version: 66.10
glider: 161
mission: 4
dive: 4
start: 4 15 114 19 48 53
data:
$ID,161
$MISSION,4
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,300
$D_NO_BLEED,500
$D_BOOST,3
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51957
$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,4743.1001
$TGT_DEFAULT_LON,12223.6
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2867.7366
$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,3052
$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,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1921
$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,-20.543966
$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
$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,0.0043775463
$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
$GPS1,150414,194122,4743.462,-12223.976,2,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.3
$GPS2,150414,194812,4743.466,-12223.932,5,1.1,39,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.227,0.168
$KALMAN_X,496.7,230.0,201.7,-453.8,109.2
$KALMAN_Y,283.6,163.2,146.3,544.0,67.3
$MHEAD_RNG_PITCHd_Wd,290.2,1217,-15.8,-10.000
$D_GRID,74
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.97,-175.9,0.0,0.0,0,57,0.00,0.00,-40.97,0.000,2,0.000,0.000,148,1819,1872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.97,-175.9,3.1,-6.5,6,92,10.68,2.25,-15.55,0.000,4,0.253,0.072,2732,389,2640,0,0,0,0,0,0,25.60,25.79,25.91
$GC,261,-0.97,-175.9,40.8,-17.4,45,269,0.00,2.20,0.00,0.000,6,0.000,0.044,2723,1796,2640,0,0,0,0,0,0,28.83,25.94,28.83
$GC,328,-0.97,-175.9,51.8,-16.9,57,332,0.00,2.25,0.00,0.000,4,0.000,0.063,2712,3206,2640,0,0,0,0,0,0,28.83,25.93,28.83
$GC,358,-0.97,-175.9,56.4,-15.8,60,362,0.00,2.17,0.00,0.000,6,0.000,0.038,2712,1794,2640,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,480,-0.33,0.0,74.9,-16.0,72,624,0.73,0.00,139.57,0.529,6,0.139,0.000,2939,1793,1920,0,0,0,0,0,0,25.89,28.83,24.63
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,626,0.97,175.9,80.9,0.0,86,771,1.27,0.00,136.60,0.510,6,0.103,0.000,3355,1793,1202,0,0,0,0,0,0,25.03,28.83,24.57
$GC,888,0.97,175.9,60.6,11.5,113,892,0.00,2.25,0.00,0.000,4,0.000,0.057,3366,397,1201,0,0,0,0,0,0,28.83,25.56,28.83
$GC,983,0.97,175.9,48.5,13.4,123,991,0.00,2.20,0.00,0.000,6,0.000,0.040,3366,1803,1200,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1050,0.97,175.9,40.8,10.8,136,1058,0.00,2.25,0.00,0.000,4,0.000,0.058,3364,3213,1200,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1102,0.97,175.9,34.9,10.6,146,1110,0.00,2.20,0.00,0.000,6,0.000,0.038,3372,1794,1200,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1169,0.97,175.9,27.4,11.1,159,1177,0.00,2.22,0.00,0.000,4,0.000,0.056,3384,390,1199,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1241,0.97,175.9,19.2,10.8,173,1249,0.00,2.20,0.00,0.000,6,0.000,0.039,3383,1813,1199,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1308,0.99,197.4,12.1,9.2,186,1330,0.00,2.25,17.75,0.470,4,0.000,0.056,3392,391,1115,0,0,0,0,0,0,28.83,25.77,25.39
$GC,1369,1.10,286.4,8.0,6.6,197,1448,0.00,2.17,69.90,0.480,6,0.000,0.037,3392,1803,752,0,0,0,0,0,0,28.83,25.84,24.91
$STATE,1451,end climb,SURFACE_DEPTH_REACHED
$STATE,1451,begin surface coast
$FINISH,0.3,1.013870
$STATE,1482,end surface coast,CONTROL_FINISHED_OK
$STATE,1482,begin surface
$SM_CCo,1498,34.60,0.361,1,0,616,320.11
$SM_GC,1.57,8.88,0.00,34.60,0.044,0.000,0.361,144,1807,616,-9.03,0.20,320.11,0,0,0,0,1,0,25.49,28.83,24.96
$IRIDIUM_FIX,4751.72,-12340.51,150414,191901
$TT8_MAMPS,0.09737,0.09737
$HUMID,35.82
$INTERNAL_PRESSURE,8.80372
$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,24
$MI_LOG,3.4/516052/498732
$MI_ROOT,70.5/190403/56092
$MI_HOME,2.5/436550/425757
$24V_AH,24.6,0.720
$10V_AH,10.5,0.425
$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,21.550,26.625,363.825,34.600,0.000,29.229,39.372,134.007,0.000,2022.000,40.382,0.000,564.384,418.041,871.478,26.053,32.210,696.008,0.000,363.455,0.000,0.000,0.000
$DEVICE_MAMPS,253.215,71.910,528.615,361.080,0.000,61.970,160.000,223.000,0.000,39.115,31.460,0.000,0.390,13.210,40.920,48.410,65.640,16.000,0.000,15.730,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,141.895,0.000,0.000,0.000,0.000,0.000,2022.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,42.014,0.000,0.000,0.000
$MEM,197972
$DATA_FILE_SIZE,6830,216
$CAP_FILE_SIZE,35116,0
$CFSIZE,260034560,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,201524,4743.519,-12224.188,3,0.9,37,16.3