version: 66.12
glider: 161
mission: 10
dive: 1
start: 7 2 115 18 0 45
data:
$ID,161
$MISSION,10
$DIVE,1
$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,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,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,270
$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,9
$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,2975
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,63
$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,-20.091038
$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
$GPS1,020715,175510,4743.740,-12224.213,2,0.9,13,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.2
$GPS2,020715,180035,4743.747,-12224.204,5,0.8,15,16.3
$SPEED_LIMITS,0.119,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,4743.747,-12240.260
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,253.7,20000,-9.5,-10.000,-21.26,3407
$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,15,-0.75,-244.1,146,2310,682,420,0.0,0.0,0,122,0.00,0.00,-104.12,0.000,16386,0.000,0.000,146,2310,3539,3553,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.75,-244.1,148,2310,3554,3525,3.5,-7.1,17,143,10.80,2.15,-2.72,0.000,18692,0.244,0.048,2717,3684,3686,3705,3668,0,0,0,0,0,0,25.22,24.04,25.66
$GC,328,-0.75,-244.1,2718,3685,3707,3668,43.3,-15.3,57,335,0.00,2.12,0.00,0.000,1030,0.000,0.024,2717,2249,3687,3707,3667,0,0,0,0,0,0,28.83,25.79,28.83
$GC,394,-0.75,-244.1,2717,2250,3707,3668,53.6,-15.1,68,398,0.00,2.05,0.00,0.000,516,0.000,0.029,2717,875,3687,3707,3667,0,0,0,0,0,0,28.83,25.72,28.83
$GC,419,-0.75,-244.1,2718,875,3707,3668,56.6,-14.7,70,426,0.00,2.15,0.00,0.000,1030,0.000,0.032,2709,2283,3687,3707,3667,0,0,0,0,0,0,28.83,25.68,28.83
$GC,544,-0.75,-244.1,2709,2284,3708,3667,77.3,-15.5,83,548,0.00,2.25,0.00,0.000,260,0.000,0.044,2699,3710,3687,3707,3667,0,0,0,0,0,0,28.83,25.60,28.83
$GC,609,-0.75,-244.1,2700,3710,3707,3667,87.3,-16.8,89,617,0.10,2.20,0.00,0.000,3078,0.120,0.025,2732,2262,3687,3707,3667,0,0,0,0,0,0,25.11,25.47,28.83
$GC,734,-0.75,-244.1,2731,2263,3709,3667,105.0,-13.2,101,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2262,3687,3707,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.75,-244.1,2733,2263,3707,3663,145.6,-13.4,121,1038,0.00,2.30,0.00,0.000,260,0.000,0.044,2722,3710,3684,3707,3662,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1124,-0.75,-244.1,2722,3711,3708,3662,157.8,-14.0,127,1128,0.00,2.12,0.00,0.000,1030,0.000,0.025,2722,2286,3684,3707,3662,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,1303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1303,begin apogee
$GC,1306,-0.24,0.0,2723,2412,3707,3661,182.1,-13.8,139,1494,0.55,0.00,184.05,0.557,10246,0.111,0.000,2896,2412,2686,2783,2590,0,0,0,0,0,0,25.48,28.83,24.41
$STATE,1494,end apogee,CONTROL_FINISHED_OK
$STATE,1494,begin climb
$GC,1496,0.75,244.1,2897,2413,2778,2588,182.9,0.0,151,1698,0.90,2.15,194.38,0.548,11012,0.090,0.030,3201,1015,1686,1780,1592,0,0,0,0,0,0,24.98,25.03,24.40
$GC,1727,0.78,268.8,3201,1016,1773,1589,168.2,9.3,167,1751,0.00,2.10,19.88,0.507,9222,0.000,0.031,3201,2395,1592,1689,1496,0,0,0,0,0,0,28.83,25.24,24.50
$GC,2057,0.89,359.7,3201,2395,1674,1488,140.8,7.3,189,2137,0.15,2.20,74.47,0.509,10500,0.075,0.043,3260,3759,1217,1325,1110,0,0,0,0,0,0,25.69,25.10,24.56
$GC,2237,0.89,359.7,3260,3760,1319,1110,119.3,13.2,201,2241,0.00,2.05,0.00,0.000,1030,0.000,0.024,3266,2402,1213,1318,1109,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2547,0.89,359.7,3266,2401,1316,1109,80.1,11.7,227,2551,0.00,2.10,0.00,0.000,260,0.000,0.042,3266,3763,1211,1314,1108,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2581,0.89,359.7,3267,3760,1314,1108,76.2,12.5,230,2589,0.00,2.05,0.00,0.000,1030,0.000,0.024,3271,2401,1211,1314,1108,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2707,0.89,359.7,3271,2401,1314,1109,60.0,12.0,243,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2400,1210,1313,1108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2827,0.90,364.6,3272,2400,1312,1108,46.2,9.9,258,2835,0.00,2.05,2.05,0.132,8708,0.000,0.029,3271,1002,1204,1308,1100,0,0,0,0,0,0,28.83,25.80,24.32
$GC,2859,0.96,412.4,3271,1002,1311,1101,43.2,8.6,264,2910,0.00,2.15,42.50,0.466,9222,0.000,0.030,3271,2402,1001,1119,883,0,0,0,0,0,0,28.83,25.77,24.86
$GC,2969,0.96,412.4,3271,2402,1116,883,31.0,11.7,284,2976,0.00,2.12,0.00,0.000,260,0.000,0.042,3271,3753,999,1115,883,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3040,0.96,412.4,3271,3754,1113,882,22.0,13.3,298,3048,0.00,2.03,0.00,0.000,1030,0.000,0.025,3271,2402,998,1114,882,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3107,0.96,412.4,3272,2402,1113,883,14.1,11.6,311,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2402,997,1113,882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3167,0.96,412.4,3271,2403,1112,882,7.6,11.1,323,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2402,997,1112,882,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3210,end climb,SURFACE_DEPTH_REACHED
$STATE,3211,begin surface coast
$FINISH,0.7,0.999992
$STATE,3241,end surface coast,CONTROL_FINISHED_OK
$STATE,3241,begin surface
$SM_CCo,3258,53.53,0.067,0,0,550,524.44
$SM_CCo,3313,0.00,0.000,0,0,550,524.44
$SM_CCo,3315,0.00,0.000,0,0,550,524.44
$SM_GC,1.38,8.30,0.08,0.00,0.035,0.096,0.000,141,2307,550,-8.80,2.26,524.44,0,0,0,0,0,0,25.62,25.72,28.83
$IRIDIUM_FIX,4748.51,-12337.82,280408,072415
$TT8_MAMPS,0.096621,0.096621
$HUMID,46.25
$INTERNAL_PRESSURE,8.89162
$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,100
$MI_LOG,3.5/516052/498018
$MI_ROOT,70.6/190403/56004
$MI_HOME,2.6/436550/425110
$24V_AH,24.04,42.504
$10V_AH,10.21,11.010
$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,20.800,38.650,517.325,53.525,0.000,0.000,0.000,0.000,0.000,3291.700,16.331,0.000,1837.746,634.373,857.143,34.430,0.000,1024.048,0.000,596.070,0.000,0.000,0.000
$DEVICE_MAMPS,244.035,132.345,556.920,66.555,0.000,0.000,0.000,0.000,0.000,44.464,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,223.473,0.000,0.000,0.000,0.000,0.000,3291.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.993,0.000,0.000,0.000
$MEM,296360
$DATA_FILE_SIZE,10149,338
$CAP_FILE_SIZE,120886,0
$CFSIZE,260034560,257130496
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1555.55,0x23381e,1,24
$INTR,1,3314.10,0x236bc6,7,5
$INTR,2,3315.95,0x236bc6,7,5
$GPS,020715,185634,4743.963,-12224.896,3,1.1,13,16.3