version: 66.12
glider: 161
mission: 11
dive: 40
start: 7 23 115 18 5 11
data:
$ID,161
$MISSION,11
$DIVE,40
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$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,150
$T_MISSION,230
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$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,2
$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,55
$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
$GPS1,230715,175414,2757.556,-8727.318,37,0.8,47,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.6
$GPS2,230715,180500,2757.525,-8727.184,6,0.9,16,-2.0
$SPEED_LIMITS,0.111,0.280
$TGT_NAME,SOURCE
$TGT_LATLONG,2759.000,-8728.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,335.9,3041,-10.9,-11.111,-21.65,3424
$D_GRID,500
$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,15,-0.85,-267.6,154,2688,669,417,0.0,0.0,0,86,0.00,0.00,-69.12,0.000,16386,0.000,0.000,152,2689,2910,2893,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.85,-267.6,154,2689,2893,2927,6.3,-15.6,10,121,10.50,2.10,-14.68,0.000,18948,0.235,0.037,2649,1275,3933,3955,3912,0,0,0,0,0,0,24.86,25.53,25.64
$GC,280,-0.85,-267.6,2649,1275,3957,3914,58.3,-24.1,43,287,0.00,2.12,0.00,0.000,1030,0.000,0.029,2642,2658,3934,3955,3913,0,0,0,0,0,0,28.83,25.58,28.83
$GC,405,-0.85,-267.6,2642,2659,3957,3915,84.0,-17.9,56,409,0.00,2.05,0.00,0.000,516,0.000,0.023,2642,1277,3934,3955,3914,0,0,0,0,0,0,28.83,25.65,28.83
$GC,445,-0.85,-267.6,2642,1277,3956,3916,90.4,-16.1,60,449,0.00,2.15,0.00,0.000,1030,0.000,0.029,2634,2679,3935,3956,3915,0,0,0,0,0,0,28.83,25.62,28.83
$GC,580,-0.85,-267.6,2635,2680,3955,3917,114.0,-18.0,71,584,0.00,1.70,0.00,0.000,260,0.000,0.041,2629,3761,3936,3955,3917,0,0,0,0,0,0,28.83,25.59,28.83
$GC,630,-0.85,-267.6,2631,3761,3956,3917,121.8,-17.2,74,634,0.00,1.62,0.00,0.000,1030,0.000,0.022,2630,2652,3936,3955,3917,0,0,0,0,0,0,28.83,25.71,28.83
$GC,940,-0.85,-267.6,2629,2652,3957,3919,170.1,-14.2,95,944,0.00,2.00,0.00,0.000,516,0.000,0.023,2630,1286,3936,3956,3917,0,0,0,0,0,0,28.83,25.70,28.83
$GC,980,-0.85,-267.6,2629,1288,3957,3918,174.2,-13.7,97,988,0.10,2.15,0.00,0.000,3078,0.127,0.030,2656,2678,3934,3955,3914,0,0,0,0,0,0,25.32,25.64,28.83
$GC,1285,-0.85,-267.6,2657,2679,3955,3916,214.5,-13.0,118,1289,0.00,1.67,0.00,0.000,260,0.000,0.041,2652,3762,3935,3955,3916,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1315,-0.85,-267.6,2653,3761,3956,3916,218.4,-13.1,120,1319,0.00,1.55,0.00,0.000,1030,0.000,0.023,2652,2675,3935,3955,3915,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1630,-0.85,-267.6,2652,2676,3957,3913,258.0,-12.8,141,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2675,3933,3955,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.85,-267.6,2651,2676,3955,3910,291.9,-11.1,161,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2675,3932,3954,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,-0.85,-267.6,2651,2675,3953,3907,325.3,-11.4,181,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2675,3928,3952,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2530,-0.85,-267.6,2652,2675,3951,3904,360.9,-12.0,201,2534,0.00,1.73,0.00,0.000,260,0.000,0.042,2644,3763,3925,3949,3902,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2560,-0.85,-267.6,2646,3763,3949,3903,364.5,-12.0,203,2564,0.00,1.58,0.00,0.000,1030,0.000,0.024,2645,2678,3925,3949,3902,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2875,-0.85,-267.6,2644,2679,3948,3900,402.3,-12.0,224,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2678,3922,3946,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-0.85,-267.6,2644,2679,3946,3897,437.6,-11.8,244,3176,0.00,0.00,-0.10,0.000,16390,0.000,0.000,2648,2678,3944,3964,3924,0,0,0,0,0,0,28.83,28.83,25.94
$GC,3475,-0.85,-267.6,2646,2679,3963,3922,471.8,-11.3,264,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2678,3942,3962,3922,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3729,begin apogee
$GC,3732,-0.24,0.0,2645,2314,3961,3920,501.2,-11.6,281,3944,0.62,0.00,208.12,0.724,10246,0.094,0.000,2851,2314,2838,2905,2772,0,0,0,0,0,0,25.41,28.83,24.06
$STATE,3944,end apogee,CONTROL_FINISHED_OK
$STATE,3945,begin loiter
$GC,4240,-0.10,112.8,2851,2314,2897,2770,523.2,-3.4,315,4334,0.15,2.15,87.97,0.726,10756,0.093,0.029,2909,914,2377,2446,2308,0,0,0,0,0,0,25.48,24.93,24.13
$GC,4873,-0.10,112.8,2909,914,2434,2301,500.1,4.0,357,4877,0.00,2.15,0.00,0.000,1030,0.000,0.028,2909,2313,2367,2434,2300,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5188,-0.10,112.8,2909,2313,2433,2299,486.5,4.2,378,5192,0.00,2.12,0.00,0.000,516,0.000,0.028,2908,912,2368,2431,2305,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5733,-0.10,112.8,2908,912,2429,2297,461.4,4.9,414,5737,0.00,2.12,0.00,0.000,1030,0.000,0.028,2909,2298,2362,2428,2297,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6043,-0.10,112.8,2909,2299,2427,2297,446.4,4.7,435,6047,0.00,2.12,0.00,0.000,516,0.000,0.029,2909,902,2359,2426,2293,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6539,-0.10,112.8,2908,903,2425,2295,424.7,4.1,468,6542,0.00,2.15,0.00,0.000,1030,0.000,0.029,2909,2301,2358,2423,2294,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6853,-0.10,112.8,2908,2301,2424,2294,413.7,3.5,489,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2301,2358,2422,2294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7153,-0.10,112.8,2908,2302,2423,2293,404.0,3.3,509,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2301,2357,2421,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,-0.10,112.8,2909,2301,2420,2292,393.5,4.0,529,7457,0.00,2.22,0.00,0.000,260,0.000,0.042,2909,3709,2356,2420,2292,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7468,-0.10,112.8,2909,3710,2420,2293,393.0,3.8,530,7473,0.00,2.12,0.00,0.000,1030,0.000,0.026,2909,2308,2356,2420,2292,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,7542,end loiter,LOITER_COMPLETE
$STATE,7542,begin climb
$GC,7543,0.85,267.6,2909,2309,2420,2292,390.3,0.0,535,7670,0.80,2.25,119.85,0.673,10500,0.063,0.037,3193,3710,1742,1816,1669,0,0,0,0,0,0,25.41,24.87,24.12
$GC,7724,0.85,267.6,3193,3711,1810,1667,374.9,11.6,547,7728,0.00,2.20,0.00,0.000,1030,0.000,0.024,3200,2297,1737,1809,1665,0,0,0,0,0,0,28.83,24.98,28.83
$GC,8035,0.85,267.6,3201,2295,1804,1663,340.1,11.1,568,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2294,1733,1804,1663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8334,0.85,267.6,3202,2294,1802,1662,304.9,12.0,588,8338,0.00,2.28,0.00,0.000,260,0.000,0.039,3200,3703,1731,1802,1661,0,0,0,0,0,0,28.83,25.21,28.83
$GC,8369,0.85,267.6,3200,3704,1804,1662,301.1,12.5,590,8374,0.00,2.12,0.00,0.000,1030,0.000,0.024,3209,2296,1731,1802,1661,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8679,0.85,267.6,3208,2292,1803,1661,262.3,12.0,611,8683,0.00,2.25,0.00,0.000,260,0.000,0.038,3209,3709,1731,1801,1661,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8734,0.85,267.6,3210,3709,1801,1661,256.3,12.9,614,8742,0.00,2.12,0.00,0.000,1030,0.000,0.024,3216,2300,1730,1801,1660,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9039,0.85,267.6,3215,2299,1801,1661,215.9,13.2,635,9043,0.00,2.10,0.00,0.000,516,0.000,0.029,3225,906,1730,1800,1660,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9089,0.85,267.6,3225,906,1802,1661,210.1,13.2,638,9094,0.00,2.15,0.00,0.000,1030,0.000,0.028,3225,2304,1730,1800,1660,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9399,0.85,267.6,3225,2304,1801,1661,169.6,12.7,659,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2304,1730,1800,1660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9699,0.85,267.6,3226,2304,1799,1659,131.6,12.5,679,9703,0.00,2.12,0.00,0.000,516,0.000,0.029,3231,907,1729,1799,1659,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9744,0.85,267.6,3231,908,1802,1660,126.0,12.3,682,9748,0.00,2.15,0.00,0.000,1030,0.000,0.028,3231,2308,1727,1800,1655,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10055,0.86,267.6,3232,2308,1799,1659,92.4,10.6,705,10059,0.00,2.12,0.00,0.000,260,0.000,0.037,3231,3700,1729,1799,1659,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10204,0.86,267.6,3232,3700,1799,1660,75.4,11.2,720,10208,0.08,2.10,0.00,0.000,5126,0.129,0.022,3212,2294,1729,1799,1659,0,0,0,0,0,0,25.20,25.72,28.83
$GC,10334,0.95,343.9,3212,2292,1801,1660,64.0,8.8,733,10398,0.00,2.08,57.65,0.435,8708,0.000,0.028,3213,907,1434,1516,1353,0,0,0,0,0,0,28.83,25.44,24.79
$GC,10457,1.08,450.3,3215,907,1512,1353,54.0,7.9,745,10553,0.15,2.10,86.12,0.428,11270,0.069,0.026,3273,2305,1000,1111,890,0,0,0,0,0,0,25.44,25.42,24.45
$GC,10612,1.12,450.3,3274,2305,1107,889,38.9,9.2,769,10619,0.00,2.15,0.00,0.000,516,0.000,0.028,3280,918,997,1107,888,0,0,0,0,0,0,28.83,25.30,28.83
$GC,10659,1.14,450.3,3281,919,1106,888,34.3,9.9,778,10666,0.00,2.12,0.00,0.000,1030,0.000,0.024,3280,2299,997,1106,888,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10725,1.15,450.3,3281,2299,1105,888,27.3,10.6,791,10732,0.00,2.20,0.00,0.000,260,0.000,0.037,3280,3694,996,1105,888,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10776,1.15,450.3,3281,3695,1105,888,21.1,12.2,801,10784,0.00,2.08,0.00,0.000,1030,0.000,0.021,3284,2302,996,1105,887,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10843,1.15,450.3,3285,2302,1104,887,12.7,12.3,814,10850,0.00,2.08,0.00,0.000,516,0.000,0.028,3284,917,995,1105,886,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10879,1.15,450.3,3284,917,1106,887,8.1,11.9,821,10886,0.00,2.12,0.00,0.000,1030,0.000,0.025,3284,2309,995,1105,886,0,0,0,0,0,0,28.83,25.56,28.83
$STATE,10929,end climb,SURFACE_DEPTH_REACHED
$STATE,10930,begin surface coast
$FINISH,1.1,1.021753
$STATE,10960,end surface coast,CONTROL_FINISHED_OK
$STATE,10960,begin surface
$SM_CCo,10977,26.98,0.059,0,0,800,500.16
$SM_GC,2.05,8.32,0.52,26.98,0.032,0.037,0.059,141,2679,800,-8.66,-1.50,500.16,0,0,0,0,0,0,25.49,25.63,25.44
$IRIDIUM_FIX,2722.64,-8719.43,190508,072639
$TT8_MAMPS,0.09737,0.09737
$HUMID,39.48
$INTERNAL_PRESSURE,9.14553
$TCM_TEMP,24.70
$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,3.5/516052/497962
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.1/436550/423077
$24V_AH,24.06,52.216
$10V_AH,10.01,18.731
$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,20.725,83.500,559.725,26.975,0.000,30.184,36.592,197.713,0.000,11984.200,17.893,0.000,8079.402,667.257,2534.915,122.856,0.041,1582.216,0.000,1695.246,0.000,0.000,0.000
$DEVICE_MAMPS,234.855,42.075,725.985,58.905,0.000,61.970,160.000,223.000,0.000,36.351,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,560.652,0.000,0.000,0.000,0.000,0.000,11984.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.911,0.000,0.000,0.000
$MEM,296096
$DATA_FILE_SIZE,30067,837
$CAP_FILE_SIZE,121421,0
$CFSIZE,260034560,254840832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,14889.94,0x236bc6,7,5
$CURRENT,0.497,195.45,1
$GPS,230715,210944,2757.509,-8727.454,41,0.9,51,-2.0