version: 66.12
glider: 161
mission: 11
dive: 35
start: 7 22 115 21 56 33
data:
$ID,161
$MISSION,11
$DIVE,35
$N_DIVES,0
$D_SURF,3
$D_FLARE,50
$D_TGT,990
$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,260
$T_MISSION,290
$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,275
$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,78
$R_STBD_OVSHOOT,45
$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
$GPS1,220715,214514,2803.974,-8731.193,41,1.0,51,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.2
$GPS2,220715,215623,2803.867,-8730.953,6,0.9,16,-1.9
$SPEED_LIMITS,0.127,0.296
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,353.3,1597,-40.2,-12.692,-45.00,668
$D_GRID,990
$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,14,-1.98,-55.6,156,2685,893,700,0.0,0.0,0,86,0.00,0.00,-66.40,0.000,16390,0.000,0.000,155,2685,3069,3050,3089,0,0,0,0,0,0,28.83,28.83,25.60
$GC,87,-1.98,-55.6,154,2686,3051,3090,8.5,-22.6,11,101,8.82,2.05,0.00,0.000,2564,0.230,0.020,2295,1247,3071,3056,3086,0,0,0,0,0,0,24.79,25.48,28.83
$GC,639,-1.98,-55.6,2295,1247,3076,3080,146.7,-15.8,66,647,0.00,2.20,0.00,0.000,1030,0.000,0.027,2287,2687,3077,3076,3079,0,0,0,0,0,0,28.83,25.59,28.83
$GC,945,-1.98,-55.6,2288,2687,3076,3080,203.2,-18.9,87,949,0.00,2.10,0.00,0.000,516,0.000,0.023,2287,1272,3077,3076,3079,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1460,-1.98,-55.6,2288,1273,3076,3079,299.6,-19.0,121,1464,0.00,2.15,0.00,0.000,1030,0.000,0.029,2278,2676,3076,3076,3077,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1770,-1.98,-55.6,2277,2676,3078,3075,362.4,-19.8,142,1774,0.00,2.08,0.00,0.000,516,0.000,0.022,2283,1264,3075,3076,3074,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2170,-1.98,-55.6,2277,1265,3085,3069,439.6,-19.1,168,2177,0.00,2.17,0.00,0.000,1030,0.000,0.030,2268,2676,3075,3076,3075,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2475,-1.98,-55.6,2269,2676,3074,3065,501.3,-19.2,189,2479,0.00,2.10,0.00,0.000,516,0.000,0.024,2268,1269,3069,3074,3065,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2705,-1.98,-55.6,2269,1270,3071,3064,545.6,-19.8,204,2709,0.10,2.17,0.00,0.000,3078,0.187,0.031,2283,2674,3067,3071,3063,0,0,0,0,0,0,24.91,25.73,28.83
$GC,3015,-1.98,-55.6,2285,2674,3070,3060,607.0,-19.3,225,3019,0.00,2.10,0.00,0.000,516,0.000,0.024,2285,1279,3064,3070,3059,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3350,-1.98,-55.6,2284,1280,3069,3057,669.2,-18.7,247,3354,0.00,2.15,0.00,0.000,1030,0.000,0.030,2277,2673,3061,3067,3056,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3660,-1.98,-55.6,2277,2673,3064,3052,728.8,-19.6,268,3664,0.00,2.12,0.00,0.000,516,0.000,0.024,2277,1259,3057,3064,3051,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3785,-1.98,-55.6,2278,1262,3063,3051,752.3,-19.5,276,3789,0.00,2.17,0.00,0.000,1030,0.000,0.031,2267,2673,3056,3063,3050,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4095,-1.98,-55.6,2269,2675,3061,3047,813.0,-19.2,297,4099,0.00,2.12,0.00,0.000,516,0.000,0.025,2267,1267,3054,3061,3048,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4355,-1.98,-55.6,2267,1267,3060,3045,861.6,-18.9,314,4359,0.10,2.20,0.00,0.000,3078,0.184,0.032,2283,2677,3051,3059,3044,0,0,0,0,0,0,24.87,25.60,28.83
$GC,4665,-1.98,-55.6,2283,2678,3060,3040,918.4,-17.9,335,4669,0.00,2.12,0.00,0.000,516,0.000,0.026,2284,1281,3049,3058,3040,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4765,-1.98,-55.6,2285,1281,3058,3040,934.4,-17.7,341,4772,0.00,2.17,0.00,0.000,1030,0.000,0.031,2277,2674,3048,3058,3039,0,0,0,0,0,0,28.83,25.63,28.83
$STATE,5069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5069,begin apogee
$GC,5072,-0.24,0.0,2278,2293,3055,3036,990.5,-18.3,362,5119,2.00,0.00,43.25,1.048,10246,0.162,0.000,2848,2292,2838,2880,2797,0,0,0,0,0,0,25.11,28.83,24.02
$STATE,5120,end apogee,CONTROL_FINISHED_OK
$STATE,5120,begin climb
$GC,5121,1.98,55.6,2849,2293,2879,2798,992.5,0.0,365,5178,2.00,2.30,48.22,1.037,10500,0.063,0.036,3568,3717,2610,2658,2562,0,0,0,0,0,0,25.03,24.67,23.70
$GC,5327,2.01,79.9,3566,3717,2652,2562,977.3,9.0,379,5353,0.00,2.17,21.40,0.971,9222,0.000,0.023,3578,2290,2513,2564,2462,0,0,0,0,0,0,28.83,25.38,24.01
$GC,5652,2.01,79.9,3577,2290,2564,2459,936.7,13.1,400,5656,0.00,2.10,0.00,0.000,516,0.000,0.030,3588,907,2506,2555,2458,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5803,2.01,79.9,3588,907,2553,2459,918.1,12.3,410,5806,0.00,2.15,0.00,0.000,1030,0.000,0.028,3588,2337,2505,2553,2458,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6118,2.03,79.9,3587,2337,2553,2457,880.0,11.9,431,6121,0.00,2.12,0.00,0.000,516,0.000,0.029,3596,912,2503,2551,2456,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6662,2.06,79.9,3597,912,2549,2455,820.1,11.4,467,6666,0.00,2.12,0.00,0.000,1030,0.000,0.027,3597,2298,2501,2548,2454,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6973,2.08,79.9,3598,2298,2546,2453,783.8,11.4,488,6977,0.00,2.08,0.00,0.000,516,0.000,0.031,3606,914,2499,2546,2452,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7517,2.12,79.9,3607,915,2543,2452,726.2,10.8,524,7525,0.00,2.15,0.00,0.000,1030,0.000,0.027,3606,2308,2497,2543,2451,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7822,2.14,93.6,3607,2313,2542,2451,691.8,10.6,545,7843,0.00,2.15,10.00,0.766,8708,0.000,0.031,3615,919,2456,2503,2409,0,0,0,0,0,0,28.83,25.61,24.46
$GC,8382,2.15,93.6,3616,919,2500,2408,622.7,12.0,582,8386,0.00,2.12,0.00,0.000,1030,0.000,0.027,3615,2302,2453,2500,2406,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8697,2.17,93.6,3615,2303,2500,2407,584.1,11.9,603,8701,0.00,2.10,0.00,0.000,516,0.000,0.031,3624,915,2453,2500,2407,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9242,2.18,93.6,3623,916,2499,2407,522.1,11.8,639,9246,0.00,2.12,0.00,0.000,1030,0.000,0.026,3624,2302,2452,2498,2406,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9552,2.20,93.6,3624,2304,2497,2406,485.5,11.7,660,9556,0.00,2.15,0.00,0.000,516,0.000,0.031,3633,918,2451,2497,2405,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10097,2.23,93.6,3634,918,2496,2405,424.5,11.2,696,10101,0.00,2.12,0.00,0.000,1030,0.000,0.025,3633,2303,2450,2496,2405,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10407,2.25,108.9,3634,2304,2496,2405,389.6,10.3,717,10425,0.00,2.12,13.18,0.630,8708,0.000,0.031,3643,904,2393,2442,2345,0,0,0,0,0,0,28.83,25.67,24.65
$GC,10964,2.25,108.9,3642,904,2441,2343,313.7,13.0,754,10968,0.00,2.15,0.00,0.000,1030,0.000,0.026,3642,2302,2390,2439,2342,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11279,2.25,108.9,3642,2303,2441,2342,269.9,13.8,775,11283,0.00,2.15,0.00,0.000,516,0.000,0.031,3652,915,2390,2439,2341,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11824,2.25,108.9,3653,915,2439,2342,194.8,13.4,811,11828,0.00,2.12,0.00,0.000,1030,0.000,0.025,3652,2308,2389,2438,2341,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12134,2.25,108.9,3653,2308,2438,2342,153.9,13.5,832,12138,0.00,2.15,0.00,0.000,516,0.000,0.030,3661,915,2390,2439,2341,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12679,2.32,162.9,3661,916,2441,2342,108.3,4.4,868,12728,0.00,2.10,43.08,0.473,9222,0.000,0.024,3662,2299,2172,2236,2109,0,0,0,0,0,0,28.83,25.56,24.69
$GC,13029,2.37,202.2,3662,2300,2230,2107,67.7,6.7,900,13064,0.00,2.12,31.02,0.434,8708,0.000,0.028,3671,918,2012,2086,1938,0,0,0,0,0,0,28.83,25.44,24.70
$GC,13604,2.43,256.2,3671,918,2080,1937,27.8,4.4,999,13654,0.05,2.10,41.30,0.397,11270,0.112,0.024,3693,2303,1791,1863,1719,0,0,0,0,0,0,25.29,25.56,24.78
$GC,13713,2.43,256.2,3693,2303,1860,1718,14.1,18.0,1019,13721,0.00,2.12,0.00,0.000,516,0.000,0.027,3703,915,1788,1859,1717,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13795,2.47,286.3,3703,916,1857,1718,4.7,8.1,1035,13839,0.00,2.10,34.58,0.316,9222,0.000,0.022,3703,2312,1670,1749,1592,0,0,0,0,1,0,28.83,25.48,24.60
$GC,13899,2.56,359.2,3703,2312,1745,1590,4.6,1.5,1054,13980,0.12,2.15,68.90,0.372,10500,0.099,0.032,3759,3699,1373,1460,1286,0,0,0,0,1,0,25.39,25.13,24.44
$STATE,13982,end climb,SURFACE_DEPTH_REACHED
$STATE,13983,begin surface coast
$FINISH,2.0,1.019162
$STATE,14113,end surface coast,CONTROL_FINISHED_OK
$STATE,14113,begin surface
$SM_CCo,14133,88.40,0.386,1,0,800,500.16
$SM_GC,2.14,10.55,1.52,88.40,0.080,0.020,0.386,158,2647,800,-8.61,2.15,500.16,0,0,0,0,1,0,25.28,25.45,24.41
$IRIDIUM_FIX,2722.64,-8719.43,180508,111744
$TT8_MAMPS,0.096621,0.096621
$HUMID,36.17
$INTERNAL_PRESSURE,9.21389
$TCM_TEMP,25.50
$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,3.5/516052/497965
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.0/436550/423338
$24V_AH,23.70,50.883
$10V_AH,10.00,17.573
$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,23.750,89.625,354.925,88.400,0.000,30.402,35.586,215.550,0.000,14981.700,17.124,0.000,9975.878,542.069,4019.377,145.212,0.000,1973.809,0.000,2963.385,0.000,0.000,0.000
$DEVICE_MAMPS,229.500,35.955,1048.050,385.560,0.000,61.970,160.000,223.000,0.000,35.864,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,739.193,0.000,0.000,0.000,0.000,0.000,14981.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.201,0.000,0.000,0.000
$MEM,295940
$DATA_FILE_SIZE,40052,1094
$CAP_FILE_SIZE,164569,0
$CFSIZE,260034560,255135744
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,13007.13,0x236bc6,7,5
$INTR,1,7837.84,0x233820,1,24
$GPS,230715,015443,2803.626,-8730.977,36,0.9,46,-1.9