version: 66.12
glider: 161
mission: 11
dive: 47
start: 7 25 115 3 35 1
data:
$ID,161
$MISSION,11
$DIVE,47
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,450
$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,120
$T_MISSION,130
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51942
$MASS_COMP,0
$NAV_MODE,0
$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,85
$R_STBD_OVSHOOT,49
$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,0
$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
$GPS1,250715,032307,2756.757,-8726.362,42,0.9,52,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.4
$GPS2,250715,033450,2756.633,-8726.161,5,0.8,15,-2.0
$SPEED_LIMITS,0.217,0.270
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,333.7,17012,-16.0,-12.500,-24.82,2571
$D_GRID,450
$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,-1.03,-219.0,147,2685,889,701,0.0,0.0,0,81,0.00,0.00,-63.28,0.000,16386,0.000,0.000,147,2685,2848,2828,2869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.03,-219.0,149,2685,2828,2870,5.1,-11.1,10,114,10.07,2.08,-13.82,0.000,18948,0.226,0.037,2590,1279,3734,3745,3724,0,0,0,0,0,0,24.77,25.20,25.28
$GC,253,-1.03,-219.0,2590,1280,3748,3726,60.4,-28.2,39,261,0.00,2.17,0.00,0.000,1030,0.000,0.029,2582,2669,3735,3746,3725,0,0,0,0,0,0,28.83,25.22,28.83
$GC,378,-1.03,-219.0,2583,2670,3747,3725,90.8,-24.2,52,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2669,3736,3747,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,503,-1.03,-219.0,2583,2669,3750,3726,116.9,-19.9,62,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2669,3737,3749,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-1.03,-219.0,2583,2669,3750,3726,171.1,-16.4,82,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2670,3738,3751,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.03,-219.0,2582,2670,3751,3726,221.5,-16.9,102,1107,0.00,2.08,0.00,0.000,516,0.000,0.023,2582,1282,3738,3751,3725,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1153,-1.03,-219.0,2583,1283,3751,3726,229.0,-16.7,105,1157,0.00,2.15,0.00,0.000,1030,0.000,0.030,2575,2671,3738,3751,3725,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1463,-1.03,-219.0,2576,2672,3751,3725,282.1,-17.1,126,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2672,3737,3751,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-1.03,-219.0,2576,2672,3750,3721,331.9,-16.4,146,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2672,3735,3750,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-1.03,-219.0,2581,2672,3747,3718,382.1,-16.8,166,2067,0.00,2.10,0.00,0.000,516,0.000,0.024,2575,1273,3732,3747,3718,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2098,-1.03,-219.0,2574,1274,3749,3719,387.0,-16.3,168,2103,0.10,2.17,0.00,0.000,3078,0.131,0.031,2597,2676,3732,3747,3718,0,0,0,0,0,0,25.29,25.73,28.83
$GC,2409,-1.03,-219.0,2596,2677,3746,3715,432.7,-14.0,189,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2676,3730,3745,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2542,begin apogee
$GC,2545,-0.24,0.0,2597,2305,3746,3714,451.6,-14.3,198,2719,0.77,0.00,170.32,0.679,10246,0.106,0.000,2848,2305,2838,2936,2740,0,0,0,0,0,0,25.33,28.83,24.08
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin climb
$GC,2721,1.03,219.0,2847,2305,2937,2741,459.0,0.0,209,2906,1.12,2.20,171.68,0.678,10756,0.063,0.028,3257,918,1943,2026,1860,0,0,0,0,0,0,24.85,24.80,24.03
$GC,3055,1.03,219.0,3257,919,2021,1859,430.2,13.5,232,3060,0.00,2.15,0.00,0.000,1030,0.000,0.026,3258,2305,1938,2019,1858,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3371,1.03,219.0,3257,2306,2017,1856,387.9,13.5,253,3374,0.00,2.17,0.00,0.000,260,0.000,0.038,3258,3702,1935,2015,1855,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3385,1.03,219.0,3258,3702,2014,1855,385.7,13.5,254,3389,0.00,2.10,0.00,0.000,1030,0.000,0.024,3265,2300,1934,2014,1855,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3701,1.03,219.0,3266,2299,2011,1854,341.9,13.9,275,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2299,1929,2006,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4000,1.03,219.0,3266,2299,2008,1852,300.2,13.9,295,4004,0.00,2.08,0.00,0.000,516,0.000,0.030,3271,925,1929,2008,1851,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4035,1.03,219.0,3271,926,2010,1852,296.2,13.7,297,4039,0.00,2.10,0.00,0.000,1030,0.000,0.028,3271,2293,1929,2008,1851,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4345,1.03,219.0,3271,2294,2008,1850,253.2,13.8,318,4349,0.00,2.20,0.00,0.000,260,0.000,0.038,3271,3701,1928,2006,1850,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4385,1.03,219.0,3272,3702,2005,1851,248.7,14.5,320,4393,0.00,2.10,0.00,0.000,1030,0.000,0.023,3280,2302,1927,2005,1850,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4691,1.03,219.0,3281,2302,2004,1849,201.9,14.9,341,4694,0.00,2.08,0.00,0.000,516,0.000,0.029,3289,918,1926,2004,1848,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4750,1.03,219.0,3290,919,2004,1849,193.2,14.6,345,4754,0.00,2.12,0.00,0.000,1030,0.000,0.027,3289,2310,1925,2004,1847,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5066,1.03,219.0,3289,2311,2003,1848,143.7,14.3,366,5069,0.00,2.12,0.00,0.000,516,0.000,0.028,3297,910,1924,2001,1847,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5160,1.03,219.0,3297,913,2003,1848,130.5,14.5,372,5165,0.10,2.12,0.00,0.000,5126,0.125,0.026,3265,2310,1923,2000,1847,0,0,0,0,0,0,25.30,25.72,28.83
$GC,5466,1.07,254.7,3265,2310,2000,1846,94.8,11.1,394,5498,0.00,2.10,25.25,0.441,8452,0.000,0.036,3265,3695,1797,1875,1719,0,0,0,0,0,0,28.83,25.68,24.96
$GC,5548,1.07,254.7,3264,3695,1873,1719,84.6,13.3,402,5551,0.00,2.10,0.00,0.000,1030,0.000,0.022,3271,2294,1795,1871,1719,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5677,1.14,310.8,3271,2293,1871,1718,70.0,10.3,415,5729,0.00,0.00,44.80,0.435,8198,0.000,0.000,3271,2292,1568,1656,1480,0,0,0,0,0,0,28.83,28.83,24.75
$GC,5848,1.21,361.6,3271,2293,1652,1478,51.6,10.5,432,5895,0.10,2.28,40.88,0.414,10500,0.103,0.037,3332,3700,1362,1453,1271,0,0,0,0,0,0,25.51,25.36,24.65
$GC,5979,1.21,361.6,3332,3701,1449,1271,34.0,14.7,455,5987,0.00,2.10,0.00,0.000,1030,0.000,0.021,3339,2295,1358,1447,1270,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6046,1.21,361.6,3340,2295,1446,1269,24.9,13.5,468,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2294,1357,1446,1269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6111,1.22,372.2,3340,2294,1445,1269,16.9,12.1,481,6143,0.00,2.03,20.20,0.215,8708,0.000,0.025,3349,909,1320,1411,1229,0,0,0,0,1,0,28.83,25.61,24.72
$STATE,6232,end climb,SURFACE_DEPTH_REACHED
$STATE,6232,begin surface coast
$FINISH,0.7,1.021516
$STATE,6251,end surface coast,CONTROL_FINISHED_OK
$STATE,6251,begin surface
$SM_CCo,6269,71.78,0.334,1,0,799,500.16
$SM_GC,1.68,8.43,2.72,71.78,0.031,0.027,0.334,151,2673,799,-8.62,-1.47,500.16,0,0,0,0,1,0,25.57,25.63,24.68
$IRIDIUM_FIX,2722.64,-8719.43,200508,165632
$TT8_MAMPS,0.096621,0.096621
$HUMID,38.22
$INTERNAL_PRESSURE,9.16506
$TCM_TEMP,24.40
$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,3.5/516052/497957
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422520
$24V_AH,24.03,54.133
$10V_AH,10.14,20.648
$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,20.700,52.125,473.125,71.775,0.000,31.584,35.490,196.214,0.000,7142.400,17.056,0.000,4515.584,610.037,1540.694,85.399,0.000,1140.387,0.000,895.214,0.000,0.000,0.000
$DEVICE_MAMPS,225.675,38.250,678.555,334.305,0.000,61.970,160.000,223.000,0.000,37.734,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,336.720,0.000,0.000,0.000,0.000,0.000,7142.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.839,0.000,0.000,0.000
$MEM,296036
$DATA_FILE_SIZE,16752,508
$CAP_FILE_SIZE,77643,0
$CFSIZE,260034560,254365696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,20206.94,0x236bc6,7,5
$GPS,250715,052117,2757.064,-8726.250,3,1.2,13,-2.0