version: 66.12
glider: 161
mission: 11
dive: 13
start: 7 20 115 7 52 26
data:
$ID,161
$MISSION,11
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,375
$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,75
$T_MISSION,85
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51942
$MASS_COMP,0
$NAV_MODE,1
$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,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,74
$R_STBD_OVSHOOT,56
$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,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,-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
$GPS1,200715,074613,2800.617,-8729.500,3,0.8,13,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.4
$GPS2,200715,075217,2800.658,-8729.481,5,0.8,15,-1.9
$SPEED_LIMITS,0.167,0.261
$TGT_NAME,T315_6
$TGT_LATLONG,2801.049,-8729.938
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,316.0,1041,-30.4,-16.667,-35.76,1246
$D_GRID,375
$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,-1.62,-136.9,158,2684,899,698,0.0,0.0,0,63,0.00,0.00,-45.42,0.000,16386,0.000,0.000,158,2683,2234,2203,2266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.66,-170.3,155,2684,2204,2267,3.4,-7.0,7,108,9.20,2.10,-25.27,0.000,18948,0.231,0.039,2394,1259,3537,3564,3510,0,0,0,0,0,0,24.99,25.55,25.66
$GC,497,-1.66,-170.3,2394,1259,3571,3511,136.1,-26.0,59,501,0.00,2.15,0.00,0.000,1030,0.000,0.029,2387,2667,3540,3570,3510,0,0,0,0,0,0,28.83,25.71,28.83
$GC,807,-1.66,-170.3,2386,2667,3576,3512,220.6,-26.2,80,811,0.00,2.08,0.00,0.000,516,0.000,0.024,2386,1259,3543,3574,3512,0,0,0,0,0,0,28.83,25.77,28.83
$GC,987,-1.66,-170.3,2388,1259,3574,3512,267.2,-25.9,92,991,0.00,2.15,0.00,0.000,1030,0.000,0.031,2377,2672,3543,3574,3512,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1302,-1.66,-170.3,2378,2673,3574,3512,352.7,-27.3,113,1306,0.00,2.08,0.00,0.000,516,0.000,0.024,2377,1267,3542,3574,3511,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1396,-0.24,0.0,2369,2306,3576,3511,376.3,-26.1,119,1532,1.55,0.00,132.10,0.633,10246,0.150,0.000,2833,2305,2839,2939,2739,0,0,0,0,0,0,25.46,28.83,24.30
$STATE,1532,end apogee,CONTROL_FINISHED_OK
$STATE,1532,begin climb
$GC,1534,1.66,170.3,2834,2306,2938,2740,382.8,0.0,128,1674,1.75,2.15,131.68,0.631,10756,0.066,0.027,3458,905,2142,2227,2058,0,0,0,0,0,0,24.94,24.85,24.22
$GC,1747,1.66,170.3,3458,905,2224,2055,355.8,20.6,142,1751,0.00,2.15,0.00,0.000,1030,0.000,0.026,3457,2297,2138,2223,2054,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2063,1.66,170.3,3459,2297,2218,2053,289.8,20.7,163,2066,0.00,2.12,0.00,0.000,516,0.000,0.029,3467,898,2135,2218,2052,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2142,1.66,170.3,3467,899,2219,2052,274.3,20.7,168,2147,0.00,2.12,0.00,0.000,1030,0.000,0.025,3467,2300,2134,2217,2051,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2453,1.66,170.3,3467,2301,2213,2050,209.4,20.3,189,2456,0.00,2.10,0.00,0.000,516,0.000,0.029,3477,905,2131,2213,2049,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2997,1.66,170.3,3477,902,2210,2046,105.8,17.1,225,3001,0.00,2.12,0.00,0.000,1030,0.000,0.025,3477,2313,2127,2208,2046,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3308,1.75,247.4,3476,2314,2207,2044,67.7,10.3,255,3371,0.00,2.10,55.95,0.435,8708,0.000,0.027,3487,900,1826,1913,1740,0,0,0,0,0,0,28.83,25.52,24.99
$GC,3685,1.85,324.3,3488,901,1897,1741,20.3,10.3,315,3748,0.03,2.10,58.45,0.390,11270,0.151,0.024,3514,2294,1515,1606,1425,0,0,0,0,0,0,25.22,25.69,24.92
$GC,3807,1.94,398.8,3513,2295,1600,1422,5.9,10.5,337,3858,0.08,0.00,43.50,0.340,10754,0.127,0.000,3556,2294,1349,1444,1255,0,0,0,0,1,0,25.41,28.83,25.36
$STATE,3858,end climb,SURFACE_DEPTH_REACHED
$STATE,3858,begin surface coast
$FINISH,0.7,1.008867
$STATE,3902,end surface coast,CONTROL_FINISHED_OK
$STATE,3902,begin surface
$SM_CCo,3919,93.72,0.360,1,0,799,500.16
$SM_GC,1.86,9.12,0.55,93.72,0.037,0.038,0.360,156,2681,799,-8.61,-1.53,500.16,0,0,0,0,1,0,25.40,25.45,24.60
$IRIDIUM_FIX,2722.64,-8719.43,150508,211536
$TT8_MAMPS,0.095872,0.095872
$HUMID,38.58
$INTERNAL_PRESSURE,9.21389
$TCM_TEMP,24.50
$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,3.5/516052/497981
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424260
$24V_AH,24.22,46.092
$10V_AH,10.37,13.656
$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,21.725,29.650,421.675,93.725,0.000,31.150,35.263,95.181,0.000,4426.700,16.893,0.000,2455.514,534.547,1229.703,55.423,0.000,993.536,0.000,801.658,0.000,0.000,0.000
$DEVICE_MAMPS,231.030,39.015,632.655,359.550,0.000,61.970,160.000,223.000,0.000,33.960,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,232.382,0.000,0.000,0.000,0.000,0.000,4426.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.718,0.000,0.000,0.000
$MEM,296164
$DATA_FILE_SIZE,13469,354
$CAP_FILE_SIZE,55107,0
$CFSIZE,260034560,256479232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,4647.83,0x236bc6,7,5
$GPS,200715,085955,2800.496,-8729.383,5,0.8,15,-1.9