version: 66.12
glider: 161
mission: 11
dive: 58
start: 7 26 115 2 11 39
data:
$ID,161
$MISSION,11
$DIVE,58
$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,275
$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,22
$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,83
$R_STBD_OVSHOOT,43
$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
$GPS1,260715,020331,2758.504,-8727.576,80,1.0,90,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.9
$GPS2,260715,021129,2758.501,-8727.663,4,1.0,14,-2.0
$SPEED_LIMITS,0.231,0.302
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,327.9,829,-22.8,-13.333,-30.00,1676
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.22,-149.2,138,2683,891,706,0.0,0.0,0,68,0.00,0.00,-51.22,0.000,16386,0.000,0.000,136,2684,2557,2528,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.22,-149.2,138,2684,2527,2586,5.9,-14.0,8,102,10.10,2.10,-12.73,0.000,18948,0.237,0.037,2531,1268,3450,3480,3421,0,0,0,0,0,0,24.91,25.60,25.73
$GC,250,-1.22,-149.2,2532,1268,3483,3422,65.1,-26.2,37,258,0.00,2.17,0.00,0.000,1030,0.000,0.029,2524,2678,3451,3483,3420,0,0,0,0,0,0,28.83,25.67,28.83
$GC,376,-1.22,-149.2,2524,2679,3484,3422,92.5,-20.6,50,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2678,3453,3485,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,506,-1.22,-149.2,2523,2679,3489,3422,118.6,-20.1,60,509,0.00,2.10,0.00,0.000,516,0.000,0.022,2523,1265,3454,3487,3422,0,0,0,0,0,0,28.83,25.81,28.83
$GC,586,-1.22,-149.2,2525,1265,3488,3422,133.1,-18.8,65,590,0.00,2.17,0.00,0.000,1030,0.000,0.030,2514,2676,3455,3488,3422,0,0,0,0,0,0,28.83,25.77,28.83
$GC,896,-1.22,-149.2,2515,2676,3490,3423,192.7,-19.0,86,900,0.00,2.08,0.00,0.000,516,0.000,0.023,2514,1277,3456,3490,3422,0,0,0,0,0,0,28.83,25.84,28.83
$GC,956,-1.22,-149.2,2515,1277,3490,3423,203.0,-17.0,90,960,0.08,2.15,0.00,0.000,3078,0.162,0.030,2528,2677,3456,3490,3422,0,0,0,0,0,0,25.25,25.80,28.83
$GC,1271,-1.22,-149.2,2528,2678,3492,3423,254.2,-16.6,111,1274,0.00,2.08,0.00,0.000,516,0.000,0.022,2528,1271,3456,3490,3422,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1411,-1.22,-149.2,2528,1271,3492,3423,275.7,-15.8,120,1415,0.00,2.17,0.00,0.000,1030,0.000,0.031,2522,2681,3456,3490,3422,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1721,-1.22,-149.2,2522,2681,3492,3421,327.9,-16.8,141,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2681,3455,3490,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2021,-1.22,-149.2,2523,2681,3490,3417,377.8,-16.0,161,2025,0.00,2.10,0.00,0.000,516,0.000,0.024,2523,1282,3453,3490,3416,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2126,-1.22,-149.2,2523,1283,3490,3416,394.8,-16.3,168,2130,0.00,2.20,0.00,0.000,1030,0.000,0.032,2512,2684,3452,3489,3415,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2441,-1.22,-149.2,2512,2682,3488,3413,448.2,-17.0,189,2445,0.00,2.12,0.00,0.000,516,0.000,0.025,2512,1276,3449,3487,3411,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2510,-1.22,-149.2,2513,1276,3485,3412,458.4,-16.9,193,2518,0.10,2.17,0.00,0.000,3078,0.148,0.033,2534,2674,3448,3485,3412,0,0,0,0,0,0,25.20,25.70,28.83
$GC,2817,-1.22,-149.2,2533,2675,3485,3410,506.6,-15.1,214,2820,0.00,2.08,0.00,0.000,516,0.000,0.024,2534,1262,3445,3483,3408,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2906,-1.22,-149.2,2534,1262,3484,3409,519.9,-15.5,220,2910,0.00,2.20,0.00,0.000,1030,0.000,0.032,2526,2676,3445,3483,3408,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3216,-1.22,-149.2,2527,2676,3481,3405,570.2,-16.0,241,3220,0.00,2.10,0.00,0.000,516,0.000,0.024,2527,1281,3442,3480,3405,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3261,-1.22,-149.2,2528,1281,3479,3411,577.3,-16.0,244,3265,0.00,2.17,0.00,0.000,1030,0.000,0.033,2516,2683,3441,3479,3404,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,3409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3410,begin apogee
$GC,3413,-0.23,0.0,2518,2310,3479,3403,601.3,-16.0,254,3534,1.05,0.00,116.18,0.789,10246,0.117,0.000,2850,2309,2838,2937,2740,0,0,0,0,0,0,25.35,28.83,24.04
$STATE,3534,end apogee,CONTROL_FINISHED_OK
$STATE,3534,begin climb
$GC,3536,1.22,149.2,2851,2309,2937,2740,605.0,0.0,262,3660,1.33,0.00,119.40,0.786,10758,0.061,0.000,3326,2309,2228,2308,2149,0,0,0,0,0,0,24.96,28.83,23.96
$GC,3951,1.22,149.2,3327,2309,2295,2146,559.7,14.2,290,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2309,2221,2296,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,1.22,149.2,3326,2310,2293,2144,518.3,13.4,310,4255,0.00,2.12,0.00,0.000,516,0.000,0.028,3336,896,2217,2292,2143,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4305,1.22,149.2,3336,896,2291,2144,512.3,13.4,313,4313,0.00,2.15,0.00,0.000,1030,0.000,0.027,3336,2303,2217,2292,2143,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4611,1.23,157.0,3337,2304,2289,2142,471.3,12.9,334,4620,0.00,2.10,5.38,0.519,8708,0.000,0.031,3346,897,2198,2274,2123,0,0,0,0,0,0,28.83,25.90,24.71
$GC,4761,1.23,157.0,3346,898,2272,2121,451.0,13.5,344,4765,0.00,2.15,0.00,0.000,1030,0.000,0.027,3345,2302,2196,2272,2121,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5076,1.23,157.0,3345,2303,2270,2120,407.1,13.9,365,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2302,2194,2268,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,1.23,157.0,3345,2302,2268,2119,365.3,14.6,385,5379,0.00,2.15,0.00,0.000,516,0.000,0.030,3354,902,2192,2267,2118,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5571,1.23,157.0,3355,903,2266,2118,338.1,13.7,398,5574,0.00,2.15,0.00,0.000,1030,0.000,0.028,3354,2300,2192,2266,2119,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5886,1.23,157.0,3354,2301,2265,2118,294.5,13.9,419,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2300,2190,2264,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6186,1.23,157.0,3355,2301,2262,2117,252.2,14.3,439,6190,0.00,2.17,0.00,0.000,516,0.000,0.029,3364,902,2189,2262,2117,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6220,1.23,157.0,3365,902,2262,2117,247.8,14.5,441,6225,0.10,2.15,0.00,0.000,5126,0.142,0.027,3334,2303,2189,2262,2116,0,0,0,0,0,0,25.11,25.64,28.83
$GC,6531,1.24,165.2,3335,2303,2262,2116,205.6,12.8,462,6542,0.00,2.17,7.00,0.448,8708,0.000,0.031,3341,899,2163,2238,2089,0,0,0,0,0,0,28.83,25.79,24.70
$GC,6816,1.26,176.0,3342,899,2234,2089,167.7,12.7,480,6829,0.00,2.15,9.82,0.461,9222,0.000,0.025,3342,2299,2120,2202,2039,0,0,0,0,0,0,28.83,25.70,24.82
$GC,7127,1.27,184.8,3341,2300,2199,2037,126.2,12.8,501,7144,0.00,2.15,8.27,0.427,8708,0.000,0.030,3351,903,2083,2165,2001,0,0,0,0,0,0,28.83,25.78,24.80
$GC,7312,1.28,196.1,3350,904,2164,2001,102.9,12.6,513,7328,0.00,2.12,10.45,0.428,9222,0.000,0.025,3350,2298,2037,2119,1955,0,0,0,0,0,0,28.83,25.70,24.84
$GC,7628,1.35,251.9,3350,2298,2117,1955,65.3,9.9,544,7673,0.00,0.00,43.15,0.439,8710,0.000,0.000,3351,2298,1811,1895,1728,0,0,0,0,0,0,28.83,28.83,24.79
$GC,7788,1.44,325.4,3351,2299,1888,1726,48.9,8.8,561,7851,0.10,2.15,57.67,0.424,10756,0.106,0.028,3397,893,1510,1600,1420,0,0,0,0,0,0,25.53,25.34,24.59
$GC,7910,1.45,332.1,3397,892,1597,1425,34.7,12.9,583,7924,0.00,2.17,6.30,0.334,9222,0.000,0.024,3397,2310,1483,1573,1394,0,0,0,0,0,0,28.83,25.41,24.57
$GC,7983,1.45,335.0,3398,2309,1570,1393,24.9,13.2,597,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2310,1481,1570,1392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8043,1.45,335.5,3398,2310,1569,1392,16.6,13.3,609,8069,0.00,2.10,14.93,0.122,8708,0.000,0.026,3405,897,1470,1560,1381,0,0,0,0,1,0,28.83,25.60,24.55
$GC,8128,1.68,522.7,3406,898,1558,1380,10.8,1.9,625,8306,0.10,2.12,160.20,0.417,11270,0.054,0.024,3463,2303,707,828,587,0,0,0,0,1,0,25.64,25.62,24.43
$STATE,8309,end climb,SURFACE_DEPTH_REACHED
$STATE,8309,begin surface coast
$FINISH,0.9,0.996850
$STATE,8334,end surface coast,CONTROL_FINISHED_OK
$STATE,8334,begin surface
$SM_CCo,8411,0.00,0.000,0,0,703,523.95
$SM_GC,1.87,8.80,0.55,0.00,0.029,0.037,0.000,154,2677,703,-8.60,-1.44,523.95,0,0,0,0,0,0,25.27,25.29,28.83
$IRIDIUM_FIX,2722.64,-8719.43,210508,153402
$TT8_MAMPS,0.09737,0.09737
$HUMID,40.54
$INTERNAL_PRESSURE,9.1846
$TCM_TEMP,24.80
$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,3.5/516052/497951
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422158
$24V_AH,23.96,56.048
$10V_AH,10.01,22.072
$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,21.750,69.550,558.750,0.000,0.000,31.478,39.367,139.514,0.000,8953.700,15.356,0.000,6093.567,594.654,1968.595,89.800,0.000,1326.910,0.000,1292.648,0.000,0.000,0.000
$DEVICE_MAMPS,237.150,36.720,788.715,0.000,0.000,61.970,160.000,223.000,0.000,35.446,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,438.598,0.000,0.000,0.000,0.000,0.000,8953.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.934,0.000,0.000,0.000
$MEM,295992
$DATA_FILE_SIZE,23430,660
$CAP_FILE_SIZE,97331,0
$CFSIZE,260034560,253833216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,7806.22,0x236bc6,7,5
$GPS,260715,043232,2759.314,-8728.055,16,0.9,26,-2.0