version: 66.10
glider: 210
mission: 3
dive: 16
start: 3 13 114 7 46 54
data:
$ID,210
$MISSION,3
$DIVE,16
$N_DIVES,25
$D_SURF,5
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$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,60
$T_MISSION,80
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51427
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$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,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4687.168
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,176
$PITCH_MAX,3891
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3802
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3034
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-65.985092
$PRESSURE_SLOPE,0.0001165312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$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,0.0044015264
$SEABIRD_T_H,0.00063760363
$SEABIRD_T_I,2.4963432e-05
$SEABIRD_T_J,2.8850222e-06
$SEABIRD_C_G,-9.9132805
$SEABIRD_C_H,1.1217544
$SEABIRD_C_I,-0.00011588677
$SEABIRD_C_J,0.00016613943
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,130314,073324,4742.819,-12224.269,3,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.0
$GPS2,130314,074612,4742.652,-12224.406,4,1.0,38,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.203,0.158
$KALMAN_X,-1593.2,150.0,193.7,1612.6,-526.3
$KALMAN_Y,-2892.3,75.3,203.4,2604.8,-358.0
$MHEAD_RNG_PITCHd_Wd,35.9,819,-17.6,-10.000
$D_GRID,155
$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,-1.11,-146.6,0.0,0.0,0,88,0.00,0.00,-71.12,0.000,2,0.000,0.000,170,2409,2563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.11,-146.6,3.0,-6.0,11,129,9.20,2.25,-25.70,0.000,4,0.261,0.076,2368,985,3633,0,0,0,0,0,0,25.45,25.65,25.76
$GC,249,-1.11,-146.6,17.3,-8.3,47,256,0.00,2.25,0.00,0.000,6,0.000,0.068,2358,2396,3632,0,0,0,0,0,0,28.83,25.70,28.83
$GC,315,-1.11,-146.6,24.0,-10.9,60,322,0.00,2.28,0.00,0.000,4,0.000,0.088,2347,3798,3634,0,0,0,0,0,0,28.83,25.69,28.83
$GC,838,-1.11,-146.6,92.1,-10.1,190,845,0.00,2.17,0.00,0.000,6,0.000,0.060,2347,2385,3635,0,0,0,0,0,0,28.83,25.86,28.83
$GC,964,-1.11,-146.6,106.0,-11.7,215,971,0.00,2.17,0.00,0.000,4,0.000,0.063,2348,989,3636,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1111,-1.11,-146.6,121.5,-11.3,251,1118,0.15,2.22,0.00,0.000,6,0.183,0.067,2375,2404,3634,0,0,0,0,0,0,25.76,25.86,28.83
$GC,1238,-1.11,-146.6,133.5,-9.8,276,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2403,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-1.11,-146.6,147.2,-10.6,301,1370,0.00,2.25,0.00,0.000,4,0.000,0.084,2365,3806,3634,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1433,-0.26,0.0,155.4,-13.4,312,1586,0.88,0.00,139.20,0.714,6,0.145,0.000,2640,2393,3043,0,0,0,0,1,0,25.78,28.83,23.65
$STATE,1586,end apogee,CONTROL_FINISHED_OK
$STATE,1586,begin climb
$GC,1587,1.11,146.6,157.5,0.0,330,1711,1.35,2.33,115.15,0.513,4,0.099,0.064,3086,992,2427,0,0,0,0,0,0,24.51,24.71,24.36
$GC,1807,1.11,146.6,134.5,13.4,369,1814,0.00,2.30,0.00,0.000,6,0.000,0.069,3087,2405,2418,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1934,1.11,146.6,119.1,10.9,394,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,1.11,146.6,102.2,14.0,419,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2179,1.11,146.6,85.9,13.0,443,2186,0.00,2.28,0.00,0.000,4,0.000,0.086,3086,3807,2421,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2190,1.11,146.6,84.4,13.7,445,2197,0.00,2.28,0.00,0.000,6,0.000,0.067,3097,2368,2421,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2316,1.11,146.6,67.2,12.4,470,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2373,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,1.11,146.6,50.9,13.6,494,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2368,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,1.11,146.6,34.4,14.9,518,2563,0.00,2.35,0.00,0.000,4,0.000,0.087,3096,3805,2418,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2635,1.11,146.6,21.7,15.1,537,2642,0.00,2.25,0.00,0.000,6,0.000,0.064,3108,2389,2424,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2701,1.11,146.6,12.8,13.7,550,2708,0.00,2.20,0.00,0.000,4,0.000,0.071,3121,991,2420,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,2767,end climb,SURFACE_DEPTH_REACHED
$STATE,2767,begin surface coast
$FINISH,3.2,1.019811
$STATE,2815,end surface coast,CONTROL_FINISHED_OK
$STATE,2815,begin surface
$SM_CCo,2833,183.65,0.118,0,0,497,621.84
$SM_CCo,3018,-0.12,0.000,0,0,502,621.59
$SM_CCo,3020,0.22,0.474,0,0,495,622.33
$SM_GC,1.17,8.35,2.33,0.22,0.085,0.070,0.474,175,2410,495,-7.95,-0.37,622.33,0,0,0,0,0,0,25.82,25.82,25.44
$IRIDIUM_FIX,4751.72,-12340.51,130314,060652
$TT8_MAMPS,0.113848,0.113848
$HUMID,29.99
$INTERNAL_PRESSURE,8.78737
$TCM_TEMP,17.10
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,69
$MI_LOG,3.4/516052/498401
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426608
$24V_AH,23.7,2.385
$10V_AH,10.2,2.145
$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,19.925,36.150,254.350,183.875,0.000,0.000,0.000,428.425,0.000,3881.300,40.339,0.000,1247.261,513.824,1843.306,49.610,33.218,1454.878,0.000,880.749,0.000,0.000,0.000
$DEVICE_MAMPS,260.865,87.975,713.745,474.300,0.000,0.000,0.000,94.095,0.000,49.560,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,389.540,0.000,0.000,0.000,0.000,0.000,3881.300,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.949,0.000,0.000,0.000
$MEM,200448
$DATA_FILE_SIZE,23497,578
$CAP_FILE_SIZE,69982,0
$CFSIZE,1024409600,1020690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,083807,4742.669,-12224.397,1,0.9,36,16.3