version: 66.12
glider: 161
mission: 11
dive: 41
start: 7 23 115 21 19 17
data:
$ID,161
$MISSION,11
$DIVE,41
$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,82
$R_STBD_OVSHOOT,53
$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
$GPS1,230715,210944,2757.509,-8727.454,41,0.9,51,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.0
$GPS2,230715,211907,2757.370,-8727.316,5,0.9,15,-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,26.7,3219,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-267.6,142,2684,898,697,0.0,0.0,0,86,0.00,0.00,-68.80,0.000,16386,0.000,0.000,141,2684,3073,3052,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.85,-267.6,142,2685,3053,3094,5.8,-12.6,10,115,10.60,2.15,-11.95,0.000,18948,0.234,0.037,2655,1259,3936,3949,3923,0,0,0,0,0,0,24.87,25.27,25.62
$GC,314,-0.85,-267.6,2656,1259,3948,3924,70.5,-17.9,45,318,0.00,2.20,0.00,0.000,1030,0.000,0.029,2647,2669,3935,3948,3923,0,0,0,0,0,0,28.83,25.29,28.83
$GC,445,-0.85,-267.6,2647,2669,3950,3923,93.9,-16.6,58,448,0.00,2.08,0.00,0.000,516,0.000,0.023,2646,1281,3936,3950,3923,0,0,0,0,0,0,28.83,25.66,28.83
$GC,475,-0.85,-267.6,2646,1281,3952,3924,98.6,-15.9,61,478,0.00,2.20,0.00,0.000,1030,0.000,0.030,2640,2673,3936,3950,3922,0,0,0,0,0,0,28.83,24.00,28.83
$GC,604,-0.85,-267.6,2638,2674,3954,3924,119.8,-16.4,70,608,0.00,1.70,0.00,0.000,260,0.000,0.039,2631,3768,3937,3952,3923,0,0,0,0,0,0,28.83,25.65,28.83
$GC,654,-0.85,-267.6,2631,3769,3954,3924,127.1,-16.4,73,658,0.00,1.60,0.00,0.000,1030,0.000,0.024,2631,2668,3937,3952,3923,0,0,0,0,0,0,28.83,25.75,28.83
$GC,964,-0.85,-267.6,2632,2668,3953,3924,174.0,-14.4,94,968,0.00,2.05,0.00,0.000,516,0.000,0.022,2631,1268,3938,3953,3924,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1019,-0.85,-267.6,2631,1268,3954,3924,180.4,-14.4,97,1027,0.00,2.17,0.00,0.000,1030,0.000,0.032,2631,2676,3938,3953,3924,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1324,-0.85,-267.6,2631,2677,3954,3924,226.4,-14.5,118,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2676,3938,3953,3923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1624,-0.85,-267.6,2631,2677,3955,3922,269.4,-14.2,138,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2676,3937,3953,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.85,-267.6,2631,2677,3954,3919,308.9,-12.8,158,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2676,3935,3953,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,-0.85,-267.6,2630,2677,3954,3915,347.0,-12.7,178,2229,0.00,2.10,0.00,0.000,516,0.000,0.023,2631,1266,3933,3953,3913,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2255,-0.85,-267.6,2632,1267,3953,3914,350.7,-12.8,180,2259,0.08,2.17,0.00,0.000,3078,0.133,0.032,2649,2682,3933,3953,3913,0,0,0,0,0,0,25.37,25.76,28.83
$GC,2570,-0.85,-267.6,2651,2683,3951,3911,384.6,-10.5,201,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2682,3931,3952,3911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,-0.85,-267.6,2651,2683,3950,3907,416.4,-10.5,221,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2682,3928,3950,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3169,-0.85,-267.6,2650,2683,3948,3905,450.2,-11.5,241,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2682,3926,3947,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3469,-0.85,-267.6,2651,2683,3944,3903,484.0,-11.0,261,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2682,3923,3945,3902,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3618,begin apogee
$GC,3622,-0.24,0.0,2650,2306,3946,3901,500.4,-10.9,271,3832,0.60,0.00,204.75,0.724,10246,0.093,0.000,2848,2306,2836,2905,2768,0,0,0,0,0,0,25.19,28.83,24.04
$STATE,3833,end apogee,CONTROL_FINISHED_OK
$STATE,3833,begin loiter
$GC,4130,-0.13,89.0,2847,2308,2899,2767,519.9,-2.7,305,4207,0.12,2.17,69.00,0.731,10756,0.099,0.028,2896,915,2472,2540,2405,0,0,0,0,0,0,25.49,25.01,24.15
$GC,4746,-0.13,89.0,2897,916,2529,2401,500.0,3.6,346,4751,0.00,2.12,0.00,0.000,1030,0.000,0.028,2896,2299,2464,2529,2400,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5062,-0.13,89.0,2896,2299,2526,2399,490.8,3.1,367,5065,0.00,2.10,0.00,0.000,516,0.000,0.030,2896,917,2462,2527,2398,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5606,-0.13,89.0,2896,917,2525,2397,476.0,2.4,403,5611,0.00,2.12,0.00,0.000,1030,0.000,0.028,2896,2307,2460,2523,2397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5917,-0.13,89.0,2896,2307,2520,2396,467.8,2.9,424,5920,0.00,2.12,0.00,0.000,516,0.000,0.029,2896,904,2458,2520,2397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6431,-0.13,89.0,2897,905,2518,2394,451.2,3.8,458,6435,0.00,2.15,0.00,0.000,1030,0.000,0.028,2896,2298,2456,2519,2394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6742,-0.13,89.0,2896,2298,2518,2394,439.9,3.7,479,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2298,2455,2518,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,-0.13,89.0,2897,2298,2516,2393,429.3,3.9,499,7045,0.00,2.20,0.00,0.000,260,0.000,0.041,2896,3696,2455,2517,2393,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7166,-0.13,89.0,2896,3697,2517,2394,424.9,3.8,507,7171,0.00,2.10,0.00,0.000,1030,0.000,0.024,2896,2301,2455,2516,2394,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,7430,end loiter,LOITER_COMPLETE
$STATE,7430,begin climb
$GC,7431,0.85,267.6,2896,2302,2517,2393,415.0,0.0,525,7575,0.82,0.00,139.57,0.692,10758,0.064,0.000,3187,2300,1745,1822,1668,0,0,0,0,0,0,25.38,28.83,24.05
$GC,7866,0.85,267.6,3187,2300,1811,1660,371.3,11.0,554,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2303,1735,1810,1660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,0.87,267.6,3188,2300,1808,1658,340.7,10.0,574,8171,0.00,2.22,0.00,0.000,260,0.000,0.039,3187,3704,1732,1806,1658,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8201,0.88,267.6,3189,3704,1807,1659,337.5,10.4,576,8205,0.00,2.12,0.00,0.000,1030,0.000,0.024,3194,2291,1733,1808,1658,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8512,0.88,267.6,3196,2290,1806,1657,303.6,10.8,597,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2289,1731,1806,1657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8812,0.90,267.6,3194,2289,1807,1657,271.7,10.4,617,8815,0.00,2.22,0.00,0.000,260,0.000,0.038,3195,3698,1730,1805,1656,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8861,0.90,267.6,3195,3698,1805,1657,266.5,11.2,620,8865,0.00,2.10,0.00,0.000,1030,0.000,0.023,3201,2295,1730,1805,1656,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9172,0.90,267.6,3201,2295,1806,1657,231.2,11.6,641,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2294,1730,1804,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,0.90,267.6,3202,2294,1804,1656,197.5,11.0,661,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2294,1730,1804,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9771,0.90,267.6,3202,2293,1804,1656,163.0,11.8,681,9775,0.00,2.22,0.00,0.000,260,0.000,0.037,3201,3699,1730,1804,1656,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9796,0.90,267.6,3201,3700,1805,1657,161.3,11.6,682,9804,0.00,2.10,0.00,0.000,1030,0.000,0.022,3210,2290,1730,1804,1656,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10102,0.91,267.6,3209,2289,1805,1656,125.5,10.2,703,10106,0.00,2.05,0.00,0.000,516,0.000,0.028,3216,920,1729,1803,1656,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10147,0.93,267.6,3216,920,1804,1656,121.0,10.1,706,10152,0.00,2.12,0.00,0.000,1030,0.000,0.026,3216,2308,1730,1804,1656,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10457,1.03,348.3,3214,2309,1805,1656,90.4,8.7,730,10529,0.10,2.20,62.25,0.460,10500,0.093,0.037,3261,3696,1414,1501,1328,0,0,0,0,0,0,25.75,25.32,24.65
$GC,10663,1.03,348.3,3261,3697,1509,1322,64.4,14.1,750,10671,0.00,2.12,0.00,0.000,1030,0.000,0.021,3271,2297,1411,1501,1321,0,0,0,0,0,0,28.83,25.23,28.83
$GC,10789,1.05,348.3,3270,2296,1502,1321,50.0,10.1,763,10793,0.00,2.22,0.00,0.000,260,0.000,0.036,3271,3693,1410,1500,1320,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10863,1.05,348.3,3270,3694,1502,1321,40.8,11.1,777,10871,0.00,2.10,0.00,0.000,1030,0.000,0.021,3271,2291,1410,1501,1320,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10930,1.18,454.1,3272,2291,1501,1321,35.0,7.9,790,11023,0.08,2.22,84.70,0.400,11012,0.125,0.034,3307,3710,984,1099,869,0,0,0,0,0,0,25.06,25.19,24.60
$GC,11052,1.18,454.1,3307,3711,1100,868,20.1,15.4,810,11060,0.00,2.15,0.00,0.000,1030,0.000,0.021,3312,2295,982,1098,867,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11119,1.18,454.1,3312,2295,1100,865,10.9,13.2,823,11127,0.00,2.10,0.00,0.000,516,0.000,0.027,3321,912,981,1098,865,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11150,1.18,454.1,3320,912,1099,866,6.7,13.5,829,11158,0.00,2.12,0.00,0.000,1030,0.000,0.025,3321,2300,981,1097,865,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,11181,end climb,SURFACE_DEPTH_REACHED
$STATE,11181,begin surface coast
$FINISH,1.0,0.996791
$STATE,11206,end surface coast,CONTROL_FINISHED_OK
$STATE,11206,begin surface
$SM_CCo,11223,25.98,0.292,1,0,800,500.16
$SM_GC,2.25,8.48,0.55,25.98,0.034,0.038,0.292,153,2681,800,-8.62,-1.55,500.16,0,0,0,0,1,0,25.37,25.20,24.64
$IRIDIUM_FIX,2722.64,-8719.43,190508,104115
$TT8_MAMPS,0.09737,0.09737
$HUMID,40.86
$INTERNAL_PRESSURE,9.13577
$TCM_TEMP,24.60
$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,3.5/516052/497961
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.1/436550/422993
$24V_AH,23.96,52.454
$10V_AH,10.02,18.928
$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,20.875,73.025,560.275,25.975,0.000,32.967,38.834,163.938,0.000,11882.300,16.502,0.000,8352.848,681.692,2482.562,107.684,0.000,1564.454,0.000,1668.524,0.000,0.000,0.000
$DEVICE_MAMPS,234.090,41.310,731.340,292.230,0.000,61.970,160.000,223.000,0.000,37.332,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,563.127,0.000,0.000,0.000,0.000,0.000,11882.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.937,0.000,0.000,0.000
$MEM,295960
$DATA_FILE_SIZE,30082,840
$CAP_FILE_SIZE,116607,0
$CFSIZE,260034560,254783488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,11645.72,0x236bc6,7,5
$CURRENT,0.347,218.94,1
$GPS,240715,002743,2757.653,-8726.445,24,0.9,34,-2.0