version: 66.12
glider: 161
mission: 11
dive: 1
start: 7 18 115 18 27 38
data:
$ID,161
$MISSION,11
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,25
$T_MISSION,30
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51942
$MASS_COMP,0
$NAV_MODE,1
$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,25.6
$TGT_DEFAULT_LON,126.45
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,2975
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,55
$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,0
$PITCH_W_DBAND,0
$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
$GPS1,180715,182332,2759.861,-8727.806,16,0.9,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-63.8
$GPS2,180715,182729,2759.744,-8727.715,4,0.8,14,-2.0
$SPEED_LIMITS,0.120,0.278
$TGT_NAME,T1
$TGT_LATLONG,2739.700,-8728.800
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,184.7,37164,-13.7,-12.000,-23.32,2944
$D_GRID,90
$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,-0.95,-243.3,141,2318,700,487,0.0,0.0,0,93,0.00,0.00,-75.45,0.000,16386,0.000,0.000,141,2318,2900,2886,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.95,-243.3,141,2318,2888,2915,3.7,-9.5,12,127,10.73,2.12,-15.32,0.000,18692,0.249,0.053,2650,3694,3834,3949,3720,0,0,0,0,0,0,25.51,25.94,26.13
$GC,391,-0.95,-243.3,2650,3694,3952,3718,76.4,-19.5,59,395,0.00,2.03,0.00,0.000,1030,0.000,0.021,2650,2282,3833,3950,3716,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,483,-0.24,0.0,2650,2401,3950,3717,91.4,-15.8,68,664,0.75,0.00,177.05,0.445,10246,0.109,0.000,2894,2400,2839,2941,2738,0,0,0,0,0,0,25.67,28.83,24.89
$STATE,665,end apogee,CONTROL_FINISHED_OK
$STATE,665,begin climb
$GC,666,0.95,243.3,2894,2401,2939,2737,100.3,0.0,86,864,1.05,2.03,184.23,0.468,10756,0.060,0.023,3285,1013,1841,1930,1752,0,0,0,0,0,0,25.43,25.44,24.84
$GC,1403,1.14,396.1,3285,1013,1918,1750,45.2,6.7,161,1527,0.10,2.05,117.82,0.403,11270,0.064,0.027,3349,2396,1222,1326,1119,0,0,0,0,0,0,25.98,25.97,25.09
$GC,1587,1.14,396.1,3349,2404,1320,1113,24.0,14.7,193,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2399,1215,1318,1112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,1.14,396.1,3350,2400,1317,1113,15.0,15.3,205,1654,0.00,2.05,0.00,0.000,260,0.000,0.037,3349,3755,1214,1317,1112,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1688,1.14,396.1,3350,3755,1316,1112,8.8,14.7,213,1696,0.00,1.98,0.00,0.000,1030,0.000,0.021,3352,2395,1214,1317,1111,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,1743,end climb,SURFACE_DEPTH_REACHED
$STATE,1743,begin surface coast
$FINISH,0.3,1.021134
$STATE,1774,end surface coast,CONTROL_FINISHED_OK
$STATE,1774,begin surface
$SM_CCo,1790,72.80,0.347,1,0,596,550.20
$SM_GC,1.14,8.30,0.00,72.80,0.034,0.000,0.347,147,2393,596,-8.76,2.63,550.20,0,0,0,0,1,0,25.91,28.83,25.09
$IRIDIUM_FIX,2722.64,-8719.43,140508,075031
$TT8_MAMPS,0.094374,0.094374
$HUMID,39.48
$INTERNAL_PRESSURE,9.49711
$TCM_TEMP,26.30
$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,3.5/516052/497990
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.6/436550/425262
$24V_AH,24.84,43.068
$10V_AH,10.50,11.375
$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,20.925,12.400,479.100,72.800,0.000,0.000,0.000,0.000,0.000,1874.600,15.747,0.000,721.263,556.963,614.927,22.262,0.000,867.002,0.000,456.243,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,71.145,468.180,347.310,0.000,0.000,0.000,0.000,0.000,35.227,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,145.404,0.000,0.000,0.000,0.000,0.000,1874.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.907,0.000,0.000,0.000
$MEM,296188
$DATA_FILE_SIZE,6803,230
$CAP_FILE_SIZE,68275,0
$CFSIZE,260034560,257179648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,3809.90,0x236bc6,7,5
$INTR,1,1779.44,0x236bc6,7,5
$GPS,180715,185917,2759.200,-8727.304,3,1.0,14,-2.0