version: 66.12
glider: 161
mission: 11
dive: 62
start: 7 26 115 8 58 22
data:
$ID,161
$MISSION,11
$DIVE,62
$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,81
$R_STBD_OVSHOOT,64
$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
$GPS1,260715,085110,2758.760,-8727.539,3,0.8,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.9
$GPS2,260715,085812,2758.767,-8727.438,4,0.8,14,-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,285.1,856,-29.5,-16.667,-35.02,1306
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.58,-143.6,148,2697,701,480,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,16386,0.000,0.000,147,2697,2781,2761,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.58,-143.6,147,2698,2763,2803,6.7,-17.4,10,109,9.52,1.58,-9.12,0.000,18692,0.236,0.050,2409,3749,3424,3445,3404,0,0,0,0,0,0,25.20,25.65,25.77
$GC,203,-1.58,-143.6,2409,3749,3452,3404,58.7,-39.4,30,210,0.00,1.58,0.00,0.000,1030,0.000,0.022,2409,2653,3427,3451,3403,0,0,0,0,0,0,28.83,25.82,28.83
$GC,328,-1.58,-143.6,2408,2654,3455,3404,97.1,-26.5,43,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2653,3428,3454,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,453,-1.58,-143.6,2409,2654,3457,3404,129.1,-25.4,52,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2653,3429,3455,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,753,-1.58,-143.6,2408,2654,3460,3404,198.8,-23.2,72,757,0.00,1.98,0.00,0.000,516,0.000,0.022,2409,1291,3430,3458,3403,0,0,0,0,0,0,28.83,25.97,28.83
$GC,783,-1.58,-143.6,2408,1293,3460,3404,205.6,-23.4,74,787,0.00,2.08,0.00,0.000,1030,0.000,0.029,2399,2657,3430,3458,3403,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1098,-1.58,-143.6,2400,2658,3459,3404,278.9,-23.2,95,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2657,3431,3459,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1205,-0.24,0.0,2400,2312,3459,3403,303.2,-23.1,102,1317,1.48,0.00,108.10,0.552,10246,0.139,0.000,2849,2310,2840,2934,2746,0,0,0,0,0,0,25.44,28.83,24.59
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1319,1.58,143.6,2852,2311,2936,2747,307.6,0.0,109,1432,1.58,0.00,108.93,0.548,10246,0.063,0.000,3440,2310,2253,2328,2178,0,0,0,0,0,0,25.27,28.83,24.46
$GC,1728,1.58,143.6,3437,2310,2315,2175,248.0,17.2,137,1732,0.00,2.08,0.00,0.000,516,0.000,0.025,3446,905,2244,2315,2174,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1773,1.58,143.6,3447,905,2314,2175,240.4,17.1,140,1777,0.00,2.12,0.00,0.000,1030,0.000,0.024,3446,2312,2244,2315,2174,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2088,1.58,143.6,3445,2312,2312,2172,187.4,17.0,161,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2312,2240,2310,2171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2388,1.61,169.0,3447,2312,2307,2169,138.7,14.7,181,2412,0.00,2.12,18.45,0.454,8708,0.000,0.026,3455,905,2147,2220,2074,0,0,0,0,0,0,28.83,25.93,25.12
$GC,2533,1.62,176.7,3456,905,2217,2071,116.9,16.1,190,2543,0.00,2.10,6.90,0.385,9222,0.000,0.024,3456,2298,2117,2196,2038,0,0,0,0,0,0,28.83,25.89,25.01
$GC,2848,1.70,238.4,3457,2298,2190,2034,67.7,11.8,219,2901,0.00,2.15,46.03,0.424,8452,0.000,0.033,3456,3709,1865,1945,1786,0,0,0,0,0,0,28.83,25.60,24.90
$GC,2915,1.79,308.6,3457,3709,1945,1786,60.9,11.1,225,2974,0.05,2.10,53.97,0.412,11270,0.094,0.021,3499,2295,1578,1665,1492,0,0,0,0,0,0,25.56,25.67,24.70
$GC,3090,1.79,308.6,3500,2296,1656,1487,30.4,17.6,254,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2295,1571,1656,1487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,1.80,317.6,3499,2296,1657,1487,20.5,16.0,266,3164,0.00,2.00,7.10,0.330,8708,0.000,0.024,3509,912,1542,1627,1457,0,0,0,0,0,0,28.83,25.73,24.86
$GC,3573,2.04,516.0,3508,912,1623,1455,3.3,1.1,350,3606,0.12,2.08,23.30,0.228,11266,0.052,0.023,3574,2303,1437,1524,1350,0,0,0,0,1,0,25.83,25.84,25.44
$STATE,3606,end climb,SURFACE_DEPTH_REACHED
$STATE,3606,begin surface coast
$FINISH,0.6,1.009738
$STATE,3729,end surface coast,CONTROL_FINISHED_OK
$STATE,3729,begin surface
$SM_CCo,3746,124.88,0.356,1,0,596,550.20
$SM_GC,1.29,9.02,0.52,124.88,0.037,0.036,0.356,147,2682,596,-8.61,-1.55,550.20,0,0,0,0,1,0,25.77,25.82,24.68
$IRIDIUM_FIX,2722.64,-8719.43,210508,222100
$TT8_MAMPS,0.098119,0.098119
$HUMID,38.58
$INTERNAL_PRESSURE,9.29202
$TCM_TEMP,25.40
$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,3.5/516052/497948
$MI_ROOT,70.6/190403/56003
$MI_HOME,3.3/436550/422230
$24V_AH,24.46,56.578
$10V_AH,10.13,22.428
$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,21.775,24.925,372.775,124.875,0.000,31.676,34.272,132.950,0.000,4335.000,15.156,0.000,2470.992,559.866,1102.831,67.223,0.000,916.843,0.000,615.535,0.000,0.000,0.000
$DEVICE_MAMPS,236.385,49.725,551.565,355.725,0.000,61.970,160.000,223.000,0.000,40.096,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,249.829,0.000,0.000,0.000,0.000,0.000,4335.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.549,0.000,0.000,0.000
$MEM,295976
$DATA_FILE_SIZE,13458,380
$CAP_FILE_SIZE,54411,0
$CFSIZE,260034560,253714432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,4229.82,0x236bc6,7,5
$GPS,260715,100329,2758.689,-8727.441,3,0.7,13,-2.0