version: 66.12
glider: 161
mission: 11
dive: 29
start: 7 21 115 23 13 8
data:
$ID,161
$MISSION,11
$DIVE,29
$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,80
$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,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
$GPS1,210715,230143,2759.822,-8729.823,34,0.9,44,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.1
$GPS2,210715,231259,2759.562,-8729.789,5,1.1,16,-1.9
$SPEED_LIMITS,0.119,0.237
$TGT_NAME,T1
$TGT_LATLONG,2739.700,-8728.800
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,179.4,36821,-18.1,-11.892,-26.61,2116
$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,-1.07,-170.3,147,2689,894,692,0.0,0.0,0,57,0.00,0.00,-40.10,0.000,16386,0.000,0.000,146,2689,2064,2019,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.07,-170.3,147,2689,2020,2109,3.3,-7.8,6,103,10.18,1.67,-25.52,0.000,18692,0.233,0.059,2573,3746,3537,3565,3509,0,0,0,0,0,0,24.82,25.43,25.60
$GC,182,-1.07,-170.3,2572,3747,3568,3510,42.1,-30.5,29,190,0.00,1.58,0.00,0.000,1030,0.000,0.022,2573,2656,3537,3566,3509,0,0,0,0,0,0,28.83,25.56,28.83
$GC,254,-1.07,-170.3,2574,2656,3567,3510,61.9,-26.7,39,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2655,3538,3567,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,373,-1.07,-170.3,2573,2656,3568,3510,89.2,-20.7,51,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2656,3539,3569,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,494,-1.07,-170.3,2573,2657,3572,3510,111.8,-18.6,61,497,0.00,2.03,0.00,0.000,516,0.000,0.023,2573,1280,3540,3571,3509,0,0,0,0,0,0,28.83,25.67,28.83
$GC,528,-1.07,-170.3,2574,1280,3571,3510,117.0,-17.4,63,532,0.00,2.12,0.00,0.000,1030,0.000,0.028,2563,2674,3540,3571,3509,0,0,0,0,0,0,28.83,25.65,28.83
$GC,839,-1.07,-170.3,2563,2675,3575,3510,172.4,-16.4,84,842,0.00,2.05,0.00,0.000,516,0.000,0.022,2563,1291,3541,3573,3510,0,0,0,0,0,0,28.83,25.75,28.83
$GC,883,-1.07,-170.3,2563,1291,3575,3510,179.7,-16.2,87,888,0.08,2.12,0.00,0.000,3078,0.150,0.029,2577,2677,3541,3574,3509,0,0,0,0,0,0,25.24,25.70,28.83
$GC,1199,-1.07,-170.3,2577,2678,3575,3510,228.5,-15.4,108,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2677,3541,3574,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-1.07,-170.3,2578,2679,3573,3508,273.4,-15.1,128,1502,0.00,2.08,0.00,0.000,516,0.000,0.023,2577,1278,3541,3574,3508,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1538,-1.07,-170.3,2577,1278,3575,3508,277.9,-15.1,130,1546,0.00,2.15,0.00,0.000,1030,0.000,0.030,2574,2682,3538,3573,3504,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1844,-1.07,-170.3,2574,2683,3575,3505,326.4,-15.4,151,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2683,3539,3574,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2143,-1.07,-170.3,2575,2683,3570,3502,372.8,-15.6,171,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2683,3536,3571,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2444,-1.07,-170.3,2573,2683,3569,3500,419.1,-15.5,191,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2683,3533,3567,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-1.07,-170.3,2575,2684,3565,3497,463.7,-14.6,211,2747,0.00,2.10,0.00,0.000,516,0.000,0.025,2574,1297,3530,3565,3496,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2789,-1.07,-170.3,2575,1298,3564,3497,470.3,-14.6,214,2792,0.00,2.12,0.00,0.000,1030,0.000,0.031,2565,2670,3530,3565,3496,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3104,-1.07,-170.3,2565,2671,3564,3494,517.4,-14.9,235,3107,0.00,2.08,0.00,0.000,516,0.000,0.024,2568,1295,3527,3562,3493,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3168,-1.07,-170.3,2565,1296,3562,3494,525.9,-14.1,239,3172,0.00,2.15,0.00,0.000,1030,0.000,0.032,2556,2679,3527,3562,3493,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3479,-1.07,-170.3,2555,2680,3561,3490,573.7,-15.0,260,3480,0.12,0.00,0.00,0.000,2054,0.158,0.000,2585,2679,3525,3561,3489,0,0,0,0,0,0,25.24,28.83,28.83
$GC,3779,-1.07,-170.3,2586,2680,3557,3486,612.9,-12.9,280,3782,0.00,2.10,0.00,0.000,516,0.000,0.026,2586,1290,3520,3556,3485,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3809,-1.07,-170.3,2585,1291,3558,3487,616.8,-13.1,282,3812,0.00,2.15,0.00,0.000,1030,0.000,0.033,2578,2670,3520,3556,3485,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,4123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4123,begin apogee
$GC,4127,-0.24,0.0,2577,2326,3555,3484,660.4,-14.1,303,4262,0.85,0.00,132.57,0.844,10246,0.109,0.000,2850,2322,2839,2942,2736,0,0,0,0,0,0,25.30,28.83,23.94
$STATE,4263,end apogee,CONTROL_FINISHED_OK
$STATE,4263,begin loiter
$GC,4559,-0.16,64.6,2848,2323,2934,2737,675.3,-3.1,332,4614,0.00,2.20,51.03,0.842,8964,0.000,0.039,2850,3700,2573,2652,2494,0,0,0,0,0,0,28.83,24.98,24.20
$GC,5153,-0.16,64.6,2849,3701,2639,2495,663.8,2.2,371,5157,0.00,2.12,0.00,0.000,1030,0.000,0.023,2850,2279,2565,2637,2494,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5468,-0.16,64.6,2850,2280,2635,2495,657.1,2.0,392,5472,0.00,2.28,0.00,0.000,260,0.000,0.040,2850,3708,2563,2633,2494,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6013,-0.16,64.6,2851,3709,2627,2494,644.9,2.5,428,6018,0.00,2.10,0.00,0.000,1030,0.000,0.025,2850,2312,2561,2629,2493,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,6067,end loiter,LOITER_COMPLETE
$STATE,6067,begin climb
$GC,6069,1.07,170.3,2849,2313,2629,2493,643.6,0.0,432,6162,1.15,2.25,84.40,0.851,10500,0.063,0.037,3258,3710,2140,2227,2053,0,0,0,0,0,0,25.43,24.75,23.98
$GC,6560,1.07,170.3,3259,3710,2217,2051,585.7,13.2,464,6568,0.00,2.15,0.00,0.000,1030,0.000,0.024,3269,2296,2134,2217,2051,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6866,1.07,170.3,3270,2295,2215,2050,547.8,11.5,485,6870,0.00,2.10,0.00,0.000,516,0.000,0.031,3278,909,2132,2215,2049,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6905,1.07,170.3,3278,910,2216,2050,544.3,11.8,487,6913,0.00,2.15,0.00,0.000,1030,0.000,0.028,3278,2305,2131,2214,2049,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7211,1.07,170.3,3279,2305,2213,2048,506.9,11.9,508,7215,0.00,2.17,0.00,0.000,260,0.000,0.039,3278,3693,2130,2213,2048,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7241,1.07,170.3,3277,3693,2214,2048,503.0,12.4,510,7245,0.00,2.10,0.00,0.000,1030,0.000,0.024,3289,2295,2130,2213,2047,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7556,1.07,170.3,3289,2294,2212,2048,464.4,12.5,531,7560,0.00,2.10,0.00,0.000,516,0.000,0.030,3298,906,2129,2212,2047,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7686,1.07,170.3,3297,906,2213,2048,449.4,12.4,539,7693,0.00,2.15,0.00,0.000,1030,0.000,0.028,3297,2301,2129,2211,2047,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7991,1.07,170.3,3298,2302,2212,2047,409.8,12.6,560,7995,0.00,2.20,0.00,0.000,260,0.000,0.040,3297,3702,2129,2211,2047,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8025,1.07,170.3,3299,3702,2210,2047,405.9,13.0,562,8030,0.10,2.12,0.00,0.000,5126,0.147,0.024,3279,2295,2128,2210,2046,0,0,0,0,0,0,25.02,25.67,28.83
$GC,8337,1.07,170.3,3278,2293,2211,2047,366.8,11.9,583,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2293,2128,2210,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8636,1.07,170.3,3279,2293,2210,2046,329.9,12.0,603,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2293,2127,2209,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8936,1.07,170.3,3278,2293,2210,2046,293.8,12.1,623,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2293,2126,2208,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9236,1.07,170.3,3280,2293,2208,2046,256.1,12.8,643,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2292,2127,2208,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9536,1.07,170.3,3280,2292,2208,2046,218.6,12.3,663,9540,0.00,2.28,0.00,0.000,260,0.000,0.037,3279,3703,2126,2208,2045,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9566,1.07,170.3,3280,3704,2207,2046,214.8,12.5,665,9570,0.00,2.12,0.00,0.000,1030,0.000,0.023,3288,2300,2126,2208,2045,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9881,1.07,170.3,3288,2298,2209,2046,176.3,11.8,686,9885,0.00,2.28,0.00,0.000,260,0.000,0.037,3288,3697,2126,2208,2045,0,0,0,0,0,0,28.83,24.82,28.83
$GC,9956,1.07,170.3,3288,3698,2209,2046,166.1,13.7,691,9960,0.00,2.10,0.00,0.000,1030,0.000,0.022,3297,2301,2126,2208,2045,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10271,1.07,170.3,3297,2301,2209,2046,129.1,11.5,712,10275,0.00,2.10,0.00,0.000,516,0.000,0.029,3307,903,2126,2208,2045,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10301,1.08,170.3,3308,902,2207,2046,125.8,11.3,714,10305,0.00,2.15,0.00,0.000,1030,0.000,0.026,3307,2313,2124,2204,2045,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10611,1.14,212.9,3306,2314,2210,2046,91.7,9.8,737,10647,0.00,2.10,31.60,0.454,8708,0.000,0.026,3316,901,1968,2052,1884,0,0,0,0,0,0,28.83,25.57,24.88
$GC,10666,1.19,258.5,3317,901,2049,1883,86.3,9.7,742,10709,0.00,2.15,35.55,0.454,9222,0.000,0.025,3316,2307,1782,1867,1698,0,0,0,0,0,0,28.83,25.51,24.68
$GC,10827,1.19,258.5,3316,2308,1862,1697,66.6,12.5,758,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2307,1778,1860,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10946,1.26,315.0,3311,2308,1860,1696,54.8,9.1,770,10998,0.00,0.00,44.55,0.428,8710,0.000,0.000,3316,2308,1553,1646,1460,0,0,0,0,0,0,28.83,28.83,24.66
$GC,11116,1.31,356.6,3316,2308,1642,1458,37.9,9.9,798,11155,0.08,2.17,33.90,0.420,10500,0.123,0.036,3359,3707,1382,1477,1288,0,0,0,0,0,0,25.32,25.27,24.60
$GC,11215,1.31,356.6,3358,3708,1474,1288,24.1,15.6,816,11222,0.00,2.12,0.00,0.000,1030,0.000,0.022,3366,2298,1379,1472,1287,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11281,1.31,356.6,3365,2298,1473,1288,14.7,13.0,829,11288,0.00,2.10,0.00,0.000,516,0.000,0.028,3365,914,1378,1471,1286,0,0,0,0,0,0,28.83,25.42,28.83
$STATE,11546,end climb,NO_VERTICAL_VELOCITY
$STATE,11546,begin surface
$SM_CCo,11551,147.93,0.412,1,0,549,561.48
$SM_GC,1.72,8.60,2.75,0.00,0.030,0.024,0.000,149,2673,545,-8.60,-1.47,563.20,0,0,0,0,0,0,25.17,25.15,28.83
$IRIDIUM_FIX,2722.64,-8719.43,170508,123407
$TT8_MAMPS,0.09737,0.09737
$HUMID,37.83
$INTERNAL_PRESSURE,9.17483
$TCM_TEMP,24.80
$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,3.5/516052/497970
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.0/436550/423671
$24V_AH,23.94,49.149
$10V_AH,10.03,16.189
$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,21.150,85.600,413.600,147.925,0.000,35.475,35.472,226.062,0.000,12329.800,17.345,0.000,8837.454,659.160,2663.195,122.799,0.000,1572.280,0.000,1735.634,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,58.905,850.680,412.335,0.000,61.970,160.000,223.000,0.000,36.051,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,594.212,0.000,0.000,0.000,0.000,0.000,12329.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.978,0.000,0.000,0.000
$MEM,296128
$DATA_FILE_SIZE,30012,882
$CAP_FILE_SIZE,129850,0
$CFSIZE,260034560,255553536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,12353.85,0x236bc6,7,5
$GPS,220715,023100,2756.961,-8729.536,34,0.9,44,-1.9