version: 66.12
glider: 161
mission: 9
dive: 2
start: 7 1 115 19 47 47
data:
$ID,161
$MISSION,9
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,50
$T_MISSION,60
$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,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,55
$R_STBD_OVSHOOT,60
$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
$GPS1,010715,194350,4743.807,-12224.192,3,1.1,14,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.9
$GPS2,010715,194737,4743.765,-12224.211,6,1.1,16,16.3
$SPEED_LIMITS,0.143,0.279
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,304.2,565,-25.5,-12.000,-32.50,1318
$D_GRID,180
$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,-1.34,-105.6,161,1871,666,440,0.0,0.0,0,111,0.00,0.00,-91.45,0.000,16390,0.000,0.000,161,1871,3120,3111,3129,0,0,0,0,0,0,28.83,28.83,25.85
$GC,113,-1.46,-197.9,161,1872,3112,3130,3.3,-4.8,15,138,9.25,2.12,-7.95,0.000,18692,0.243,0.052,2365,3243,3498,3526,3470,0,0,0,0,0,0,25.19,25.64,25.86
$GC,218,-1.46,-197.9,2366,3244,3529,3471,36.4,-34.2,35,225,0.00,2.08,0.00,0.000,1030,0.000,0.025,2365,1854,3499,3528,3470,0,0,0,0,0,0,28.83,25.74,28.83
$GC,284,-1.46,-197.9,2366,1854,3529,3476,58.8,-35.4,46,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1852,3502,3529,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,404,-1.46,-197.9,2365,1852,3531,3468,97.4,-32.0,58,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1852,3499,3529,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,534,-1.46,-197.9,2365,1851,3531,3469,141.2,-33.3,67,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1851,3499,3529,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,668,begin apogee
$GC,671,-0.24,0.0,2365,1749,3531,3468,183.3,-31.1,76,882,1.33,0.00,199.68,0.539,10246,0.136,0.000,2765,1745,2689,2781,2597,0,0,0,0,1,0,25.15,28.83,24.32
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,884,1.46,197.9,2765,1745,2780,2597,183.3,0.0,90,1065,1.73,2.20,167.10,0.558,10756,0.139,0.036,3287,361,1880,1981,1779,0,0,0,0,1,0,24.84,24.96,24.30
$STATE,1073,end climb,NO_VERTICAL_VELOCITY
$STATE,1073,begin surface
$SM_CCo,1078,272.27,0.560,1,0,551,524.44
$SM_CCo,2704,-0.12,0.000,0,0,550,524.44
$SM_CCo,2706,0.20,0.137,0,0,550,524.44
$SM_CCo,2708,-0.03,0.000,0,0,551,524.44
$SM_GC,2.49,8.55,2.28,-0.03,0.050,0.028,0.000,152,1848,551,-8.38,-1.67,524.44,0,0,0,0,0,0,25.53,25.67,24.31
$IRIDIUM_FIX,4748.51,-12337.82,270408,091055
$TT8_MAMPS,0.096621,0.096621
$HUMID,47.36
$INTERNAL_PRESSURE,8.86232
$TCM_TEMP,21.30
$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,3.5/516052/498056
$MI_ROOT,70.6/190403/56004
$MI_HOME,2.6/436550/425295
$24V_AH,24.30,41.918
$10V_AH,10.29,10.614
$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,20.850,8.775,366.775,272.475,0.000,0.000,0.000,0.000,0.000,1123.900,17.666,0.000,1708.941,694.103,337.722,18.415,0.000,891.787,0.000,193.646,0.000,0.000,0.000
$DEVICE_MAMPS,243.270,80.325,557.685,559.980,0.000,0.000,0.000,0.000,0.000,33.079,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,65.185,0.000,0.000,0.000,0.000,0.000,1123.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.061,0.000,0.000,0.000
$MEM,296252
$DATA_FILE_SIZE,3518,103
$CAP_FILE_SIZE,54657,0
$CFSIZE,260034560,257163264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,2332.35,0x236bc6,7,5
$GPS,010715,203329,4743.663,-12224.302,4,0.8,16,16.3