version: 66.12
glider: 161
mission: 9
dive: 3
start: 7 1 115 20 39 21
data:
$ID,161
$MISSION,9
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,2925
$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,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,43
$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
$GPS1,010715,203329,4743.663,-12224.302,4,0.8,16,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.0
$GPS2,010715,203912,4743.616,-12224.323,5,0.8,15,16.3
$SPEED_LIMITS,0.119,0.257
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,326.5,744,-10.6,-10.000,-21.96,3141
$D_GRID,150
$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,-0.78,-222.8,152,1857,693,413,0.0,0.0,0,101,0.00,0.00,-82.68,0.000,16386,0.000,0.000,151,1858,2862,2858,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.80,-244.1,152,1859,2860,2872,3.3,-5.4,13,140,10.38,2.12,-18.35,0.000,18692,0.241,0.056,2648,3206,3686,3709,3663,0,0,0,0,0,0,25.19,25.59,25.51
$GC,269,-0.80,-244.1,2648,3206,3714,3663,36.1,-19.6,45,276,0.00,2.12,0.00,0.000,1030,0.000,0.025,2647,1788,3686,3710,3663,0,0,0,0,0,0,28.83,25.67,28.83
$GC,335,-0.80,-244.1,2648,1785,3711,3663,48.2,-19.0,58,343,0.00,2.22,0.00,0.000,260,0.000,0.041,2639,3203,3686,3710,3663,0,0,0,0,0,0,28.83,25.63,28.83
$GC,421,-0.80,-244.1,2640,3204,3711,3664,65.1,-20.2,67,429,0.00,2.10,0.00,0.000,1030,0.000,0.024,2639,1803,3686,3710,3663,0,0,0,0,0,0,28.83,25.73,28.83
$GC,547,-0.80,-244.1,2639,1802,3711,3668,91.0,-20.8,80,551,0.00,2.22,0.00,0.000,260,0.000,0.041,2630,3208,3686,3710,3663,0,0,0,0,0,0,28.83,25.59,28.83
$GC,591,-0.80,-244.1,2630,3208,3711,3663,99.8,-22.0,84,600,0.10,2.10,0.00,0.000,3078,0.135,0.025,2661,1799,3686,3710,3663,0,0,0,0,0,0,25.24,25.72,28.83
$GC,717,-0.80,-244.1,2662,1798,3711,3663,125.0,-18.9,93,721,0.00,2.22,0.00,0.000,260,0.000,0.041,2653,3211,3686,3710,3663,0,0,0,0,0,0,28.83,25.60,28.83
$GC,837,-0.80,-244.1,2653,3206,3710,3663,145.7,-16.9,101,841,0.00,2.10,0.00,0.000,1030,0.000,0.024,2653,1800,3686,3710,3663,0,0,0,0,0,0,28.83,25.71,28.83
$STATE,866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,866,begin apogee
$GC,869,-0.24,0.0,2650,2304,3711,3663,150.7,-16.9,103,1064,0.62,0.00,186.85,0.542,10246,0.115,0.000,2846,2305,2681,2778,2585,0,0,0,0,0,0,25.39,28.83,24.35
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1066,0.80,244.1,2847,2304,2778,2585,160.3,0.0,116,1276,0.95,2.15,199.55,0.528,10756,0.095,0.032,3162,894,1682,1785,1579,0,0,0,0,0,0,24.93,24.91,24.30
$GC,1290,0.90,320.9,3163,896,1782,1579,147.7,7.5,131,1359,0.08,2.25,63.40,0.502,11270,0.082,0.030,3210,2294,1375,1481,1269,0,0,0,0,0,0,25.04,25.06,24.37
$GC,1665,0.95,361.7,3210,2295,1468,1263,113.7,8.7,156,1704,0.00,2.25,33.58,0.501,8452,0.000,0.042,3210,3696,1208,1324,1092,0,0,0,0,0,0,28.83,25.22,24.66
$GC,1820,0.95,361.7,3211,3697,1319,1093,95.1,14.1,167,1828,0.00,2.12,0.00,0.000,1030,0.000,0.025,3214,2293,1205,1318,1092,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1945,0.95,361.7,3214,2292,1319,1093,77.8,12.2,180,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2291,1205,1318,1092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,0.97,378.5,3214,2291,1318,1092,65.4,9.5,192,2088,0.00,2.25,14.57,0.466,8452,0.000,0.042,3214,3697,1140,1259,1021,0,0,0,0,0,0,28.83,25.58,24.92
$GC,2121,0.97,378.5,3214,3697,1258,1020,60.3,10.3,197,2129,0.00,2.10,0.00,0.000,1030,0.000,0.024,3214,2301,1139,1257,1021,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2247,0.99,398.1,3215,2298,1258,1021,47.4,9.4,212,2273,0.00,2.25,17.27,0.461,8452,0.000,0.042,3214,3701,1059,1184,934,0,0,0,0,0,0,28.83,25.58,24.92
$GC,2288,0.99,398.1,3215,3701,1183,934,43.6,10.0,219,2295,0.00,2.12,0.00,0.000,1030,0.000,0.026,3214,2295,1058,1183,934,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2354,1.08,464.7,3214,2294,1183,934,37.8,7.8,232,2417,0.12,2.15,56.65,0.467,10756,0.082,0.032,3271,913,786,932,640,0,0,0,0,0,0,25.63,25.29,24.70
$GC,2431,1.08,464.7,3272,913,931,638,29.0,12.1,245,2439,0.00,2.15,0.00,0.000,1030,0.000,0.031,3271,2296,784,930,638,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2498,1.08,464.7,3271,2296,929,638,20.1,15.9,258,2505,0.00,2.22,0.00,0.000,260,0.000,0.041,3271,3701,782,927,638,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2534,1.08,464.7,3271,3701,927,638,13.6,18.4,265,2542,0.00,2.12,0.00,0.000,1030,0.000,0.024,3271,2299,782,926,639,0,0,0,0,0,0,28.83,25.55,28.83
$GC,2601,1.08,464.7,3271,2302,927,640,3.5,14.0,278,2608,0.00,2.22,0.00,0.000,260,0.000,0.041,3271,3697,782,926,638,0,0,0,0,0,0,28.83,25.51,28.83
$STATE,2611,end climb,SURFACE_DEPTH_REACHED
$STATE,2611,begin surface coast
$FINISH,1.0,1.020534
$STATE,2631,end surface coast,CONTROL_FINISHED_OK
$STATE,2631,begin surface
$SM_CCo,2650,29.55,0.066,0,0,550,524.44
$SM_CCo,2681,0.00,0.000,0,0,550,524.44
$SM_CCo,2683,-0.03,0.000,0,0,550,524.44
$SM_GC,1.72,8.25,2.90,-0.03,0.030,0.026,0.000,140,1825,550,-8.63,2.09,524.44,0,0,0,0,0,0,25.58,25.60,24.15
$IRIDIUM_FIX,4748.51,-12337.82,270408,091108
$TT8_MAMPS,0.096621,0.096621
$HUMID,47.08
$INTERNAL_PRESSURE,8.84279
$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,3.5/516052/498055
$MI_ROOT,70.6/190403/56004
$MI_HOME,2.6/436550/425213
$24V_AH,24.15,42.058
$10V_AH,10.14,10.694
$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,20.500,49.275,571.875,29.550,0.000,33.812,44.592,101.020,0.000,4650.900,16.490,0.000,1253.011,663.426,983.592,53.485,0.000,1062.893,0.000,550.673,0.000,0.000,0.000
$DEVICE_MAMPS,240.975,55.845,542.385,65.790,0.000,61.970,160.000,223.000,0.000,36.127,31.460,0.000,0.390,13.210,40.920,48.410,0.000,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,185.222,0.000,0.000,0.000,0.000,0.000,4650.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,43.057,0.000,0.000,0.000
$MEM,296156
$DATA_FILE_SIZE,10145,284
$CAP_FILE_SIZE,55497,0
$CFSIZE,260034560,257126400
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3094.10,0x236bc6,7,5
$INTR,1,911.83,0x233820,2,24
$INTR,2,2681.77,0x236bc6,7,5
$GPS,010715,212512,4743.727,-12224.757,37,0.8,47,16.3