,3403,2307,2218,2069,101.7,13.4,471,6682,0.00,2.12,0.00,0.000,516,0.000,0.029,3412,910,2143,2217,2069,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7018,1.51,240.8,3412,911,2218,2069,68.3,6.0,505,7080,0.00,2.10,54.42,0.451,9222,0.000,0.026,3412,2296,1854,1940,1769,0,0,0,0,0,0,28.83,25.65,24.87
$GC,7198,1.56,282.0,3413,2297,1941,1767,51.3,8.7,523,7233,0.00,0.00,32.35,0.425,8198,0.000,0.000,3412,2296,1687,1776,1599,0,0,0,0,0,0,28.83,28.83,24.77
$GC,7292,1.56,282.0,3413,2297,1770,1597,40.5,12.2,539,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2297,1683,1770,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7352,1.57,289.4,3412,2297,1770,1597,33.8,11.3,551,7360,0.00,0.00,6.62,0.354,8198,0.000,0.000,3412,2296,1659,1748,1570,0,0,0,0,0,0,28.83,28.83,24.74
$GC,7419,1.57,290.9,3413,2297,1743,1568,26.0,11.8,564,7426,0.00,2.12,0.00,0.000,516,0.000,0.028,3422,909,1656,1744,1568,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7475,1.57,290.9,3422,909,1744,1569,18.5,12.8,575,7483,0.00,2.10,0.00,0.000,1030,0.000,0.024,3422,2299,1655,1743,1568,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7542,1.63,338.9,3422,2300,1744,1567,11.4,8.2,588,7604,0.00,2.12,50.30,0.370,8452,0.000,0.034,3422,3697,1454,1548,1360,0,0,0,0,1,0,28.83,25.38,24.79
$STATE,7827,end climb,NO_VERTICAL_VELOCITY
$STATE,7827,begin surface
$SM_CCo,7832,143.73,0.412,1,0,550,561.48
$SM_GC,1.57,8.77,1.52,0.00,0.027,0.020,0.000,147,2658,545,-8.62,2.32,562.71,0,0,0,0,0,0,23.94,25.25,28.83
$IRIDIUM_FIX,2722.64,-8719.43,160508,113553
$TT8_MAMPS,0.09737,0.09737
$HUMID,39.56
$INTERNAL_PRESSURE,9.19436
$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,3.5/516052/497976
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/424108
$24V_AH,23.92,47.374
$10V_AH,10.10,14.609
$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,21.500,71.775,405.375,143.725,0.000,29.913,35.606,149.004,0.000,8525.300,16.616,0.000,5687.055,641.812,2013.195,85.868,0.000,1365.498,0.000,1334.154,0.000,0.000,0.000
$DEVICE_MAMPS,233.325,38.250,850.680,411.570,0.000,61.970,160.000,223.000,0.000,35.590,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,429.378,0.000,0.000,0.000,0.000,0.000,8525.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.929,0.000,0.000,0.000
$MEM,296104
$DATA_FILE_SIZE,23427,643
$CAP_FILE_SIZE,97143,0
$CFSIZE,260034560,256081920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,8443.31,0x236bc6,7,5
$GPS,210715,002910,2800.130,-8729.801,21,0.9,31,-1.9