version: 66.12
glider: 161
mission: 11
dive: 15
start: 7 20 115 10 27 27
data:
$ID,161
$MISSION,11
$DIVE,15
$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,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
$GPS1,200715,101806,2800.386,-8729.323,34,0.8,44,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.6
$GPS2,200715,102718,2800.438,-8729.153,5,0.8,15,-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,313.3,1711,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.48,-170.3,158,2684,893,699,0.0,0.0,0,63,0.00,0.00,-45.62,0.000,16386,0.000,0.000,157,2684,2216,2189,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.48,-170.3,157,2685,2192,2244,3.1,-6.4,7,109,9.43,2.08,-27.88,0.000,18948,0.230,0.035,2445,1259,3534,3562,3507,0,0,0,0,0,0,25.06,25.56,25.68
$GC,417,-1.48,-170.3,2446,1258,3566,3508,107.6,-24.3,56,421,0.00,2.15,0.00,0.000,1030,0.000,0.029,2437,2675,3536,3566,3507,0,0,0,0,0,0,28.83,25.72,28.83
$GC,733,-1.48,-170.3,2438,2675,3570,3508,184.7,-23.6,77,736,0.00,2.08,0.00,0.000,516,0.000,0.023,2437,1262,3538,3570,3507,0,0,0,0,0,0,28.83,25.84,28.83
$GC,832,-1.48,-170.3,2437,1262,3572,3508,205.5,-23.5,83,840,0.00,2.15,0.00,0.000,1030,0.000,0.029,2427,2676,3538,3570,3507,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1138,-1.48,-170.3,2426,2677,3572,3508,281.7,-24.6,104,1141,0.00,2.08,0.00,0.000,516,0.000,0.024,2426,1267,3539,3570,3508,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1257,-1.48,-170.3,2432,1267,3571,3508,310.7,-23.8,112,1262,0.10,2.15,0.00,0.000,3078,0.168,0.031,2446,2676,3538,3570,3507,0,0,0,0,0,0,25.30,25.82,28.83
$STATE,1542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1542,begin apogee
$GC,1545,-0.24,0.0,2447,2285,3570,3507,376.0,-22.8,131,1681,1.30,0.00,130.40,0.630,10246,0.129,0.000,2850,2285,2838,2939,2738,0,0,0,0,0,0,25.40,28.83,24.41
$STATE,1682,end apogee,CONTROL_FINISHED_OK
$STATE,1682,begin climb
$GC,1683,1.48,170.3,2850,2286,2940,2738,381.7,0.0,140,1822,1.52,2.10,130.95,0.630,10756,0.063,0.028,3399,917,2142,2232,2053,0,0,0,0,0,0,25.01,24.96,24.32
$GC,1853,1.51,194.1,3398,917,2230,2052,368.5,15.1,151,1878,0.00,2.15,19.85,0.566,9222,0.000,0.024,3399,2315,2046,2135,1957,0,0,0,0,0,0,28.83,25.21,24.47
$GC,2187,1.51,194.1,3400,2316,2123,1954,298.8,20.0,174,2191,0.00,2.10,0.00,0.000,516,0.000,0.028,3408,916,2038,2123,1954,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2233,1.51,194.1,3408,917,2123,1955,289.9,19.9,177,2236,0.00,2.10,0.00,0.000,1030,0.000,0.025,3409,2311,2038,2122,1954,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2548,1.51,194.1,3407,2312,2119,1952,227.0,20.1,198,2551,0.00,2.10,0.00,0.000,516,0.000,0.028,3418,912,2034,2117,1952,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2732,1.51,194.1,3419,911,2115,1951,190.6,20.5,210,2736,0.00,2.08,0.00,0.000,1030,0.000,0.025,3418,2297,2033,2116,1950,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3043,1.51,194.1,3417,2297,2113,1949,128.5,18.6,231,3046,0.00,2.10,0.00,0.000,516,0.000,0.028,3428,912,2030,2112,1948,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3133,1.51,194.1,3426,912,2113,1948,112.2,18.2,237,3136,0.00,2.10,0.00,0.000,1030,0.000,0.025,3427,2315,2029,2111,1947,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3438,1.65,308.1,3426,2316,2110,1946,67.6,9.1,265,3530,0.00,2.15,83.40,0.437,8708,0.000,0.028,3437,915,1580,1672,1488,0,0,0,0,0,0,28.83,25.38,24.84
$GC,3670,1.65,308.1,3438,914,1664,1485,33.5,18.4,297,3677,0.00,2.10,0.00,0.000,1030,0.000,0.024,3437,2308,1575,1665,1485,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3736,1.69,343.9,3438,2306,1664,1484,23.4,14.3,310,3769,0.08,2.10,28.10,0.395,10756,0.125,0.028,3478,903,1434,1526,1342,0,0,0,0,0,0,25.31,25.53,24.92
$STATE,3881,end climb,SURFACE_DEPTH_REACHED
$STATE,3881,begin surface coast
$FINISH,1.4,1.020123
$STATE,3917,end surface coast,CONTROL_FINISHED_OK
$STATE,3917,begin surface
$SM_CCo,3936,106.85,0.376,1,0,799,500.16
$SM_GC,1.56,9.25,2.78,106.85,0.062,0.024,0.376,159,2674,799,-8.61,-1.64,500.16,0,0,0,0,1,0,25.57,25.68,24.60
$IRIDIUM_FIX,2722.64,-8719.43,150508,222917
$TT8_MAMPS,0.095872,0.095872
$HUMID,40.54
$INTERNAL_PRESSURE,9.20413
$TCM_TEMP,24.20
$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,3.5/516052/497979
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424180
$24V_AH,24.06,46.360
$10V_AH,10.31,13.824
$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,21.675,39.150,392.700,106.850,0.000,34.263,48.224,199.859,0.000,4668.100,16.791,0.000,2584.770,539.794,1304.115,73.562,0.000,956.641,0.000,699.994,0.000,0.000,0.000
$DEVICE_MAMPS,229.500,35.190,630.360,375.615,0.000,61.970,160.000,223.000,0.000,39.387,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,227.088,0.000,0.000,0.000,0.000,0.000,4668.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.626,0.000,0.000,0.000
$MEM,296080
$DATA_FILE_SIZE,10146,345
$CAP_FILE_SIZE,61685,0
$CFSIZE,260034560,256397312
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4895.75,0x236bc6,7,5
$INTR,1,1733.64,0x23381e,1,24
$GPS,200715,113525,2800.300,-8729.197,3,0.9,13,-1.9