version: 66.12
glider: 161
mission: 11
dive: 55
start: 7 25 115 20 36 26
data:
$ID,161
$MISSION,11
$DIVE,55
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,55
$T_MISSION,65
$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,200
$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,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,97
$R_STBD_OVSHOOT,53
$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
$GPS1,250715,202448,2757.782,-8726.628,4,1.0,14,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.6
$GPS2,250715,203613,2757.548,-8726.595,4,1.1,15,-2.0
$SPEED_LIMITS,0.283,0.293
$TGT_NAME,RECOV
$TGT_LATLONG,2758.418,-8727.309
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,326.1,1990,-22.6,-16.364,-29.15,1978
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.31,-194.6,136,2650,889,700,0.0,0.0,0,81,0.00,0.00,-63.90,0.000,16386,0.000,0.000,135,2649,2950,2932,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.31,-194.6,136,2650,2934,2969,6.6,-16.4,10,107,10.00,0.00,-9.80,0.000,18694,0.239,0.000,2499,2650,3635,3657,3614,0,0,0,0,0,0,24.96,28.83,25.75
$GC,166,-1.31,-194.6,2498,2650,3660,3614,44.3,-40.4,26,174,0.00,1.75,0.00,0.000,260,0.000,0.040,2491,3755,3635,3658,3613,0,0,0,0,0,0,28.83,25.62,28.83
$GC,213,-1.31,-194.6,2491,3756,3661,3614,58.3,-33.2,32,220,0.00,1.60,0.00,0.000,1030,0.000,0.023,2491,2669,3636,3659,3613,0,0,0,0,0,0,28.83,25.72,28.83
$GC,338,-1.31,-194.6,2493,2669,3660,3614,95.1,-29.0,45,342,0.00,2.05,0.00,0.000,516,0.000,0.022,2487,1278,3636,3660,3613,0,0,0,0,0,0,28.83,25.49,28.83
$GC,372,-1.31,-194.6,2491,1279,3663,3614,103.0,-26.7,48,377,0.00,2.12,0.00,0.000,1030,0.000,0.029,2482,2666,3635,3656,3614,0,0,0,0,0,0,28.83,25.72,28.83
$GC,683,-1.31,-194.6,2483,2668,3664,3614,179.5,-23.7,69,687,0.00,2.10,0.00,0.000,516,0.000,0.023,2482,1282,3638,3664,3613,0,0,0,0,0,0,28.83,25.50,28.83
$GC,717,-1.31,-194.6,2483,1279,3664,3614,186.5,-23.5,71,722,0.10,2.15,0.00,0.000,3078,0.155,0.030,2501,2679,3639,3665,3614,0,0,0,0,0,0,25.29,25.75,28.83
$GC,1028,-1.31,-194.6,2502,2680,3665,3614,254.1,-21.1,92,1032,0.00,2.10,0.00,0.000,516,0.000,0.023,2502,1270,3639,3665,3614,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1093,-1.31,-194.6,2501,1271,3667,3614,266.1,-19.9,96,1097,0.00,2.15,0.00,0.000,1030,0.000,0.031,2494,2671,3639,3665,3613,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,1117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1117,begin apogee
$GC,1120,-0.24,0.0,2495,2306,3665,3614,272.2,-19.9,98,1272,1.15,0.00,148.00,0.542,10246,0.126,0.000,2852,2305,2838,2940,2737,0,0,0,0,0,0,25.45,28.83,24.39
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1274,1.31,194.6,2852,2306,2941,2738,278.2,0.0,108,1429,1.35,2.10,147.48,0.541,10756,0.063,0.024,3350,902,2042,2133,1952,0,0,0,0,0,0,25.11,25.08,24.37
$GC,1618,1.31,194.6,3349,902,2126,1952,237.6,16.6,130,1626,0.00,2.15,0.00,0.000,1030,0.000,0.026,3350,2315,2038,2124,1952,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1923,1.31,194.6,3350,2316,2121,1949,184.4,16.8,151,1927,0.00,2.10,0.00,0.000,516,0.000,0.026,3358,912,2035,2122,1949,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1988,1.31,194.6,3357,913,2122,1949,174.1,17.0,155,1993,0.00,2.10,0.00,0.000,1030,0.000,0.025,3358,2302,2034,2119,1950,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2298,1.31,194.6,3357,2303,2119,1947,122.0,16.5,176,2302,0.00,2.10,0.00,0.000,516,0.000,0.026,3366,901,2031,2117,1946,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2383,1.34,216.6,3367,901,2114,1946,110.5,15.2,181,2406,0.00,2.12,16.20,0.418,9222,0.000,0.025,3366,2308,1953,2040,1867,0,0,0,0,0,0,28.83,25.89,25.09
$GC,2708,1.42,276.5,3365,2309,2033,1866,60.0,13.3,212,2761,0.00,2.08,45.72,0.412,8708,0.000,0.024,3375,906,1708,1798,1618,0,0,0,0,0,0,28.83,25.65,24.98
$GC,2905,1.56,393.0,3376,906,1791,1615,34.6,10.3,243,3005,0.10,2.12,90.70,0.401,11270,0.068,0.025,3444,2308,1234,1338,1130,0,0,0,0,0,0,25.72,25.73,24.70
$GC,3064,1.56,393.0,3444,2309,1334,1129,9.6,17.2,271,3071,0.00,2.17,0.00,0.000,260,0.000,0.036,3444,3695,1230,1333,1128,0,0,0,0,0,0,28.83,25.47,28.83
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$FINISH,0.8,1.020425
$STATE,3154,end surface coast,CONTROL_FINISHED_OK
$STATE,3154,begin surface
$SM_CCo,3172,73.40,0.330,1,0,800,500.16
$SM_GC,1.94,8.70,1.52,73.40,0.034,0.021,0.330,148,2638,800,-8.60,1.87,500.16,0,0,0,0,1,0,25.65,25.71,24.71
$IRIDIUM_FIX,2722.64,-8719.43,210508,095724
$TT8_MAMPS,0.096621,0.096621
$HUMID,41.10
$INTERNAL_PRESSURE,9.21389
$TCM_TEMP,24.30
$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,3.5/516052/497952
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422337
$24V_AH,24.37,55.473
$10V_AH,10.20,21.642
$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,21.400,37.100,448.100,73.400,0.000,62.486,76.779,220.756,0.000,3970.000,16.547,0.000,1993.425,558.106,1199.370,71.110,0.000,928.511,0.000,567.516,0.000,0.000,0.000
$DEVICE_MAMPS,238.680,39.780,541.620,329.715,0.000,61.970,160.000,223.000,0.000,37.234,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,187.563,0.000,0.000,0.000,0.000,0.000,3970.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.792,0.000,0.000,0.000
$MEM,296028
$DATA_FILE_SIZE,10136,289
$CAP_FILE_SIZE,54242,1
$CFSIZE,260034560,254017536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6283.35,0x236bc6,7,5
$GPS,250715,213142,2757.649,-8726.555,37,1.0,47,-2.0