version: 66.12
glider: 161
mission: 11
dive: 52
start: 7 25 115 14 57 25
data:
$ID,161
$MISSION,11
$DIVE,52
$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,175
$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,90
$R_STBD_OVSHOOT,52
$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
$GPS1,250715,144844,2759.223,-8726.338,27,0.9,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.3
$GPS2,250715,145715,2759.118,-8726.212,4,0.8,14,-2.0
$SPEED_LIMITS,0.217,0.241
$TGT_NAME,RECOV
$TGT_LATLONG,2758.418,-8727.309
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,236.2,2213,-19.3,-12.500,-27.38,2022
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.13,-170.3,146,2655,892,693,0.0,0.0,0,81,0.00,0.00,-63.95,0.000,16386,0.000,0.000,144,2655,2842,2825,2859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.13,-170.3,144,2656,2826,2859,5.2,-12.0,10,108,10.02,1.73,-11.05,0.000,18692,0.232,0.058,2550,3760,3533,3558,3509,0,0,0,0,0,0,24.89,25.51,25.70
$GC,267,-1.13,-170.3,2551,3760,3567,3510,68.3,-22.3,39,271,0.00,1.60,0.00,0.000,1030,0.000,0.022,2551,2666,3538,3567,3509,0,0,0,0,0,0,28.83,25.72,28.83
$GC,398,-1.13,-170.3,2550,2666,3571,3510,96.6,-21.6,52,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2665,3539,3569,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,522,-1.13,-170.3,2549,2667,3573,3510,120.6,-18.8,61,526,0.00,1.73,0.00,0.000,260,0.000,0.039,2542,3758,3540,3571,3509,0,0,0,0,0,0,28.83,25.67,28.83
$GC,547,-1.13,-170.3,2543,3758,3570,3510,123.5,-19.2,62,555,0.00,1.58,0.00,0.000,1030,0.000,0.024,2542,2696,3540,3571,3509,0,0,0,0,0,0,28.83,25.82,28.83
$GC,853,-1.13,-170.3,2544,2696,3574,3510,185.0,-18.9,83,856,0.00,1.67,0.00,0.000,260,0.000,0.039,2534,3757,3542,3574,3510,0,0,0,0,0,0,28.83,25.71,28.83
$GC,892,-1.13,-170.3,2534,3758,3575,3510,190.7,-18.5,85,900,0.12,1.62,0.00,0.000,3078,0.164,0.023,2563,2653,3542,3574,3510,0,0,0,0,0,0,25.24,25.86,28.83
$GC,1198,-1.13,-170.3,2563,2653,3574,3510,242.3,-16.1,106,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2653,3541,3574,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-1.13,-170.3,2562,2653,3575,3510,291.1,-16.1,126,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2653,3541,3574,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-1.13,-170.3,2562,2653,3569,3507,339.5,-15.6,146,1801,0.00,2.03,0.00,0.000,516,0.000,0.023,2563,1282,3540,3574,3507,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1843,-1.13,-170.3,2563,1283,3574,3507,346.5,-15.6,149,1846,0.00,2.12,0.00,0.000,1030,0.000,0.029,2555,2667,3540,3574,3507,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2158,-1.13,-170.3,2555,2668,3576,3505,395.5,-16.1,170,2161,0.00,2.08,0.00,0.000,516,0.000,0.024,2555,1285,3539,3574,3504,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2188,-1.13,-170.3,2556,1286,3574,3504,400.2,-15.8,172,2191,0.00,2.15,0.00,0.000,1030,0.000,0.031,2546,2673,3538,3574,3503,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,2501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2502,begin apogee
$GC,2505,-0.24,0.0,2546,2309,3572,3502,451.7,-16.4,193,2642,0.95,0.00,133.35,0.679,10246,0.114,0.000,2848,2308,2838,2940,2737,0,0,0,0,0,0,25.39,28.83,24.12
$STATE,2643,end apogee,CONTROL_FINISHED_OK
$STATE,2643,begin climb
$GC,2644,1.13,170.3,2849,2309,2938,2738,456.9,0.0,202,2791,1.20,2.20,133.77,0.676,10756,0.063,0.028,3285,914,2141,2232,2050,0,0,0,0,0,0,24.90,24.87,24.08
$GC,2900,1.13,170.3,3284,914,2229,2047,438.7,12.7,219,2904,0.00,2.17,0.00,0.000,1030,0.000,0.027,3285,2312,2136,2227,2046,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3211,1.14,180.2,3286,2312,2222,2045,399.0,12.0,240,3220,0.00,0.00,8.10,0.534,8198,0.000,0.000,3285,2312,2103,2195,2012,0,0,0,0,0,0,28.83,28.83,24.64
$GC,3510,1.14,180.2,3286,2313,2186,2011,359.5,13.6,260,3514,0.00,2.15,0.00,0.000,516,0.000,0.028,3293,899,2098,2186,2010,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3555,1.14,180.2,3293,900,2187,2011,353.5,13.2,263,3559,0.00,2.15,0.00,0.000,1030,0.000,0.027,3294,2303,2097,2185,2010,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3870,1.14,180.2,3295,2303,2182,2009,312.6,13.3,284,3874,0.00,2.12,0.00,0.000,516,0.000,0.029,3303,907,2095,2182,2009,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3910,1.14,180.2,3303,908,2183,2009,308.5,13.5,286,3917,0.00,2.12,0.00,0.000,1030,0.000,0.028,3304,2295,2095,2181,2009,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4215,1.14,180.2,3304,2296,2180,2008,265.4,13.8,307,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2295,2093,2180,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,1.14,180.2,3304,2296,2177,2007,223.1,14.9,327,4519,0.00,2.20,0.00,0.000,260,0.000,0.037,3303,3706,2091,2177,2006,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4540,1.14,180.2,3302,3707,2178,2007,220.8,14.7,328,4547,0.00,2.10,0.00,0.000,1030,0.000,0.023,3309,2298,2091,2177,2006,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4845,1.14,180.2,3313,2298,2176,2007,178.0,13.0,349,4849,0.00,2.08,0.00,0.000,516,0.000,0.028,3323,907,2090,2175,2005,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4910,1.14,180.2,3324,908,2173,2002,170.0,13.2,353,4914,0.00,2.12,0.00,0.000,1030,0.000,0.026,3323,2299,2089,2174,2005,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5220,1.14,180.2,3323,2300,2172,2005,129.4,12.6,374,5224,0.00,2.17,0.00,0.000,260,0.000,0.037,3323,3696,2089,2173,2005,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5435,1.14,180.2,3323,3697,2171,2005,102.6,12.6,388,5439,0.10,2.08,0.00,0.000,5126,0.149,0.021,3304,2297,2088,2171,2005,0,0,0,0,0,0,25.10,25.82,28.83
$GC,5740,1.20,227.4,3305,2293,2171,2001,71.2,10.1,418,5783,0.00,2.17,34.85,0.435,8452,0.000,0.037,3304,3700,1909,1995,1824,0,0,0,0,0,0,28.83,25.65,24.94
$GC,5827,1.21,236.5,3304,3701,1993,1824,61.9,12.0,426,5844,0.00,2.10,8.40,0.379,9222,0.000,0.022,3313,2296,1872,1958,1787,0,0,0,0,0,0,28.83,25.65,24.75
$GC,5962,1.26,277.0,3313,2296,1955,1787,45.4,10.4,444,6000,0.00,2.08,31.88,0.413,8708,0.000,0.026,3321,911,1707,1795,1620,0,0,0,0,0,0,28.83,25.20,24.72
$GC,6204,1.38,374.4,3321,909,1791,1618,25.5,7.6,491,6291,0.08,2.12,76.62,0.402,11270,0.066,0.025,3362,2307,1309,1408,1211,0,0,0,0,0,0,25.60,25.58,24.60
$GC,6350,1.45,427.4,3365,2307,1404,1209,10.8,9.8,517,6419,0.00,2.22,53.78,0.353,8452,0.000,0.037,3365,3695,1095,1203,987,0,0,0,0,1,0,28.83,25.08,24.44
$STATE,6437,end climb,SURFACE_DEPTH_REACHED
$STATE,6437,begin surface coast
$FINISH,0.9,0.997832
$STATE,6462,end surface coast,CONTROL_FINISHED_OK
$STATE,6462,begin surface
$SM_CCo,6479,43.88,0.265,1,0,799,500.16
$SM_GC,1.52,8.50,1.52,43.88,0.028,0.021,0.265,151,2659,799,-8.60,2.21,500.16,0,0,0,0,1,0,25.15,25.44,24.46
$IRIDIUM_FIX,2722.64,-8719.43,210508,041938
$TT8_MAMPS,0.098119,0.098119
$HUMID,40.07
$INTERNAL_PRESSURE,9.16506
$TCM_TEMP,24.50
$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,3.5/516052/497954
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.2/436550/422462
$24V_AH,24.08,55.038
$10V_AH,10.03,21.343
$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,20.975,56.700,480.750,43.875,0.000,30.934,35.707,153.575,0.000,7126.900,15.268,0.000,4634.719,590.308,1575.805,83.220,0.000,1156.927,0.000,962.939,0.000,0.000,0.000
$DEVICE_MAMPS,231.795,58.140,679.320,264.690,0.000,61.970,160.000,223.000,0.000,36.747,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,354.986,0.000,0.000,0.000,0.000,0.000,7126.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.896,0.000,0.000,0.000
$MEM,296036
$DATA_FILE_SIZE,20092,537
$CAP_FILE_SIZE,79704,0
$CFSIZE,260034560,254119936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,8552.26,0x236bc6,7,5
$GPS,250715,164643,2758.245,-8726.463,2,0.9,13,-2.0