version: 66.10
glider: 162
mission: 3
dive: 8
start: 4 16 114 6 19 15
data:
$ID,162
$MISSION,3
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51697
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$N_FILEKB,4
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4471.4976
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3882
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3834
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1889
$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,60
$VBD_MAXERRORS,1
$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,-26.64114
$PRESSURE_SLOPE,0.00011560637
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.93000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,83
$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,0.0043479973
$SEABIRD_T_H,0.00062607677
$SEABIRD_T_I,2.4008095e-05
$SEABIRD_T_J,2.608939e-06
$SEABIRD_C_G,-9.9659681
$SEABIRD_C_H,1.1191311
$SEABIRD_C_I,-0.0011732002
$SEABIRD_C_J,0.00017434865
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,160414,060306,4744.225,-12224.582,3,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-62.3
$GPS2,160414,061833,4744.431,-12224.455,4,0.9,39,16.3
$SPEED_LIMITS,0.085,0.195
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.042,-0.190
$KALMAN_X,524.8,-6.7,472.2,-943.3,164.8
$KALMAN_Y,877.5,-465.1,583.8,2197.2,752.6
$MHEAD_RNG_PITCHd_Wd,176.2,3206,-19.9,-8.462
$D_GRID,165
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.05,-87.6,0.0,0.0,0,73,0.00,0.00,-50.72,0.000,6,0.000,0.000,112,1798,2246,0,0,0,0,0,0,28.83,28.83,25.77
$GC,74,-1.05,-87.6,2.7,-7.8,5,96,8.57,2.25,0.00,0.000,4,0.272,0.046,2075,3191,2246,0,0,0,0,0,0,25.40,25.64,28.83
$GC,104,-1.05,-87.6,14.4,-29.9,8,115,0.00,2.17,0.00,0.000,6,0.000,0.033,2076,1800,2246,0,0,0,0,0,0,28.83,25.67,28.83
$GC,192,-1.05,-87.6,30.9,-14.9,21,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,1800,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,280,-1.05,-87.6,42.4,-12.4,34,291,0.00,2.25,0.00,0.000,4,0.000,0.050,2077,403,2246,0,0,0,0,0,0,28.83,25.74,28.83
$GC,361,-1.05,-87.6,53.4,-13.7,44,374,0.00,2.22,0.00,0.000,6,0.000,0.031,2067,1805,2246,0,0,0,0,0,0,28.83,25.80,28.83
$GC,493,-1.05,-87.6,69.1,-11.5,57,505,0.00,2.17,0.00,0.000,4,0.000,0.044,2057,3196,2246,0,0,0,0,0,0,28.83,25.82,28.83
$GC,532,-1.05,-87.6,73.3,-11.2,60,545,0.12,2.25,0.00,0.000,6,0.189,0.032,2091,1785,2245,0,0,0,0,0,0,25.66,25.82,28.83
$GC,664,-1.05,-87.6,87.2,-10.7,73,676,0.00,2.20,0.00,0.000,4,0.000,0.051,2092,401,2245,0,0,0,0,0,0,28.83,25.84,28.83
$GC,863,-1.05,-87.6,109.2,-11.5,88,875,0.00,2.20,0.00,0.000,6,0.000,0.030,2082,1804,2245,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1173,-1.05,-87.6,143.5,-9.7,109,1177,0.00,2.15,0.00,0.000,4,0.000,0.043,2072,3192,2245,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1387,begin apogee
$GC,1391,-0.24,0.0,165.3,-10.3,122,1466,0.90,0.00,68.88,0.558,6,0.158,0.000,2346,1805,1888,0,0,0,0,0,0,25.75,28.83,24.70
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1467,begin climb
$GC,1468,1.05,87.6,167.4,0.0,127,1545,1.27,2.42,68.80,0.543,4,0.101,0.050,2780,396,1530,0,0,0,0,0,0,25.03,24.85,24.40
$GC,1576,1.05,87.6,159.9,8.6,134,1581,0.00,2.30,0.00,0.000,6,0.000,0.029,2780,1807,1528,0,0,0,0,0,0,28.83,25.12,28.83
$GC,1891,1.05,87.6,120.6,12.0,155,1896,0.00,2.17,0.00,0.000,4,0.000,0.041,2780,3196,1525,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2116,1.05,87.6,94.2,12.6,170,2129,0.00,2.28,0.00,0.000,6,0.000,0.033,2787,1781,1524,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2247,1.05,87.6,79.3,10.9,183,2260,0.00,2.20,0.00,0.000,4,0.000,0.051,2801,404,1523,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2438,1.05,87.6,57.4,12.0,199,2451,0.00,2.20,0.00,0.000,6,0.000,0.028,2801,1805,1523,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2587,1.05,87.6,40.3,10.6,219,2598,0.00,2.17,0.00,0.000,4,0.000,0.040,2801,3196,1523,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2606,1.05,87.6,38.0,11.4,221,2617,0.15,2.17,0.00,0.000,6,0.187,0.032,2774,1787,1523,0,0,0,0,0,0,25.73,25.89,28.83
$GC,2694,1.08,105.4,31.3,7.3,234,2716,0.00,2.28,13.45,0.448,4,0.000,0.052,2783,412,1458,0,0,0,0,0,0,28.83,25.74,25.31
$GC,2876,1.09,119.7,15.1,7.5,261,2898,0.00,2.15,12.38,0.435,6,0.000,0.030,2783,1823,1399,0,0,0,0,0,0,28.83,25.84,25.27
$GC,2975,1.23,232.8,12.5,1.1,275,3073,0.12,2.38,86.00,0.460,4,0.112,0.050,2853,407,936,0,0,0,0,0,0,25.73,25.10,24.72
$STATE,3118,end climb,SURFACE_DEPTH_REACHED
$STATE,3118,begin surface coast
$FINISH,-0.3,1.020394
$STATE,3151,end surface coast,CONTROL_FINISHED_OK
$STATE,3151,begin surface
$SM_CCo,3168,54.10,0.445,0,0,625,310.30
$SM_GC,0.23,7.47,2.22,54.10,0.049,0.032,0.445,118,1771,625,-7.17,-2.18,310.30,0,0,0,0,0,0,25.41,25.43,24.68
$IRIDIUM_FIX,4751.72,-12340.51,160414,060657
$TT8_MAMPS,0.09737,0.09737
$HUMID,37.32
$INTERNAL_PRESSURE,8.91413
$TCM_TEMP,20.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,33
$MI_LOG,3.4/516052/498650
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.9/436550/423903
$24V_AH,24.4,1.037
$10V_AH,10.4,0.692
$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,18.625,49.050,249.500,54.100,0.000,26.814,36.579,460.709,0.000,4253.300,41.164,0.000,808.581,288.942,2857.833,87.980,33.215,841.482,0.000,603.573,0.000,0.000,0.000
$DEVICE_MAMPS,272.340,52.020,557.685,445.230,0.000,58.900,160.000,223.000,0.000,41.414,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,199.220,0.000,0.000,0.000,0.000,0.000,4253.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.538,0.000,0.000,0.000
$MEM,231700
$DATA_FILE_SIZE,10146,296
$CAP_FILE_SIZE,148210,0
$CFSIZE,260034560,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,071352,4744.285,-12224.563,3,0.9,38,16.3