version: 66.12
glider: 161
mission: 11
dive: 61
start: 7 26 115 7 47 52
data:
$ID,161
$MISSION,11
$DIVE,61
$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,84
$R_STBD_OVSHOOT,54
$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
$GPS1,260715,073712,2758.784,-8727.465,3,0.7,13,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.1
$GPS2,260715,074742,2758.821,-8727.388,32,0.9,42,-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,277.7,920,-27.3,-16.667,-33.10,1483
$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,14,-1.50,-163.6,151,2690,706,473,0.0,0.0,0,81,0.00,0.00,-63.92,0.000,16386,0.000,0.000,151,2690,2779,2757,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.50,-165.8,150,2691,2760,2802,6.6,-16.5,10,108,9.65,1.67,-10.27,0.000,18692,0.238,0.053,2433,3758,3519,3543,3495,0,0,0,0,0,0,24.87,25.63,25.77
$GC,147,-1.50,-165.8,2433,3759,3545,3496,37.7,-44.6,22,155,0.00,1.60,0.00,0.000,1030,0.000,0.021,2433,2644,3519,3543,3495,0,0,0,0,0,0,28.83,25.74,28.83
$GC,219,-1.50,-165.8,2434,2644,3544,3495,64.0,-33.8,32,223,0.00,2.00,0.00,0.000,516,0.000,0.021,2433,1288,3519,3545,3494,0,0,0,0,0,0,28.83,25.48,28.83
$GC,239,-1.50,-165.8,2434,1289,3545,3495,70.7,-32.9,34,243,0.00,2.12,0.00,0.000,1030,0.000,0.029,2425,2663,3519,3545,3494,0,0,0,0,0,0,28.83,25.46,28.83
$GC,364,-1.50,-165.8,2425,2664,3546,3495,106.2,-26.2,46,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2664,3520,3546,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,664,-1.50,-165.8,2424,2664,3552,3495,182.8,-24.0,66,668,0.00,2.03,0.00,0.000,516,0.000,0.023,2425,1290,3521,3549,3494,0,0,0,0,0,0,28.83,25.86,28.83
$GC,698,-1.50,-165.8,2424,1291,3551,3494,189.9,-24.1,68,703,0.10,2.10,0.00,0.000,3078,0.170,0.029,2443,2675,3522,3550,3494,0,0,0,0,0,0,25.48,25.83,28.83
$GC,1009,-1.50,-165.8,2445,2676,3549,3495,259.7,-22.3,89,1013,0.00,2.03,0.00,0.000,516,0.000,0.023,2444,1299,3522,3550,3494,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1043,-1.50,-165.8,2446,1299,3549,3495,266.2,-22.0,91,1048,0.00,2.10,0.00,0.000,1030,0.000,0.029,2435,2677,3522,3550,3494,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1206,-0.24,0.0,2437,2313,3549,3494,303.1,-22.4,102,1341,1.33,0.00,125.95,0.557,10246,0.130,0.000,2847,2311,2838,2935,2741,0,0,0,0,0,0,25.46,28.83,24.49
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1343,1.50,165.8,2846,2312,2936,2742,308.7,0.0,111,1477,1.55,0.00,125.97,0.545,10758,0.066,0.000,3396,2311,2159,2237,2082,0,0,0,0,0,0,25.16,28.83,24.41
$GC,1774,1.50,165.8,3397,2311,2226,2080,246.8,17.9,140,1778,0.00,2.08,0.00,0.000,516,0.000,0.025,3405,909,2153,2227,2079,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1828,1.50,165.8,3405,910,2227,2079,239.2,17.1,143,1836,0.00,2.10,0.00,0.000,1030,0.000,0.024,3405,2305,2152,2225,2079,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2134,1.50,165.8,3407,2306,2222,2076,184.9,16.8,164,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2306,2148,2222,2075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,1.52,180.2,3406,2306,2218,2074,134.9,15.7,184,2450,0.00,0.00,10.02,0.412,8710,0.000,0.000,3405,2305,2102,2183,2021,0,0,0,0,0,0,28.83,28.83,25.11
$GC,2755,1.56,209.2,3405,2306,2179,2019,86.1,14.7,208,2778,0.00,0.00,22.60,0.422,8198,0.000,0.000,3405,2305,1985,2067,1904,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2894,1.62,262.5,3406,2306,2059,1902,66.5,13.0,222,2937,0.10,0.00,40.33,0.415,10502,0.104,0.000,3451,2305,1767,1848,1686,0,0,0,0,0,0,25.82,28.83,24.94
$GC,3055,1.67,298.8,3453,2306,1840,1682,43.9,14.2,242,3087,0.00,2.15,28.33,0.395,8452,0.000,0.034,3452,3705,1618,1704,1532,0,0,0,0,0,0,28.83,25.60,24.89
$GC,3096,1.72,343.0,3453,3706,1703,1532,38.3,13.6,249,3140,0.00,2.08,34.75,0.392,9222,0.000,0.021,3462,2313,1438,1525,1351,0,0,0,0,0,0,28.83,25.67,24.77
$GC,3200,1.73,350.0,3463,2312,1520,1349,21.5,16.2,268,3213,0.00,2.05,6.65,0.324,8708,0.000,0.024,3469,902,1409,1496,1322,0,0,0,0,0,0,28.83,25.60,24.78
$GC,3523,1.98,549.0,3471,902,1492,1319,3.2,2.9,332,3543,0.22,2.10,11.00,0.060,11266,0.070,0.024,3567,2317,1372,1460,1284,0,0,0,0,1,0,25.58,25.54,25.66
$STATE,3544,end climb,SURFACE_DEPTH_REACHED
$STATE,3544,begin surface coast
$FINISH,0.6,1.019751
$STATE,3621,end surface coast,CONTROL_FINISHED_OK
$STATE,3621,begin surface
$SM_CCo,3638,124.40,0.363,1,0,595,550.20
$SM_GC,1.65,8.90,0.50,124.40,0.030,0.034,0.363,148,2685,595,-8.60,-1.64,550.20,0,0,0,0,1,0,25.55,25.83,24.70
$IRIDIUM_FIX,2722.64,-8719.43,210508,210945
$TT8_MAMPS,0.09737,0.09737
$HUMID,38.58
$INTERNAL_PRESSURE,9.23343
$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,3.5/516052/497949
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422273
$24V_AH,24.41,56.456
$10V_AH,10.23,22.350
$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,21.850,29.175,405.600,124.400,0.000,70.753,103.527,138.661,0.000,4404.300,43.378,0.000,2451.693,590.803,1187.910,67.172,0.000,946.576,0.000,566.121,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,52.785,556.920,362.610,0.000,61.970,160.000,223.000,0.000,38.393,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,229.568,0.000,0.000,0.000,0.000,0.000,4404.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.576,0.000,0.000,0.000
$MEM,295884
$DATA_FILE_SIZE,10162,351
$CAP_FILE_SIZE,56134,0
$CFSIZE,260034560,253755392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,4271.26,0x236bc6,7,5
$GPS,260715,085110,2758.760,-8727.539,3,0.8,13,-2.0