version: 66.10
glider: 162
mission: 3
dive: 10
start: 4 16 114 8 49 9
data:
$ID,162
$MISSION,3
$DIVE,10
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,320
$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,-4474.106
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,160414,082446,4743.956,-12224.701,3,0.9,38,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-62.5
$GPS2,160414,084827,4744.111,-12224.604,5,1.1,39,16.3
$SPEED_LIMITS,0.147,0.265
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.084,-0.251
$KALMAN_X,426.1,62.6,408.7,-1037.4,-284.0
$KALMAN_Y,1522.5,-27.4,693.2,419.7,84.4
$MHEAD_RNG_PITCHd_Wd,145.2,2616,-13.3,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-175.2,0.0,0.0,0,82,0.00,0.00,-58.92,0.000,6,0.000,0.000,123,1814,2603,0,0,0,0,0,0,28.83,28.83,25.77
$GC,84,-0.85,-175.2,6.1,-13.0,6,106,8.85,2.25,0.00,0.000,4,0.275,0.040,2148,3209,2604,0,0,0,0,0,0,25.41,25.66,28.83
$GC,171,-0.85,-175.2,30.8,-12.9,18,182,0.00,2.20,0.00,0.000,6,0.000,0.031,2147,1802,2605,0,0,0,0,0,0,28.83,25.70,28.83
$GC,259,-0.85,-175.2,41.6,-12.6,31,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1797,2604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,348,-0.85,-175.2,53.1,-13.0,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1797,2604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,468,-0.85,-175.2,67.0,-11.8,55,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,1797,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,588,-0.85,-175.2,81.8,-12.5,67,601,0.00,2.22,0.00,0.000,4,0.000,0.040,2139,3209,2604,0,0,0,0,0,0,28.83,25.83,28.83
$GC,615,-0.85,-175.2,84.8,-11.9,69,628,0.00,2.28,0.00,0.000,6,0.000,0.031,2139,1789,2604,0,0,0,0,0,0,28.83,25.84,28.83
$GC,757,-0.85,-175.2,104.1,-13.2,82,762,0.00,2.22,0.00,0.000,4,0.000,0.040,2129,3206,2604,0,0,0,0,0,0,28.83,25.84,28.83
$GC,790,-0.85,-175.2,108.0,-12.4,84,795,0.08,2.22,0.00,0.000,6,0.158,0.031,2152,1808,2604,0,0,0,0,0,0,25.72,25.84,28.83
$GC,1105,-0.85,-175.2,143.2,-11.1,105,1110,0.00,2.20,0.00,0.000,4,0.000,0.041,2141,3202,2603,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1143,-0.85,-175.2,146.6,-11.0,107,1156,0.00,2.22,0.00,0.000,6,0.000,0.031,2144,1797,2603,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,1302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1302,begin apogee
$GC,1304,-0.24,0.0,166.3,-12.3,118,1444,0.65,0.00,135.25,0.554,6,0.136,0.000,2350,1797,1889,0,0,0,0,0,0,25.76,28.83,24.39
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1446,0.85,175.2,171.8,0.0,127,1591,1.08,0.00,134.60,0.540,6,0.099,0.000,2701,1797,1173,0,0,0,0,0,0,24.77,28.83,24.26
$GC,1888,0.85,175.2,127.6,11.2,157,1893,0.00,2.25,0.00,0.000,4,0.000,0.052,2714,400,1169,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1926,0.85,175.2,123.7,11.9,159,1939,0.00,2.25,0.00,0.000,6,0.000,0.028,2712,1828,1169,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2236,0.85,175.2,85.3,12.0,184,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1830,1169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,0.85,175.2,71.4,12.1,196,2369,0.00,2.30,0.00,0.000,4,0.000,0.050,2724,402,1169,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2384,0.85,175.2,68.0,12.9,198,2397,0.00,2.17,0.00,0.000,6,0.000,0.029,2723,1805,1169,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2515,0.85,175.2,52.7,11.6,211,2528,0.00,2.30,0.00,0.000,4,0.000,0.051,2734,404,1169,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2567,0.85,175.2,46.1,12.4,217,2578,0.00,2.15,0.00,0.000,6,0.000,0.029,2734,1807,1169,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2655,0.85,175.2,36.3,11.1,230,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1807,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,0.85,175.2,26.0,11.8,243,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1807,1167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2831,0.85,175.2,16.5,9.1,256,2842,0.00,2.15,0.00,0.000,4,0.000,0.039,2734,3182,1168,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2894,0.85,175.2,9.7,11.5,265,2905,0.12,2.17,0.00,0.000,6,0.166,0.034,2713,1776,1168,0,0,0,0,0,0,25.75,25.89,28.83
$GC,2982,0.98,283.7,3.9,4.9,278,3005,0.12,0.00,20.95,0.448,2,0.091,0.000,2767,1776,1066,0,0,0,0,0,0,25.86,28.83,28.83
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3006,begin surface coast
$FINISH,-0.7,1.009423
$STATE,3083,end surface coast,CONTROL_FINISHED_OK
$STATE,3083,begin surface
$SM_CCo,3098,78.35,0.451,0,0,584,320.11
$SM_GC,-0.36,7.12,0.00,78.35,0.047,0.000,0.451,118,1773,584,-7.17,-0.76,320.11,0,0,0,0,0,0,25.75,28.83,24.76
$IRIDIUM_FIX,4751.72,-12340.51,160414,080803
$TT8_MAMPS,0.09737,0.09737
$HUMID,37.24
$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,3.4/516052/498645
$MI_ROOT,70.6/190403/55927
$MI_HOME,2.9/436550/423796
$24V_AH,24.3,1.320
$10V_AH,10.4,0.888
$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,18.025,35.575,290.800,78.350,0.000,85.821,104.977,545.238,0.000,4654.900,40.314,0.000,964.660,348.296,2949.313,94.942,33.211,855.597,0.000,490.326,0.000,0.000,0.000
$DEVICE_MAMPS,274.635,52.020,553.860,451.350,0.000,58.900,160.000,223.000,0.000,40.797,31.460,0.000,0.390,12.710,38.930,45.670,64.390,15.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,196.429,0.000,0.000,0.000,0.000,0.000,4654.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.540,0.000,0.000,0.000
$MEM,231700
$DATA_FILE_SIZE,10145,292
$CAP_FILE_SIZE,146562,0
$CFSIZE,260034560,257519616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160414,094300,4743.445,-12224.604,3,0.9,38,16.3