version: 66.12
glider: 163
mission: 7
dive: 40
start: 7 25 115 2 37 35
data:
$ID,163
$MISSION,7
$DIVE,40
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,450
$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,120
$T_MISSION,130
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51703
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022199999
$HD_B,0.0116
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,27.983
$TGT_DEFAULT_LON,-87.467003
$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,139
$PITCH_MAX,3886
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,290
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2880
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,1
$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,-19.837452
$PRESSURE_SLOPE,0.00011605668
$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,15
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$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,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,250715,022607,2758.901,-8727.623,39,0.9,50,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-60.5
$GPS2,250715,023725,2758.781,-8727.460,4,0.9,14,-2.0
$SPEED_LIMITS,0.217,0.304
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,333.6,12504,-17.2,-12.500,-22.35,2601
$D_GRID,450
$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,-1.30,-219.0,127,2388,950,724,0.0,0.0,0,81,0.00,0.00,-63.65,0.000,16386,0.000,0.000,126,2384,2647,2626,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.30,-219.0,128,2384,2627,2671,5.2,-6.4,10,120,8.73,2.12,-22.73,0.000,18948,0.225,0.043,2276,994,3775,3675,3875,0,0,0,0,0,0,25.11,25.51,25.63
$GC,174,-1.30,-219.0,2277,994,3675,3879,35.3,-38.9,27,182,0.00,2.20,0.00,0.000,1030,0.000,0.028,2268,2393,3776,3675,3878,0,0,0,0,0,0,28.83,25.37,28.83
$GC,246,-1.30,-219.0,2269,2396,3675,3880,61.4,-34.6,38,250,0.00,2.20,0.00,0.000,260,0.000,0.039,2258,3802,3777,3675,3879,0,0,0,0,0,0,28.83,25.56,28.83
$GC,266,-1.30,-219.0,2258,3803,3675,3880,67.3,-31.4,40,270,0.00,2.15,0.00,0.000,1030,0.000,0.022,2258,2394,3777,3675,3879,0,0,0,0,0,0,28.83,25.63,28.83
$GC,401,-1.30,-219.0,2258,2378,3676,3882,106.5,-28.3,53,405,0.00,2.25,0.00,0.000,260,0.000,0.037,2247,3801,3778,3675,3881,0,0,0,0,0,0,28.83,25.63,28.83
$GC,515,-1.30,-219.0,2248,3802,3675,3885,134.9,-28.1,60,523,0.10,2.12,0.00,0.000,3078,0.157,0.022,2276,2382,3780,3675,3886,0,0,0,0,0,0,25.33,25.74,28.83
$GC,821,-1.30,-219.0,2276,2381,3677,3887,204.6,-22.3,81,825,0.00,2.10,0.00,0.000,516,0.000,0.032,2276,1016,3780,3675,3886,0,0,0,0,0,0,28.83,25.79,28.83
$GC,845,-1.30,-219.0,2276,1016,3677,3887,207.9,-21.9,82,853,0.00,2.15,0.00,0.000,1030,0.000,0.029,2268,2413,3780,3675,3886,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1151,-1.30,-219.0,2269,2413,3677,3887,278.4,-22.3,103,1155,0.00,2.15,0.00,0.000,260,0.000,0.041,2257,3792,3780,3675,3886,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1235,-1.30,-219.0,2258,3793,3676,3887,295.5,-23.0,108,1243,0.00,2.10,0.00,0.000,1030,0.000,0.022,2257,2410,3780,3675,3886,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1541,-1.30,-219.0,2258,2404,3676,3887,363.8,-21.6,129,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2404,3780,3674,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,-1.30,-219.0,2258,2401,3676,3882,427.6,-21.3,149,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2401,3778,3674,3883,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1960,begin apogee
$GC,1963,-0.25,0.0,2257,2578,3676,3881,453.2,-21.1,157,2134,1.20,0.00,167.43,0.711,10246,0.133,0.000,2617,2577,2880,2907,2853,0,0,0,0,0,0,25.49,28.83,24.28
$STATE,2135,end apogee,CONTROL_FINISHED_OK
$STATE,2135,begin climb
$GC,2136,1.30,219.0,2618,2577,2907,2851,460.2,0.0,168,2312,1.42,0.00,171.02,0.708,10502,0.071,0.000,3105,2577,1986,2061,1911,0,0,0,0,0,0,24.89,28.83,24.20
$GC,2606,1.30,219.0,3105,2577,2052,1897,390.2,18.5,200,2610,0.00,2.22,0.00,0.000,516,0.000,0.037,3115,1182,1973,2050,1896,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2655,1.30,219.0,3115,1183,2050,1895,381.8,18.5,203,2660,0.00,2.17,0.00,0.000,1030,0.000,0.032,3115,2565,1972,2049,1895,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2966,1.30,219.0,3115,2566,2053,1891,322.0,18.8,224,2970,0.00,2.20,0.00,0.000,516,0.000,0.037,3124,1176,1968,2045,1891,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2981,1.30,219.0,3124,1176,2045,1891,319.2,18.9,225,2985,0.00,2.20,0.00,0.000,1030,0.000,0.031,3124,2578,1967,2044,1890,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3296,1.30,219.0,3125,2579,2038,1889,259.2,19.0,246,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2578,1963,2039,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3596,1.30,219.0,3124,2579,2037,1885,201.5,19.4,266,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2580,1960,2035,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,1.30,219.0,3125,2579,2033,1883,142.2,19.2,286,3900,0.00,2.22,0.00,0.000,516,0.000,0.037,3133,1177,1957,2032,1882,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3971,1.30,219.0,3134,1178,2033,1882,128.4,18.2,291,3975,0.00,2.20,0.00,0.000,1030,0.000,0.031,3133,2575,1956,2032,1881,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4281,1.30,219.0,3134,2576,2031,1880,78.1,15.2,316,4285,0.00,1.88,0.00,0.000,260,0.000,0.042,3133,3792,1955,2030,1880,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4411,1.30,219.0,3134,3788,2029,1880,59.0,15.0,329,4415,0.00,1.83,0.00,0.000,1030,0.000,0.024,3143,2572,1954,2028,1880,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4536,1.50,320.8,3144,2555,2027,1880,45.6,8.5,346,4617,0.08,2.03,71.18,0.457,11012,0.117,0.041,3184,3813,1567,1649,1485,0,0,0,0,0,0,25.76,25.39,24.94
$GC,4626,1.50,320.8,3184,3814,1648,1484,34.9,13.8,361,4634,0.00,1.90,0.00,0.000,1030,0.000,0.023,3193,2577,1565,1647,1483,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4693,1.50,320.8,3193,2577,1647,1481,24.6,16.0,374,4700,0.00,2.17,0.00,0.000,516,0.000,0.036,3202,1175,1563,1645,1481,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4725,1.50,320.8,3203,1176,1646,1481,19.9,15.1,380,4732,0.00,2.20,0.00,0.000,1030,0.000,0.031,3202,2574,1562,1645,1480,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4791,1.50,320.8,3203,2575,1646,1479,10.1,13.3,393,4798,0.00,1.90,0.00,0.000,260,0.000,0.041,3203,3804,1561,1644,1478,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4822,1.50,320.8,3204,3804,1644,1478,5.7,14.0,399,4830,0.00,1.85,0.00,0.000,1030,0.000,0.024,3212,2575,1560,1643,1478,0,0,0,0,0,0,28.83,25.68,28.83
$STATE,4842,end climb,SURFACE_DEPTH_REACHED
$STATE,4842,begin surface coast
$FINISH,2.1,1.010334
$STATE,4863,end surface coast,CONTROL_FINISHED_OK
$STATE,4863,begin surface
$SM_CCo,4879,84.78,0.051,0,0,841,500.16
$SM_GC,2.75,8.18,0.25,84.78,0.031,0.048,0.051,136,2389,841,-7.91,1.75,500.16,0,0,0,0,0,0,25.72,25.72,25.60
$IRIDIUM_FIX,2722.64,-8719.43,200508,155834
$TT8_MAMPS,0.098119,0.098119
$HUMID,37.95
$INTERNAL_PRESSURE,9.30919
$TCM_TEMP,24.50
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,146
$MI_LOG,3.5/516052/497886
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/424104
$24V_AH,24.20,10.116
$10V_AH,10.40,9.137
$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,19.700,51.050,409.625,84.775,0.000,29.075,41.716,223.182,0.000,5721.400,16.428,0.000,3402.152,607.413,1313.266,74.277,0.000,1018.271,0.000,693.308,0.000,0.000,0.000
$DEVICE_MAMPS,224.910,48.960,711.450,51.255,0.000,60.440,160.000,223.000,0.000,37.256,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,268.336,0.000,0.000,0.000,0.000,0.000,5721.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.659,0.000,0.000,0.000
$MEM,295912
$DATA_FILE_SIZE,13466,407
$CAP_FILE_SIZE,67865,0
$CFSIZE,260034560,254910464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14873.61,0x236bc6,7,5
$GPS,250715,040049,2759.308,-8727.538,4,0.8,14,-2.0