version: 66.12
glider: 161
mission: 11
dive: 2
start: 7 18 115 19 9 59
data:
$ID,161
$MISSION,11
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,80
$T_MISSION,90
$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,400
$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,90
$R_STBD_OVSHOOT,46
$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
$GPS1,180715,190511,2759.013,-8727.197,3,0.9,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.6
$GPS2,180715,190950,2758.865,-8727.113,4,0.8,15,-2.0
$SPEED_LIMITS,0.112,0.271
$TGT_NAME,T1
$TGT_LATLONG,2739.700,-8728.800
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,186.5,35602,-12.3,-11.250,-22.55,3107
$D_GRID,270
$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,-0.88,-243.3,156,2391,724,468,0.0,0.0,0,81,0.00,0.00,-63.53,0.000,16386,0.000,0.000,155,2391,2533,2510,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.88,-243.3,155,2391,2513,2558,3.3,-7.5,10,126,10.73,2.03,-23.85,0.000,18692,0.249,0.051,2673,3709,3835,3955,3715,0,0,0,0,0,0,25.45,25.91,26.06
$GC,405,-0.88,-243.3,2674,3710,3956,3715,77.1,-18.3,60,413,0.00,2.03,0.00,0.000,1030,0.000,0.022,2673,2297,3835,3956,3714,0,0,0,0,0,0,28.83,26.03,28.83
$GC,530,-0.88,-243.3,2673,2298,3958,3715,96.6,-13.9,73,535,0.00,2.17,0.00,0.000,260,0.000,0.040,2671,3698,3835,3956,3714,0,0,0,0,0,0,28.83,25.89,28.83
$GC,650,-0.88,-243.3,2672,3698,3956,3715,112.5,-13.0,82,654,0.00,2.00,0.00,0.000,1030,0.000,0.021,2671,2298,3836,3957,3715,0,0,0,0,0,0,28.83,26.06,28.83
$GC,966,-0.88,-243.3,2672,2296,3957,3715,148.3,-10.4,103,969,0.00,2.15,0.00,0.000,260,0.000,0.040,2664,3706,3835,3957,3714,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1170,-0.88,-243.3,2665,3706,3957,3714,169.1,-10.5,116,1178,0.00,2.03,0.00,0.000,1030,0.000,0.022,2664,2305,3834,3956,3713,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1476,-0.88,-243.3,2665,2305,3956,3711,200.8,-10.0,137,1479,0.00,2.12,0.00,0.000,260,0.000,0.039,2660,3699,3833,3957,3710,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1650,-0.88,-243.3,2659,3700,3958,3709,219.0,-11.1,148,1658,0.08,2.03,0.00,0.000,3078,0.121,0.022,2687,2301,3832,3956,3708,0,0,0,0,0,0,25.50,26.02,28.83
$GC,1956,-0.88,-243.3,2686,2301,3958,3704,250.0,-10.0,169,1960,0.00,2.20,0.00,0.000,260,0.000,0.041,2687,3704,3830,3957,3703,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2145,-0.88,-243.3,2687,3705,3958,3701,267.5,-9.7,181,2153,0.00,2.05,0.00,0.000,1030,0.000,0.023,2687,2295,3828,3957,3700,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,2164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2164,begin apogee
$GC,2168,-0.24,0.0,2687,2411,3958,3701,270.4,-9.6,183,2350,0.62,0.00,179.18,0.571,10246,0.091,0.000,2900,2411,2838,2943,2733,0,0,0,0,0,0,25.75,28.83,24.70
$STATE,2351,end apogee,CONTROL_FINISHED_OK
$STATE,2351,begin climb
$GC,2352,0.88,243.3,2902,2412,2947,2732,282.2,0.0,195,2545,0.95,0.00,187.60,0.566,11014,0.051,0.000,3258,2410,1846,1941,1752,0,0,0,0,0,0,25.34,28.83,24.68
$GC,2840,0.88,243.3,3258,2412,1926,1743,235.3,13.7,228,2844,0.00,2.08,0.00,0.000,516,0.000,0.028,3260,1012,1834,1925,1743,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2900,0.88,243.3,3261,1012,1924,1743,226.9,13.8,232,2904,0.00,2.08,0.00,0.000,1030,0.000,0.028,3260,2399,1833,1924,1743,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3215,0.88,243.3,3261,2399,1921,1741,183.1,13.8,253,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2398,1831,1922,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3516,0.88,243.3,3260,2399,1919,1739,141.9,13.7,273,3519,0.00,2.08,0.00,0.000,260,0.000,0.037,3260,3759,1829,1919,1739,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3565,0.88,243.3,3261,3760,1918,1739,135.3,14.6,276,3569,0.00,1.98,0.00,0.000,1030,0.000,0.022,3268,2393,1828,1918,1739,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3870,0.88,243.3,3267,2392,1918,1739,94.4,12.5,298,3874,0.00,2.10,0.00,0.000,260,0.000,0.037,3268,3756,1826,1916,1737,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3965,0.88,243.3,3269,3757,1915,1738,83.6,12.1,307,3973,0.00,1.98,0.00,0.000,1030,0.000,0.022,3272,2401,1826,1915,1737,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4091,1.01,342.3,3272,2402,1916,1737,72.4,8.0,320,4173,0.00,2.10,74.32,0.451,8452,0.000,0.037,3272,3764,1437,1535,1340,0,0,0,0,0,0,28.83,25.60,25.08
$GC,4262,1.01,342.3,3272,3764,1534,1338,55.2,11.6,337,4266,0.00,2.00,0.00,0.000,1030,0.000,0.021,3280,2395,1434,1532,1337,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4387,1.11,428.8,3279,2394,1531,1337,43.2,8.4,357,4463,0.12,2.08,68.62,0.422,10756,0.094,0.028,3352,1022,1085,1204,966,0,0,0,0,0,0,25.78,25.58,25.06
$GC,4492,1.11,428.8,3353,1023,1199,966,29.0,16.0,375,4499,0.00,2.08,0.00,0.000,1030,0.000,0.026,3351,2400,1082,1200,965,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4558,1.11,428.8,3353,2400,1198,966,18.2,15.2,388,4566,0.00,2.08,0.00,0.000,260,0.000,0.036,3352,3759,1081,1198,965,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4575,1.11,428.8,3352,3760,1200,966,15.6,16.3,391,4582,0.00,2.00,0.00,0.000,1030,0.000,0.021,3354,2395,1081,1198,964,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4641,1.13,446.5,3355,2394,1194,964,7.2,10.7,404,4679,0.00,2.03,24.45,0.275,8708,0.000,0.028,3355,1021,1017,1140,895,0,0,0,0,1,0,28.83,25.83,25.19
$STATE,4697,end climb,SURFACE_DEPTH_REACHED
$STATE,4697,begin surface coast
$FINISH,0.8,1.012562
$STATE,4743,end surface coast,CONTROL_FINISHED_OK
$STATE,4743,begin surface
$SM_CCo,4820,0.00,0.000,0,0,1014,446.68
$SM_GC,1.85,8.35,1.92,0.00,0.031,0.028,0.000,148,2299,1014,-8.76,-1.36,446.68,0,0,0,0,0,0,25.80,25.80,28.83
$IRIDIUM_FIX,2722.64,-8719.43,140508,082841
$TT8_MAMPS,0.09737,0.09737
$HUMID,46.14
$INTERNAL_PRESSURE,9.37992
$TCM_TEMP,25.00
$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,3.5/516052/497989
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.6/436550/425219
$24V_AH,24.68,43.219
$10V_AH,10.39,11.473
$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,20.850,49.500,534.175,0.000,0.000,0.000,0.000,0.000,0.000,4846.900,16.603,0.000,3095.134,600.255,1132.825,38.251,0.000,1106.825,0.000,848.521,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,71.145,571.455,0.000,0.000,0.000,0.000,0.000,0.000,36.535,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,276.137,0.000,0.000,0.000,0.000,0.000,4846.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.054,0.000,0.000,0.000
$MEM,296140
$DATA_FILE_SIZE,13475,423
$CAP_FILE_SIZE,72552,0
$CFSIZE,260034560,257130496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,2540.31,0x236bc6,7,5
$GPS,180715,203048,2757.385,-8726.535,4,0.9,14,-2.0