version: 66.12
glider: 161
mission: 11
dive: 14
start: 7 20 115 9 5 51
data:
$ID,161
$MISSION,11
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,375
$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,75
$T_MISSION,85
$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,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,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,74
$R_STBD_OVSHOOT,56
$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
$GPS1,200715,085955,2800.496,-8729.383,5,0.8,15,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.9
$GPS2,200715,090541,2800.532,-8729.318,5,0.8,15,-1.9
$SPEED_LIMITS,0.167,0.261
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,315.2,1394,-26.7,-16.667,-32.54,1543
$D_GRID,375
$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,-1.48,-170.3,157,2683,893,699,0.0,0.0,0,62,0.00,0.00,-45.40,0.000,16386,0.000,0.000,156,2683,2205,2185,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.48,-170.3,156,2684,2187,2227,3.1,-6.1,7,108,9.40,2.08,-26.55,0.000,18948,0.231,0.041,2447,1265,3536,3564,3508,0,0,0,0,0,0,25.02,25.60,25.71
$GC,447,-1.48,-170.3,2447,1265,3570,3504,118.0,-24.5,57,451,0.00,2.12,0.00,0.000,1030,0.000,0.031,2439,2662,3538,3569,3508,0,0,0,0,0,0,28.83,25.73,28.83
$GC,762,-1.48,-170.3,2439,2663,3574,3510,193.4,-22.4,78,766,0.00,2.08,0.00,0.000,516,0.000,0.024,2439,1263,3541,3573,3509,0,0,0,0,0,0,28.83,25.79,28.83
$GC,861,-1.48,-170.3,2439,1265,3575,3510,214.0,-22.6,84,869,0.00,2.17,0.00,0.000,1030,0.000,0.031,2428,2680,3541,3574,3509,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1167,-1.48,-170.3,2428,2681,3575,3510,289.2,-24.4,105,1171,0.00,2.10,0.00,0.000,516,0.000,0.024,2429,1269,3541,3573,3509,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1302,-1.48,-170.3,2428,1269,3574,3510,321.1,-23.4,114,1306,0.10,2.17,0.00,0.000,3078,0.164,0.031,2447,2673,3541,3573,3509,0,0,0,0,0,0,25.05,25.46,28.83
$STATE,1541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1541,begin apogee
$GC,1544,-0.24,0.0,2448,2288,3573,3507,376.1,-22.6,130,1680,1.30,0.00,131.90,0.632,10246,0.131,0.000,2852,2286,2838,2939,2738,0,0,0,0,0,0,25.50,28.83,24.33
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1682,1.48,170.3,2853,2287,2938,2738,381.8,0.0,139,1822,1.52,2.12,131.48,0.633,10756,0.064,0.028,3398,913,2142,2229,2055,0,0,0,0,0,0,24.94,24.90,24.25
$GC,1861,1.49,181.5,3399,912,2226,2054,367.5,15.9,151,1875,0.00,2.15,9.95,0.520,9222,0.000,0.024,3398,2308,2098,2187,2009,0,0,0,0,0,0,28.83,25.20,24.43
$GC,2172,1.49,181.5,3398,2309,2177,2008,307.4,19.2,172,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2308,2092,2177,2007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,1.49,181.5,3398,2309,2174,2006,250.3,18.8,192,2476,0.00,2.10,0.00,0.000,516,0.000,0.028,3407,906,2088,2172,2005,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2641,1.49,181.5,3407,907,2172,2005,218.8,19.1,203,2646,0.00,2.10,0.00,0.000,1030,0.000,0.026,3407,2304,2087,2171,2004,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2952,1.49,181.5,3408,2304,2168,2003,159.9,18.1,224,2956,0.00,2.10,0.00,0.000,516,0.000,0.028,3416,903,2085,2168,2002,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3252,1.49,181.5,3417,904,2166,2001,107.3,16.9,244,3256,0.00,2.10,0.00,0.000,1030,0.000,0.026,3413,2301,2082,2165,2000,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3562,1.64,299.4,3412,2302,2164,1999,69.2,8.8,273,3655,0.10,2.17,86.53,0.438,10756,0.129,0.028,3462,900,1615,1705,1525,0,0,0,0,0,0,25.63,25.37,24.87
$GC,3789,1.64,299.4,3462,900,1700,1523,34.5,18.7,304,3797,0.00,2.12,0.00,0.000,1030,0.000,0.025,3463,2303,1612,1698,1527,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3856,1.67,327.0,3462,2304,1699,1522,23.7,14.8,317,3882,0.00,2.10,21.75,0.391,8708,0.000,0.028,3472,896,1503,1593,1413,0,0,0,0,0,0,28.83,25.58,24.96
$STATE,4040,end climb,SURFACE_DEPTH_REACHED
$STATE,4040,begin surface coast
$FINISH,1.5,1.020059
$STATE,4140,end surface coast,CONTROL_FINISHED_OK
$STATE,4140,begin surface
$SM_CCo,4160,107.43,0.379,1,0,800,500.16
$SM_GC,1.53,9.25,2.70,107.43,0.063,0.024,0.379,158,2681,800,-8.61,-1.50,500.16,0,0,0,0,1,0,25.60,25.73,24.71
$IRIDIUM_FIX,2722.64,-8719.43,150508,222902
$TT8_MAMPS,0.09737,0.09737
$HUMID,38.89
$INTERNAL_PRESSURE,9.21389
$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,3.5/516052/497980
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424205
$24V_AH,24.25,46.219
$10V_AH,10.31,13.739
$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,21.675,35.025,381.600,107.425,0.000,30.238,36.048,91.397,0.000,4639.100,16.597,0.000,2736.806,525.613,1203.951,55.575,0.000,968.343,0.000,775.222,0.000,0.000,0.000
$DEVICE_MAMPS,231.030,40.545,632.655,379.440,0.000,61.970,160.000,223.000,0.000,36.147,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,246.116,0.000,0.000,0.000,0.000,0.000,4639.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.665,0.000,0.000,0.000
$MEM,296148
$DATA_FILE_SIZE,13472,373
$CAP_FILE_SIZE,55218,0
$CFSIZE,260034560,256438272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4403.86,0x236bc6,7,5
$GPS,200715,101806,2800.386,-8729.323,34,0.8,44,-1.9