version: 66.12
glider: 161
mission: 9
dive: 1
start: 7 1 115 19 8 54
data:
$ID,161
$MISSION,9
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,22
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51694
$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,25.6
$TGT_DEFAULT_LON,126.45
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,2847
$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,1860
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2688
$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,-19.816025
$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
$GPS1,010715,190508,4744.113,-12224.003,2,1.3,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-62.1
$GPS2,010715,190844,4744.094,-12224.015,5,1.3,15,16.3
$SPEED_LIMITS,0.119,0.208
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,237.7,629,-15.9,-10.000,-25.64,2134
$D_GRID,45
$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,-0.94,-146.5,142,1869,697,406,0.0,0.0,0,117,0.00,0.00,-97.28,0.000,16390,0.000,0.000,141,1868,3286,3275,3298,0,0,0,0,0,0,28.83,28.83,25.90
$GC,118,-0.94,-146.5,142,1869,3277,3298,2.9,-6.3,16,132,10.23,2.05,0.00,0.000,2308,0.249,0.032,2528,3264,3288,3278,3298,0,0,0,0,0,0,25.25,25.76,28.83
$STATE,300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,300,begin apogee
$GC,305,-0.24,0.0,2528,1743,3285,3293,45.6,-23.2,52,420,0.77,0.00,109.15,0.470,10246,0.140,0.000,2763,1741,2683,2748,2618,0,0,0,0,0,0,25.34,28.83,24.69
$STATE,420,end apogee,CONTROL_FINISHED_OK
$STATE,420,begin climb
$GC,421,0.94,146.5,2763,1741,2748,2618,57.8,0.0,66,542,1.15,0.00,115.90,0.451,10758,0.118,0.000,3129,1739,2090,2197,1983,0,0,0,0,0,0,25.17,28.83,24.60
$GC,656,1.07,251.6,3130,1740,2181,1976,50.4,5.0,90,742,0.15,2.12,79.18,0.444,11012,0.087,0.034,3188,357,1656,1753,1560,0,0,0,0,0,0,25.43,25.25,24.68
$GC,816,1.14,313.5,3188,356,1747,1558,39.7,7.0,117,873,0.00,2.10,48.88,0.441,9222,0.000,0.025,3188,1743,1404,1500,1308,0,0,0,0,0,0,28.83,25.52,24.72
$GC,933,1.21,370.8,3188,1744,1495,1308,31.3,7.2,138,989,0.12,2.20,47.05,0.434,10500,0.099,0.035,3245,3153,1172,1278,1066,0,0,0,0,0,0,25.50,25.32,24.72
$STATE,1162,end climb,SURFACE_DEPTH_REACHED
$STATE,1162,begin surface coast
$FINISH,0.4,1.010411
$STATE,1182,end surface coast,CONTROL_FINISHED_OK
$STATE,1182,begin surface
$SM_CCo,1200,69.45,0.063,0,0,550,524.44
$SM_CCo,1271,-0.03,0.000,0,0,550,524.44
$SM_CCo,1274,0.00,0.000,0,0,550,524.44
$SM_GC,0.91,8.23,1.95,0.00,0.037,0.024,0.000,149,1846,550,-8.38,1.41,524.44,0,0,0,0,0,0,25.58,25.72,28.83
$IRIDIUM_FIX,4748.51,-12337.82,270408,083215
$TT8_MAMPS,0.091378,0.091378
$HUMID,41.37
$INTERNAL_PRESSURE,8.96974
$TCM_TEMP,22.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,95
$MI_LOG,3.5/516052/498057
$MI_ROOT,70.6/190403/56004
$MI_HOME,2.6/436550/425331
$24V_AH,24.19,41.774
$10V_AH,10.36,10.564
$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,20.650,12.700,400.150,69.450,0.000,0.000,0.000,0.000,0.000,1231.000,16.494,0.000,379.638,482.621,441.123,19.480,0.000,716.751,0.000,293.950,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,35.190,469.710,62.730,0.000,0.000,0.000,0.000,0.000,31.585,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,118.566,0.000,0.000,0.000,0.000,0.000,1231.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.873,0.000,0.000,0.000
$MEM,296112
$DATA_FILE_SIZE,6829,186
$CAP_FILE_SIZE,95069,0
$CFSIZE,260034560,257159168
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3937.38,0x236bc6,7,5
$INTR,1,1275.18,0x236bc6,7,5
$GPS,010715,193037,4743.982,-12224.129,3,1.1,13,16.3