version: 66.12
glider: 161
mission: 10
dive: 2
start: 7 2 115 19 21 22
data:
$ID,161
$MISSION,10
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,170
$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,2
$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,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,76
$R_STBD_OVSHOOT,76
$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
$GPS1,020715,191740,4743.848,-12224.918,4,1.0,14,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.0
$GPS2,020715,192112,4743.803,-12224.925,6,0.9,16,16.3
$SPEED_LIMITS,0.113,0.250
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,39.1,643,-18.6,-9.444,-27.88,1692
$D_GRID,170
$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,-1.02,-108.7,141,2292,669,433,0.0,0.0,0,111,0.00,0.00,-91.12,0.000,16390,0.000,0.000,140,2292,3133,3121,3145,0,0,0,0,0,0,28.83,28.83,25.86
$GC,113,-1.12,-192.0,141,2293,3121,3146,3.4,-4.4,14,140,10.27,2.08,-6.82,0.000,18948,0.242,0.046,2604,912,3474,3505,3443,0,0,0,0,0,0,24.95,25.67,25.79
$GC,174,-1.12,-192.0,2605,913,3507,3443,19.2,-23.2,25,183,0.00,2.10,0.00,0.000,1030,0.000,0.031,2597,2271,3477,3506,3448,0,0,0,0,0,0,28.83,25.60,28.83
$GC,242,-1.12,-192.0,2598,2272,3506,3443,35.4,-23.3,38,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2271,3474,3507,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,302,-1.12,-192.0,2597,2272,3509,3443,48.3,-21.6,50,309,0.00,2.08,0.00,0.000,516,0.000,0.030,2597,908,3474,3507,3442,0,0,0,0,0,0,28.83,25.63,28.83
$GC,378,-1.12,-192.0,2597,908,3506,3443,64.7,-22.5,58,386,0.00,2.15,0.00,0.000,1030,0.000,0.031,2587,2305,3474,3507,3442,0,0,0,0,0,0,28.83,25.57,28.83
$GC,503,-1.12,-192.0,2587,2306,3508,3443,94.0,-22.5,71,507,0.00,2.22,0.00,0.000,260,0.000,0.042,2577,3701,3475,3508,3442,0,0,0,0,0,0,28.83,25.27,28.83
$GC,548,-1.12,-192.0,2576,3701,3509,3443,105.0,-24.7,75,552,0.10,2.10,0.00,0.000,3078,0.151,0.025,2605,2307,3475,3508,3442,0,0,0,0,0,0,25.10,25.69,28.83
$GC,864,-1.12,-192.0,2606,2308,3508,3442,169.1,-19.1,96,867,0.00,2.08,0.00,0.000,516,0.000,0.031,2605,898,3472,3503,3442,0,0,0,0,0,0,28.83,25.61,28.83
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,882,-0.24,0.0,2596,2403,3510,3442,172.2,-19.4,97,1032,1.00,0.00,146.77,0.543,10246,0.135,0.000,2896,2403,2686,2782,2591,0,0,0,0,0,0,25.05,28.83,24.34
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1033,begin climb
$GC,1034,1.12,192.0,2896,2404,2781,2590,178.3,0.0,107,1197,1.27,2.15,150.68,0.520,10500,0.095,0.040,3318,3771,1897,1995,1800,0,0,0,0,0,0,24.90,24.93,24.35
$GC,1310,1.12,192.0,3319,3771,1983,1801,144.3,18.0,125,1318,0.00,2.08,0.00,0.000,1030,0.000,0.024,3327,2396,1891,1983,1799,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1616,1.12,192.0,3326,2396,1982,1801,94.8,14.7,147,1620,0.00,2.08,0.00,0.000,516,0.000,0.030,3336,1012,1890,1980,1800,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1710,1.12,192.0,3335,1018,1982,1799,81.7,14.3,156,1719,0.00,2.12,0.00,0.000,1030,0.000,0.029,3336,2407,1889,1980,1799,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1836,1.12,192.0,3336,2408,1980,1800,62.3,14.1,169,1840,0.00,2.10,0.00,0.000,260,0.000,0.040,3336,3758,1889,1979,1799,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1946,1.12,192.0,3336,3758,1980,1800,45.9,13.7,182,1954,0.00,2.03,0.00,0.000,1030,0.000,0.024,3343,2398,1888,1977,1799,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2013,1.12,192.0,3343,2399,1979,1800,37.9,11.7,195,2021,0.00,2.08,0.00,0.000,516,0.000,0.031,3352,1011,1888,1978,1799,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2085,1.12,192.0,3353,1011,1977,1799,29.4,12.1,209,2093,0.00,2.12,0.00,0.000,1030,0.000,0.030,3352,2406,1889,1978,1800,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2152,1.12,192.0,3352,2407,1979,1800,21.1,12.2,222,2159,0.00,2.12,0.00,0.000,516,0.000,0.031,3352,1009,1888,1977,1799,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2198,1.12,192.0,3353,1009,1977,1799,14.8,13.7,231,2207,0.00,2.12,0.00,0.000,1030,0.000,0.029,3352,2403,1887,1977,1798,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2266,1.12,192.0,3353,2403,1977,1798,6.0,12.0,244,2273,0.00,2.12,0.00,0.000,516,0.000,0.031,3353,1013,1890,1983,1797,0,0,0,0,0,0,28.83,25.43,28.83
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,1.3,1.021915
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2320,151.93,0.063,0,0,552,524.44
$SM_CCo,2474,0.00,0.000,0,0,550,524.44
$SM_CCo,2476,0.00,0.000,0,0,550,524.44
$SM_GC,1.55,8.48,1.98,0.00,0.033,0.030,0.000,151,2301,550,-8.76,-1.24,524.44,0,0,0,0,0,0,25.60,25.63,28.83
$IRIDIUM_FIX,4748.51,-12337.82,280408,084439
$TT8_MAMPS,0.098868,0.098868
$HUMID,46.10
$INTERNAL_PRESSURE,8.85255
$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,3.5/516052/498017
$MI_ROOT,70.6/190403/56004
$MI_HOME,2.6/436550/425015
$24V_AH,24.34,42.621
$10V_AH,10.16,11.084
$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,21.125,42.225,297.450,151.925,0.000,0.000,0.000,0.000,0.000,2350.600,17.569,0.000,1234.284,571.000,691.394,29.302,0.000,878.941,0.000,468.822,0.000,0.000,0.000
$DEVICE_MAMPS,241.740,45.900,543.150,63.495,0.000,0.000,0.000,0.000,0.000,44.648,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,165.999,0.000,0.000,0.000,0.000,0.000,2350.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.364,0.000,0.000,0.000
$MEM,296248
$DATA_FILE_SIZE,6827,251
$CAP_FILE_SIZE,73943,0
$CFSIZE,260034560,257126400
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4836.08,0x236bc6,7,5
$INTR,1,2475.34,0x236bc6,7,5
$INTR,2,2477.19,0x236bc6,7,5
$CURRENT,0.036,153.62,1
$GPS,020715,200342,4743.978,-12224.569,37,0.8,47,16.3