version: 66.12
glider: 161
mission: 11
dive: 17
start: 7 20 115 12 57 39
data:
$ID,161
$MISSION,11
$DIVE,17
$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,82
$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,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
$GPS1,200715,125156,2800.176,-8729.085,3,0.8,13,-1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.2
$GPS2,200715,125729,2800.191,-8728.939,6,0.8,17,-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,316.1,2279,-26.7,-16.667,-32.54,1543
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.48,-170.3,154,2691,893,699,0.0,0.0,0,62,0.00,0.00,-45.55,0.000,16386,0.000,0.000,153,2690,2221,2200,2242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.48,-170.3,153,2692,2202,2242,3.4,-6.7,7,108,9.38,2.05,-27.88,0.000,18948,0.232,0.035,2445,1268,3535,3563,3507,0,0,0,0,0,0,25.12,25.67,25.78
$GC,387,-1.48,-170.3,2445,1267,3568,3508,102.9,-26.2,54,391,0.00,2.12,0.00,0.000,1030,0.000,0.031,2437,2663,3539,3566,3513,0,0,0,0,0,0,28.83,25.77,28.83
$GC,702,-1.48,-170.3,2438,2663,3571,3509,183.2,-25.3,75,706,0.00,2.05,0.00,0.000,516,0.000,0.023,2437,1268,3539,3571,3508,0,0,0,0,0,0,28.83,25.86,28.83
$GC,817,-1.48,-170.3,2438,1268,3572,3509,206.8,-21.6,82,824,0.00,2.15,0.00,0.000,1030,0.000,0.031,2427,2674,3540,3572,3509,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1122,-1.48,-170.3,2428,2675,3573,3510,281.8,-24.1,103,1126,0.00,2.08,0.00,0.000,516,0.000,0.023,2427,1265,3541,3573,3509,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1257,-1.48,-170.3,2427,1266,3574,3510,314.9,-24.2,112,1261,0.10,2.15,0.00,0.000,3078,0.174,0.034,2447,2673,3541,3573,3509,0,0,0,0,0,0,25.26,25.82,28.83
$STATE,1526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1526,begin apogee
$GC,1530,-0.24,0.0,2446,2292,3575,3508,377.3,-22.9,130,1665,1.30,0.00,131.57,0.633,10246,0.132,0.000,2851,2291,2838,2939,2737,0,0,0,0,0,0,25.46,28.83,24.39
$STATE,1666,end apogee,CONTROL_FINISHED_OK
$STATE,1666,begin climb
$GC,1667,1.48,170.3,2851,2291,2937,2738,383.9,0.0,139,1807,1.52,2.12,130.88,0.633,10756,0.061,0.028,3401,919,2142,2231,2053,0,0,0,0,0,0,24.91,24.98,24.34
$GC,1857,1.48,174.2,3402,919,2227,2050,367.7,16.4,152,1866,0.00,2.12,4.12,0.390,9222,0.000,0.026,3401,2301,2127,2218,2037,0,0,0,0,0,0,28.83,25.29,24.47
$GC,2173,1.48,174.2,3403,2303,2211,2036,309.4,18.6,173,2176,0.00,2.10,0.00,0.000,516,0.000,0.029,3410,927,2123,2211,2036,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2267,1.48,174.2,3410,926,2211,2036,292.7,18.3,179,2271,0.00,2.08,0.00,0.000,1030,0.000,0.026,3410,2306,2122,2209,2035,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2577,1.48,174.2,3410,2307,2207,2033,232.9,18.8,200,2581,0.00,2.08,0.00,0.000,516,0.000,0.029,3419,922,2119,2206,2033,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2717,1.48,174.2,3420,922,2206,2033,206.5,19.2,209,2721,0.00,2.08,0.00,0.000,1030,0.000,0.026,3420,2305,2118,2204,2032,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3027,1.48,174.2,3421,2304,2201,2031,147.4,17.2,230,3031,0.00,2.08,0.00,0.000,516,0.000,0.028,3429,920,2115,2201,2030,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3212,1.49,176.7,3428,921,2201,2030,116.6,16.5,242,3216,0.00,2.08,0.00,0.000,1030,0.000,0.025,3429,2305,2114,2199,2029,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3518,1.62,281.6,3428,2306,2199,2027,75.9,9.7,269,3602,0.00,2.12,78.72,0.447,8708,0.000,0.028,3438,922,1687,1777,1598,0,0,0,0,0,0,28.83,25.45,24.89
$GC,3912,1.69,344.7,3439,922,1767,1593,20.8,12.5,329,3969,0.03,2.08,48.10,0.401,11270,0.139,0.024,3465,2304,1430,1523,1338,0,0,0,0,0,0,25.29,25.70,25.01
$GC,4028,1.73,376.3,3465,2305,1520,1337,3.1,14.6,350,4037,0.00,0.00,7.45,0.064,8706,0.000,0.000,3465,2305,1383,1476,1290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4037,end climb,SURFACE_DEPTH_REACHED
$STATE,4037,begin surface coast
$FINISH,0.9,1.021753
$STATE,4055,end surface coast,CONTROL_FINISHED_OK
$STATE,4055,begin surface
$SM_CCo,4072,83.35,0.363,1,0,799,500.16
$SM_GC,1.89,8.80,0.52,83.35,0.035,0.036,0.363,156,2678,799,-8.60,-1.58,500.16,0,0,0,0,1,0,25.56,25.63,24.74
$IRIDIUM_FIX,2722.64,-8719.43,160508,022102
$TT8_MAMPS,0.09737,0.09737
$HUMID,40.31
$INTERNAL_PRESSURE,9.1846
$TCM_TEMP,24.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,104
$MI_LOG,3.5/516052/497978
$MI_ROOT,70.6/190403/56003
$MI_HOME,2.8/436550/424120
$24V_AH,24.34,46.605
$10V_AH,10.33,13.987
$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,21.125,34.550,400.850,83.350,0.000,30.471,33.712,83.137,0.000,4537.200,18.269,0.000,2676.754,511.361,1152.220,57.133,0.000,947.153,0.000,741.340,0.000,0.000,0.000
$DEVICE_MAMPS,231.795,35.955,633.420,362.610,0.000,61.970,160.000,223.000,0.000,33.765,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,233.831,0.000,0.000,0.000,0.000,0.000,4537.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.638,0.000,0.000,0.000
$MEM,296172
$DATA_FILE_SIZE,13441,355
$CAP_FILE_SIZE,54883,0
$CFSIZE,260034560,256327680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,4571.27,0x236bc6,7,5
$GPS,200715,140731,2800.008,-8728.961,5,0.9,15,-1.9