version: 66.12
glider: 161
mission: 11
dive: 60
start: 7 26 115 6 36 40
data:
$ID,161
$MISSION,11
$DIVE,60
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,300
$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,60
$T_MISSION,70
$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,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,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,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,44
$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
$GPS1,260715,062716,2758.702,-8727.596,2,0.7,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,260715,063630,2758.749,-8727.569,4,0.7,14,-2.0
$SPEED_LIMITS,0.167,0.313
$TGT_NAME,M
$TGT_LATLONG,2758.871,-8727.947
$TGT_RADIUS,250.000
$MHEAD_RNG_PITCHd_Wd,292.1,659,-37.8,-16.667,-42.34,866
$D_GRID,300
$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,-1.92,-94.6,141,2680,700,480,0.0,0.0,0,75,0.00,0.00,-57.92,0.000,16386,0.000,0.000,140,2680,2506,2487,2526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.98,-141.2,140,2681,2488,2527,5.0,-11.1,9,108,9.30,1.73,-13.48,0.000,18692,0.246,0.051,2281,3774,3418,3442,3395,0,0,0,0,0,0,24.82,25.58,25.72
$GC,117,-1.98,-141.2,2280,3775,3443,3396,25.1,-39.6,16,124,0.00,1.62,0.00,0.000,1030,0.000,0.022,2284,2649,3418,3441,3395,0,0,0,0,0,0,28.83,25.67,28.83
$GC,183,-1.98,-141.2,2283,2650,3444,3395,55.6,-42.2,28,188,0.00,1.98,0.00,0.000,516,0.000,0.021,2284,1284,3418,3443,3394,0,0,0,0,0,0,28.83,25.69,28.83
$GC,228,-1.98,-141.2,2283,1285,3445,3395,72.5,-42.3,32,236,0.00,2.12,0.00,0.000,1030,0.000,0.029,2277,2677,3419,3444,3394,0,0,0,0,0,0,28.83,25.67,28.83
$GC,358,-1.98,-141.2,2278,2678,3452,3395,117.1,-31.3,44,362,0.00,2.05,0.00,0.000,516,0.000,0.021,2277,1285,3420,3446,3394,0,0,0,0,0,0,28.83,25.78,28.83
$GC,448,-1.98,-141.2,2278,1283,3448,3394,144.9,-30.4,50,452,0.00,2.12,0.00,0.000,1030,0.000,0.028,2267,2682,3421,3448,3394,0,0,0,0,0,0,28.83,25.78,28.83
$GC,763,-1.98,-141.2,2268,2682,3449,3395,235.8,-28.7,71,767,0.00,2.08,0.00,0.000,516,0.000,0.022,2267,1282,3422,3450,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,878,-1.98,-141.2,2267,1282,3452,3396,265.5,-28.1,78,886,0.10,2.12,0.00,0.000,3078,0.181,0.028,2284,2676,3423,3451,3395,0,0,0,0,0,0,25.14,25.77,28.83
$STATE,1002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1002,begin apogee
$GC,1006,-0.24,0.0,2286,2313,3450,3395,303.3,-28.4,87,1118,1.95,0.00,108.38,0.550,10246,0.158,0.000,2850,2312,2838,2929,2748,0,0,0,0,0,0,25.22,28.83,24.43
$STATE,1119,end apogee,CONTROL_FINISHED_OK
$STATE,1119,begin climb
$GC,1120,1.98,141.2,2849,2317,2930,2748,308.7,0.0,94,1235,1.90,2.08,108.07,0.542,10756,0.061,0.024,3562,915,2261,2329,2193,0,0,0,0,0,0,25.14,25.08,24.34
$GC,1255,1.98,147.6,3563,916,2325,2193,295.3,15.9,104,1265,0.00,2.12,6.20,0.424,9222,0.000,0.023,3562,2335,2236,2304,2169,0,0,0,0,0,0,28.83,25.21,24.36
$GC,1565,1.98,147.6,3562,2336,2296,2167,226.0,21.8,124,1568,0.00,2.10,0.00,0.000,516,0.000,0.025,3572,904,2230,2294,2166,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1689,1.98,147.6,3573,904,2293,2166,199.8,21.5,132,1693,0.00,2.08,0.00,0.000,1030,0.000,0.024,3572,2292,2232,2299,2165,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1999,1.98,147.6,3573,2293,2290,2163,137.8,18.3,153,2003,0.00,2.05,0.00,0.000,516,0.000,0.025,3580,913,2224,2290,2159,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2544,2.07,220.2,3581,914,2286,2158,63.9,8.1,200,2602,0.00,2.08,53.03,0.414,9222,0.000,0.023,3581,2304,1939,2014,1864,0,0,0,0,0,0,28.83,25.87,24.96
$GC,2719,2.13,270.5,3581,2305,2008,1862,44.2,10.7,222,2764,0.00,2.08,38.25,0.395,8708,0.000,0.024,3590,902,1733,1808,1658,0,0,0,0,0,0,28.83,25.53,24.81
$GC,3303,2.30,403.3,3589,903,1800,1653,7.8,0.9,337,3426,0.15,2.10,112.47,0.378,11270,0.050,0.023,3664,2309,1194,1289,1100,0,0,0,0,1,0,25.83,25.83,24.71
$STATE,3450,end climb,SURFACE_DEPTH_REACHED
$STATE,3450,begin surface coast
$FINISH,0.5,0.999850
$STATE,3485,end surface coast,CONTROL_FINISHED_OK
$STATE,3485,begin surface
$SM_CCo,3502,95.32,0.337,1,0,596,550.20
$SM_GC,1.55,9.30,0.52,95.32,0.033,0.038,0.337,154,2676,596,-8.60,-1.61,550.20,0,0,0,0,1,0,25.47,25.51,24.57
$IRIDIUM_FIX,2722.64,-8719.43,210508,195817
$TT8_MAMPS,0.098119,0.098119
$HUMID,37.51
$INTERNAL_PRESSURE,9.26272
$TCM_TEMP,25.50
$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,3.5/516052/497949
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422311
$24V_AH,24.34,56.327
$10V_AH,10.09,22.271
$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,22.700,33.500,426.400,95.325,0.000,30.851,35.318,192.648,0.000,4212.500,15.791,0.000,2092.883,572.831,1287.115,73.076,0.000,986.696,0.000,712.808,0.000,0.000,0.000
$DEVICE_MAMPS,245.565,51.255,550.035,337.365,0.000,61.970,160.000,223.000,0.000,35.868,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,240.469,0.000,0.000,0.000,0.000,0.000,4212.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.823,0.000,0.000,0.000
$MEM,295944
$DATA_FILE_SIZE,13509,369
$CAP_FILE_SIZE,59585,0
$CFSIZE,260034560,253784064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,7014.45,0x236bc6,7,5
$GPS,260715,073712,2758.784,-8727.465,3,0.7,13,-2.0