version: 66.12
glider: 161
mission: 11
dive: 25
start: 7 21 115 10 10 37
data:
$ID,161
$MISSION,11
$DIVE,25
$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,230
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,1800
$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,83
$R_STBD_OVSHOOT,63
$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,2
$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
$GPS1,210715,100032,2759.892,-8729.312,17,0.8,27,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.1
$GPS2,210715,101028,2759.946,-8729.137,5,0.8,15,-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,329.2,2427,-20.6,-11.892,-28.54,1787
$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,-1.16,-142.8,151,2701,892,701,0.0,0.0,0,57,0.00,0.00,-40.08,0.000,16386,0.000,0.000,149,2702,2061,2021,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.19,-170.3,150,2702,2021,2103,3.2,-7.7,6,104,9.85,2.10,-29.62,0.000,18948,0.228,0.037,2540,1268,3536,3564,3508,0,0,0,0,0,0,24.91,25.49,25.61
$GC,372,-1.19,-170.3,2539,1269,3568,3508,83.0,-21.5,53,380,0.00,2.12,0.00,0.000,1030,0.000,0.029,2532,2662,3537,3567,3508,0,0,0,0,0,0,28.83,25.58,28.83
$GC,508,-1.19,-170.3,2533,2663,3569,3508,112.9,-20.7,65,511,0.00,2.08,0.00,0.000,516,0.000,0.023,2532,1265,3538,3569,3507,0,0,0,0,0,0,28.83,25.68,28.83
$GC,533,-1.19,-170.3,2532,1266,3571,3508,116.0,-20.7,66,540,0.00,2.15,0.00,0.000,1030,0.000,0.029,2522,2670,3538,3569,3507,0,0,0,0,0,0,28.83,25.66,28.83
$GC,838,-1.19,-170.3,2523,2671,3573,3509,179.0,-19.5,87,842,0.00,2.08,0.00,0.000,516,0.000,0.022,2522,1270,3540,3572,3508,0,0,0,0,0,0,28.83,25.72,28.83
$GC,888,-1.19,-170.3,2522,1271,3574,3509,187.6,-19.3,90,892,0.10,2.15,0.00,0.000,3078,0.154,0.030,2542,2678,3540,3572,3508,0,0,0,0,0,0,25.18,25.69,28.83
$GC,1198,-1.19,-170.3,2543,2679,3572,3509,241.6,-17.1,111,1202,0.00,2.08,0.00,0.000,516,0.000,0.023,2543,1279,3540,3572,3508,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1267,-1.19,-170.3,2542,1280,3573,3508,251.5,-16.6,115,1275,0.00,2.15,0.00,0.000,1030,0.000,0.029,2536,2682,3540,3572,3508,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1573,-1.19,-170.3,2537,2683,3572,3507,306.7,-18.0,136,1576,0.00,2.10,0.00,0.000,516,0.000,0.024,2536,1275,3539,3572,3506,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1618,-1.19,-170.3,2537,1276,3572,3507,314.5,-17.1,139,1621,0.00,2.17,0.00,0.000,1030,0.000,0.031,2526,2672,3539,3572,3506,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1933,-1.19,-170.3,2527,2672,3571,3503,370.1,-17.7,160,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2673,3537,3572,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-1.19,-170.3,2526,2673,3570,3501,423.5,-17.7,180,2236,0.00,2.10,0.00,0.000,516,0.000,0.024,2527,1268,3534,3568,3500,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2278,-1.19,-170.3,2527,1268,3568,3501,431.5,-17.7,183,2282,0.00,2.17,0.00,0.000,1030,0.000,0.032,2518,2676,3534,3568,3500,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2593,-1.19,-170.3,2518,2675,3566,3494,488.8,-18.2,204,2596,0.00,2.10,0.00,0.000,516,0.000,0.024,2518,1275,3531,3565,3497,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2687,-1.19,-170.3,2518,1275,3566,3498,504.6,-17.4,210,2692,0.10,2.17,0.00,0.000,3078,0.149,0.032,2540,2677,3530,3564,3496,0,0,0,0,0,0,25.25,25.68,28.83
$GC,2998,-1.19,-170.3,2541,2676,3562,3494,556.5,-17.0,231,3001,0.00,1.70,0.00,0.000,260,0.000,0.042,2534,3761,3527,3562,3493,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3022,-1.19,-170.3,2534,3762,3563,3494,559.0,-16.6,232,3030,0.00,1.62,0.00,0.000,1030,0.000,0.024,2534,2667,3527,3562,3493,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3328,-1.19,-170.3,2535,2668,3559,3490,611.4,-16.4,253,3332,0.00,2.08,0.00,0.000,516,0.000,0.025,2534,1273,3524,3559,3489,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3367,-1.19,-170.3,2535,1274,3558,3489,616.3,-16.4,255,3375,0.00,2.17,0.00,0.000,1030,0.000,0.032,2525,2674,3523,3558,3489,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,3626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3626,begin apogee
$GC,3630,-0.24,0.0,2526,2308,3555,3486,661.9,-17.1,273,3766,1.02,0.00,132.80,0.846,10246,0.117,0.000,2846,2308,2838,2941,2736,0,0,0,0,0,0,25.29,28.83,23.97
$STATE,3767,end apogee,CONTROL_FINISHED_OK
$STATE,3767,begin loiter
$GC,4063,-0.18,50.4,2846,2308,2932,2737,676.3,-2.9,302,4110,0.00,2.15,39.60,0.819,8708,0.000,0.028,2847,915,2630,2710,2551,0,0,0,0,0,0,28.83,25.14,24.31
$GC,4649,-0.18,50.4,2848,912,2696,2551,671.3,1.6,341,4653,0.00,2.12,0.00,0.000,1030,0.000,0.027,2847,2304,2623,2697,2550,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4965,-0.20,33.2,2848,2304,2698,2550,667.9,1.0,362,4968,0.00,2.10,0.00,0.000,516,0.000,0.030,2847,898,2621,2692,2550,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5509,-0.22,18.6,2848,898,2689,2549,662.7,0.8,398,5514,0.00,2.17,0.00,0.000,1030,0.000,0.028,2847,2305,2618,2688,2549,0,0,0,0,0,0,28.83,25.60,28.83
$STATE,5563,end loiter,LOITER_COMPLETE
$STATE,5563,begin climb
$GC,5564,1.19,170.3,2847,2306,2689,2549,662.1,0.0,402,5672,1.25,2.25,95.28,0.845,10756,0.068,0.031,3300,917,2141,2228,2054,0,0,0,0,0,0,25.14,24.70,23.96
$GC,6111,1.19,170.3,3300,917,2221,2049,597.4,13.5,438,6115,0.00,2.12,0.00,0.000,1030,0.000,0.027,3300,2302,2133,2218,2048,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6421,1.19,170.3,3300,2303,2218,2047,554.9,13.4,459,6425,0.00,2.12,0.00,0.000,516,0.000,0.031,3310,914,2132,2217,2047,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6481,1.19,170.3,3309,914,2218,2048,546.8,13.5,463,6485,0.00,2.12,0.00,0.000,1030,0.000,0.027,3310,2303,2129,2211,2047,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6796,1.19,170.3,3309,2303,2216,2047,504.6,13.7,484,6800,0.00,2.17,0.00,0.000,260,0.000,0.038,3310,3696,2130,2214,2046,0,0,0,0,0,0,28.83,25.57,28.83
$GC,6831,1.19,170.3,3309,3696,2215,2047,500.2,14.4,486,6835,0.00,2.10,0.00,0.000,1030,0.000,0.023,3320,2295,2129,2213,2046,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7141,1.19,170.3,3320,2295,2213,2046,455.5,14.2,507,7145,0.00,2.08,0.00,0.000,516,0.000,0.030,3330,916,2128,2212,2045,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7277,1.19,170.3,3331,916,2212,2046,436.7,14.0,516,7280,0.00,2.12,0.00,0.000,1030,0.000,0.027,3330,2307,2128,2212,2045,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7591,1.19,170.3,3330,2307,2212,2045,392.6,14.1,537,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2306,2128,2211,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7891,1.19,170.3,3329,2307,2212,2045,350.0,14.1,557,7895,0.00,2.12,0.00,0.000,516,0.000,0.030,3339,916,2127,2210,2044,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8001,1.19,170.3,3339,917,2212,2045,335.0,14.2,564,8005,0.00,2.12,0.00,0.000,1030,0.000,0.026,3339,2308,2127,2210,2044,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8311,1.19,170.3,3338,2308,2211,2045,289.4,13.8,585,8315,0.00,2.15,0.00,0.000,516,0.000,0.030,3349,905,2126,2209,2044,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8346,1.19,170.3,3345,906,2210,2045,285.1,14.2,587,8350,0.10,2.12,0.00,0.000,5126,0.142,0.027,3319,2296,2126,2208,2044,0,0,0,0,0,0,24.98,25.57,28.83
$GC,8657,1.19,170.3,3319,2297,2210,2040,241.1,14.2,608,8660,0.00,2.08,0.00,0.000,516,0.000,0.031,3326,913,2126,2208,2044,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8786,1.19,170.3,3327,913,2208,2044,223.8,14.3,616,8794,0.00,2.12,0.00,0.000,1030,0.000,0.026,3326,2304,2125,2207,2043,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9091,1.19,170.3,3327,2304,2208,2044,178.8,14.2,637,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2304,2125,2208,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9391,1.19,170.3,3326,2304,2210,2044,137.8,13.5,657,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2304,2125,2208,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9691,1.22,170.3,3328,2304,2208,2044,102.3,10.4,677,9695,0.00,2.12,0.00,0.000,516,0.000,0.029,3336,912,2125,2208,2043,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9976,1.28,220.8,3335,912,2209,2044,75.2,9.0,704,10017,0.00,2.12,37.20,0.444,9222,0.000,0.024,3336,2310,1937,2022,1853,0,0,0,0,0,0,28.83,25.55,24.87
$GC,10137,1.35,273.5,3337,2310,2014,1851,59.6,8.9,720,10182,0.00,2.12,41.30,0.425,8708,0.000,0.027,3345,904,1721,1808,1634,0,0,0,0,0,0,28.83,25.33,24.68
$GC,10237,1.39,309.5,3346,904,1802,1632,50.8,9.8,729,10275,0.00,2.10,29.15,0.413,9222,0.000,0.025,3345,2299,1573,1666,1481,0,0,0,0,0,0,28.83,25.33,24.58
$GC,10334,1.39,309.5,3346,2302,1662,1481,39.4,12.7,747,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2301,1571,1662,1480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10394,1.39,309.5,3345,2302,1663,1480,32.0,12.4,759,10401,0.00,2.20,0.00,0.000,260,0.000,0.037,3345,3697,1570,1661,1480,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10495,1.39,309.5,3346,3698,1659,1480,18.5,11.8,779,10502,0.00,2.10,0.00,0.000,1030,0.000,0.021,3352,2287,1569,1659,1479,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10562,1.44,351.6,3352,2287,1661,1479,12.0,9.5,792,10618,0.10,2.03,44.47,0.354,10756,0.102,0.026,3397,912,1404,1497,1311,0,0,0,0,1,0,25.44,25.40,24.72
$STATE,10711,end climb,SURFACE_DEPTH_REACHED
$STATE,10711,begin surface coast
$FINISH,0.7,1.015489
$STATE,10856,end surface coast,CONTROL_FINISHED_OK
$STATE,10856,begin surface
$SM_CCo,10876,103.43,0.373,1,0,799,500.16
$SM_GC,2.01,8.65,2.70,103.43,0.034,0.024,0.373,152,2679,799,-8.61,-1.58,500.16,0,0,0,0,1,0,25.47,25.56,24.55
$IRIDIUM_FIX,2722.64,-8719.43,160508,200452
$TT8_MAMPS,0.098119,0.098119
$HUMID,38.26
$INTERNAL_PRESSURE,9.1846
$TCM_TEMP,24.90
$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,3.5/516052/497973
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.9/436550/423758
$24V_AH,23.96,48.236
$10V_AH,10.04,15.396
$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,21.175,93.675,419.800,103.425,0.000,33.800,46.739,171.677,0.000,11577.900,16.923,0.000,7978.514,630.727,2652.214,111.762,0.000,1581.156,0.000,1811.011,0.000,0.000,0.000
$DEVICE_MAMPS,227.970,42.075,846.090,373.320,0.000,61.970,160.000,223.000,0.000,35.500,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,570.696,0.000,0.000,0.000,0.000,0.000,11577.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.969,0.000,0.000,0.000
$MEM,296048
$DATA_FILE_SIZE,30037,849
$CAP_FILE_SIZE,125321,0
$CFSIZE,260034560,255803392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,12416.40,0x236bc6,7,5
$GPS,210715,131427,2759.920,-8729.541,18,0.8,28,-1.9