version: 66.12
glider: 161
mission: 11
dive: 56
start: 7 25 115 21 39 59
data:
$ID,161
$MISSION,11
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,600
$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,160
$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,200
$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,99
$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
$GPS1,250715,213142,2757.649,-8726.555,37,1.0,47,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-55.8
$GPS2,250715,213948,2757.464,-8726.538,3,0.9,14,-2.0
$SPEED_LIMITS,0.231,0.262
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,320.5,3479,-19.1,-13.333,-26.94,2167
$D_GRID,600
$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,-1.15,-194.6,142,2634,887,699,0.0,0.0,0,75,0.00,0.00,-57.80,0.000,16386,0.000,0.000,143,2634,2687,2665,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.15,-194.6,144,2634,2666,2711,5.2,-11.5,9,108,10.32,1.75,-14.68,0.000,18692,0.245,0.052,2547,3762,3635,3659,3612,0,0,0,0,0,0,25.04,25.39,25.51
$GC,152,-1.15,-194.6,2548,3762,3659,3613,33.6,-34.8,23,159,0.00,1.58,0.00,0.000,1030,0.000,0.022,2547,2678,3636,3659,3613,0,0,0,0,0,0,28.83,25.72,28.83
$GC,218,-1.15,-194.6,2548,2678,3660,3613,57.2,-30.9,34,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2677,3636,3660,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,339,-1.15,-194.6,2548,2678,3662,3613,85.2,-22.6,46,342,0.00,2.05,0.00,0.000,516,0.000,0.023,2547,1293,3637,3662,3612,0,0,0,0,0,0,28.83,25.53,28.83
$GC,373,-1.15,-194.6,2547,1294,3665,3613,92.1,-22.8,49,381,0.00,2.10,0.00,0.000,1030,0.000,0.031,2537,2669,3637,3663,3612,0,0,0,0,0,0,28.83,25.77,28.83
$GC,498,-1.15,-194.6,2539,2670,3665,3613,120.6,-21.8,59,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2669,3638,3664,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-1.15,-194.6,2538,2670,3666,3613,181.2,-19.3,79,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2670,3639,3666,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-1.15,-194.6,2539,2670,3667,3613,237.4,-18.0,99,1102,0.00,2.05,0.00,0.000,516,0.000,0.023,2537,1283,3639,3667,3612,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1229,-1.15,-194.6,2538,1284,3666,3613,258.9,-17.4,107,1236,0.08,2.15,0.00,0.000,3078,0.152,0.031,2559,2682,3639,3666,3612,0,0,0,0,0,0,25.46,25.89,28.83
$GC,1534,-1.15,-194.6,2559,2683,3668,3612,311.6,-17.0,128,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2682,3638,3666,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1834,-1.15,-194.6,2559,2683,3668,3608,360.8,-16.4,148,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2683,3636,3666,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2133,-1.15,-194.6,2559,2684,3666,3605,410.0,-16.7,168,2137,0.00,2.08,0.00,0.000,516,0.000,0.024,2559,1291,3634,3664,3605,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2198,-1.15,-194.6,2561,1292,3664,3605,419.3,-15.7,172,2202,0.00,2.15,0.00,0.000,1030,0.000,0.032,2552,2681,3634,3664,3605,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2509,-1.15,-194.6,2552,2681,3663,3603,471.9,-16.9,193,2512,0.00,2.10,0.00,0.000,516,0.000,0.026,2553,1285,3631,3661,3602,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2548,-1.15,-194.6,2552,1285,3662,3603,477.1,-17.1,195,2556,0.00,2.15,0.00,0.000,1030,0.000,0.033,2543,2674,3631,3660,3602,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2854,-1.15,-194.6,2544,2674,3658,3596,532.0,-17.2,216,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2674,3628,3658,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3153,-1.15,-194.6,2543,2675,3657,3596,582.6,-17.0,236,3157,0.00,2.08,0.00,0.000,516,0.000,0.025,2543,1295,3625,3656,3595,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3198,-1.15,-194.6,2542,1295,3657,3596,589.9,-16.4,239,3202,0.00,2.15,0.00,0.000,1030,0.000,0.034,2534,2675,3625,3655,3595,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,3257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3257,begin apogee
$GC,3261,-0.24,0.0,2534,2310,3656,3595,600.1,-17.0,243,3416,1.00,0.00,151.35,0.787,10246,0.114,0.000,2853,2309,2838,2941,2736,0,0,0,0,0,0,25.41,28.83,24.09
$STATE,3416,end apogee,CONTROL_FINISHED_OK
$STATE,3416,begin climb
$GC,3418,1.15,194.6,2853,2310,2941,2737,606.6,0.0,253,3580,1.25,2.15,154.40,0.784,10756,0.062,0.027,3309,902,2045,2133,1957,0,0,0,0,0,0,24.93,24.91,24.06
$GC,3789,1.15,194.6,3309,902,2124,1954,570.4,14.6,278,3797,0.00,2.17,0.00,0.000,1030,0.000,0.028,3309,2302,2037,2122,1953,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4095,1.15,194.6,3309,2303,2121,1951,523.5,14.7,299,4099,0.00,2.12,0.00,0.000,516,0.000,0.029,3318,911,2035,2119,1951,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4144,1.15,194.6,3318,915,2120,1951,516.7,14.9,302,4148,0.00,2.12,0.00,0.000,1030,0.000,0.028,3318,2295,2034,2118,1951,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4455,1.15,194.6,3318,2296,2117,1950,469.5,14.6,323,4459,0.00,2.10,0.00,0.000,516,0.000,0.029,3328,915,2032,2115,1949,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4494,1.15,194.6,3327,916,2117,1950,465.2,14.6,325,4502,0.00,2.12,0.00,0.000,1030,0.000,0.028,3327,2296,2032,2116,1949,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4799,1.15,194.6,3327,2296,2121,1949,416.2,16.0,346,4803,0.00,2.10,0.00,0.000,516,0.000,0.029,3336,913,2030,2113,1947,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4890,1.15,194.6,3337,914,2112,1948,402.0,15.7,352,4894,0.10,2.12,0.00,0.000,5126,0.142,0.028,3306,2308,2030,2112,1948,0,0,0,0,0,0,25.34,25.79,28.83
$GC,5205,1.15,194.6,3306,2309,2112,1947,357.3,14.0,373,5208,0.00,2.12,0.00,0.000,516,0.000,0.029,3315,911,2028,2111,1946,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5314,1.15,194.6,3313,911,2111,1946,342.3,14.2,380,5319,0.00,2.12,0.00,0.000,1030,0.000,0.028,3314,2302,2028,2110,1946,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5624,1.15,194.6,3313,2303,2110,1946,295.3,15.3,401,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2302,2026,2108,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,1.15,194.6,3313,2303,2108,1945,248.9,15.7,421,5928,0.00,2.12,0.00,0.000,516,0.000,0.029,3323,910,2025,2107,1944,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6065,1.15,194.6,3324,907,2106,1945,228.2,15.2,430,6068,0.00,2.12,0.00,0.000,1030,0.000,0.028,3323,2297,2025,2106,1944,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6374,1.15,194.6,3324,2296,2105,1944,180.6,15.3,451,6379,0.10,2.10,0.00,0.000,4612,0.171,0.029,3310,915,2024,2106,1943,0,0,0,0,0,0,25.20,25.79,28.83
$GC,6474,1.15,194.6,3311,915,2104,1944,167.5,14.4,457,6482,0.00,2.12,0.00,0.000,1030,0.000,0.027,3310,2303,2024,2105,1943,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6780,1.15,198.9,3310,2304,2106,1943,124.3,13.1,478,6784,0.00,2.20,0.00,0.000,260,0.000,0.038,3309,3705,2023,2104,1942,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6819,1.15,198.9,3311,3705,2104,1943,120.2,13.4,480,6827,0.00,2.10,0.00,0.000,1030,0.000,0.024,3320,2300,2023,2104,1942,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7125,1.21,244.5,3321,2299,2104,1943,80.8,11.2,506,7167,0.00,2.05,36.08,0.449,8708,0.000,0.027,3329,903,1839,1926,1753,0,0,0,0,0,0,28.83,25.68,24.94
$GC,7257,1.22,258.1,3329,904,1923,1753,64.5,12.7,519,7272,0.00,2.15,11.45,0.404,9222,0.000,0.027,3328,2310,1785,1869,1701,0,0,0,0,0,0,28.83,25.67,24.76
$GC,7397,1.38,383.1,3330,2310,1863,1701,49.8,7.4,533,7503,0.10,2.20,98.50,0.431,10756,0.100,0.028,3377,912,1275,1375,1176,0,0,0,0,0,0,25.59,25.22,24.55
$GC,7532,1.38,383.1,3376,912,1373,1176,34.2,15.3,556,7539,0.00,2.15,0.00,0.000,1030,0.000,0.028,3377,2290,1273,1371,1175,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7598,1.38,383.1,3376,2291,1372,1173,24.5,14.1,569,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2291,1271,1370,1173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7658,1.38,383.1,3376,2291,1370,1173,15.4,14.7,581,7666,0.00,2.22,0.00,0.000,260,0.000,0.036,3377,3710,1271,1369,1173,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7680,1.38,383.1,3378,3710,1368,1173,12.4,14.2,585,7687,0.00,2.12,0.00,0.000,1030,0.000,0.022,3385,2293,1271,1369,1173,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7746,1.60,563.1,3385,2292,1370,1172,6.4,4.8,598,7834,0.12,0.00,78.88,0.383,10498,0.086,0.000,3452,2290,929,1044,815,0,0,0,0,1,0,25.61,28.83,25.44
$STATE,7834,end climb,SURFACE_DEPTH_REACHED
$STATE,7834,begin surface coast
$FINISH,0.9,1.019875
$STATE,7878,end surface coast,CONTROL_FINISHED_OK
$STATE,7878,begin surface
$SM_CCo,7895,22.73,0.112,1,0,799,500.16
$SM_GC,1.51,8.88,0.62,22.73,0.034,0.034,0.112,151,2698,799,-8.62,-0.85,500.16,0,0,0,0,1,0,25.36,25.20,24.56
$IRIDIUM_FIX,2722.64,-8719.43,210508,110128
$TT8_MAMPS,0.098868,0.098868
$HUMID,42.43
$INTERNAL_PRESSURE,9.19436
$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,3.5/516052/497952
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422271
$24V_AH,24.06,55.672
$10V_AH,10.01,21.785
$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,21.950,72.450,530.650,22.725,0.000,30.112,35.575,199.680,0.000,8529.300,15.851,0.000,5722.528,622.237,1875.640,98.992,0.000,1300.907,0.000,1166.144,0.000,0.000,0.000
$DEVICE_MAMPS,244.800,52.020,787.185,111.690,0.000,61.970,160.000,223.000,0.000,37.799,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,412.264,0.000,0.000,0.000,0.000,0.000,8529.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.800,0.000,0.000,0.000
$MEM,295992
$DATA_FILE_SIZE,23386,621
$CAP_FILE_SIZE,95458,0
$CFSIZE,260034560,253927424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,3812.25,0x236bc6,7,5
$GPS,250715,235245,2758.069,-8727.048,16,0.8,26,-2.0