version: 66.10
glider: 211
mission: 2
dive: 14
start: 3 5 114 11 10 39
data:
$ID,211
$MISSION,2
$DIVE,14
$N_DIVES,30
$D_SURF,2
$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,75
$T_MISSION,80
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$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,1.0232
$MASS,51560
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,240
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4953.5669
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3885
$C_PITCH,2655
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3804
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2503
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.624176
$PRESSURE_SLOPE,0.000116496
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.3
$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,0.0044050673
$SEABIRD_T_H,0.00064281846
$SEABIRD_T_I,2.6230078e-05
$SEABIRD_T_J,3.1112161e-06
$SEABIRD_C_G,-9.7493286
$SEABIRD_C_H,1.1199749
$SEABIRD_C_I,-0.001491752
$SEABIRD_C_J,0.0001964062
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,050314,105552,4742.791,-12224.098,2,1.0,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.0
$GPS2,050314,110815,4742.706,-12224.188,4,1.0,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.149,0.186
$KALMAN_X,-1403.1,251.5,-89.4,2315.3,-353.8
$KALMAN_Y,-1849.0,228.5,598.7,-281.1,-190.9
$MHEAD_RNG_PITCHd_Wd,22.4,593,-15.2,-8.000
$D_GRID,157
$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,-1.02,-140.5,0.0,0.0,0,75,0.00,0.00,-57.28,0.000,6,0.000,0.000,190,1798,3075,0,0,0,0,0,0,28.83,28.83,25.92
$GC,77,-1.03,-146.6,2.2,-2.7,9,91,9.35,2.33,-0.70,0.000,4,0.272,0.085,2317,388,3102,0,0,0,0,0,0,25.61,25.74,25.87
$GC,125,-1.03,-146.6,9.7,-11.0,18,133,0.00,2.30,0.00,0.000,6,0.000,0.056,2308,1802,3103,0,0,0,0,0,0,28.83,25.82,28.83
$GC,192,-1.03,-146.6,17.0,-10.3,31,193,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1801,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,252,-1.03,-146.6,23.1,-9.9,43,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1802,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,312,-1.03,-146.6,29.3,-9.7,55,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1802,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,372,-1.03,-146.6,35.6,-10.9,67,380,0.00,2.30,0.00,0.000,4,0.000,0.067,2300,3213,3103,0,0,0,0,0,0,28.83,25.92,28.83
$GC,408,-1.03,-146.6,39.5,-10.8,74,416,0.00,2.28,0.00,0.000,6,0.000,0.057,2299,1799,3103,0,0,0,0,0,0,28.83,25.91,28.83
$GC,475,-1.03,-146.6,46.6,-10.7,87,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,1798,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,595,-1.03,-146.6,59.2,-9.8,111,603,0.00,2.30,0.00,0.000,4,0.000,0.067,2292,3210,3104,0,0,0,0,0,0,28.83,25.96,28.83
$GC,632,-1.03,-146.6,63.3,-11.4,118,640,0.10,2.28,0.00,0.000,6,0.152,0.057,2321,1801,3103,0,0,0,0,0,0,25.89,25.94,28.83
$GC,759,-1.03,-146.6,76.1,-10.0,143,767,0.00,2.35,0.00,0.000,4,0.000,0.073,2322,358,3103,0,0,0,0,0,0,28.83,25.95,28.83
$GC,791,-1.03,-146.6,79.1,-9.9,149,799,0.00,2.33,0.00,0.000,6,0.000,0.056,2314,1808,3103,0,0,0,0,0,0,28.83,26.02,28.83
$GC,918,-1.03,-146.6,90.9,-9.8,174,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1809,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1037,-1.03,-146.6,103.3,-9.7,198,1045,0.00,2.28,0.00,0.000,4,0.000,0.067,2307,3205,3103,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1179,-1.03,-146.6,117.3,-10.1,226,1187,0.00,2.28,0.00,0.000,6,0.000,0.056,2308,1794,3103,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1306,-1.03,-146.6,129.3,-8.6,251,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1794,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-1.03,-146.6,138.9,-8.0,275,1434,0.00,2.35,0.00,0.000,4,0.000,0.071,2308,378,3105,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1473,-1.03,-146.6,142.8,-8.2,284,1481,0.00,2.28,0.00,0.000,6,0.000,0.056,2300,1795,3103,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1600,-1.03,-146.6,152.8,-8.5,306,1604,0.00,2.30,0.00,0.000,4,0.000,0.067,2291,3204,3103,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,1649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1649,begin apogee
$GC,1653,-0.28,0.0,157.1,-9.0,311,1773,0.88,0.00,110.95,0.503,6,0.152,0.000,2557,1986,2494,0,0,0,0,0,0,25.92,28.83,24.77
$STATE,1774,end apogee,CONTROL_FINISHED_OK
$STATE,1774,begin climb
$GC,1775,1.03,146.6,159.5,0.0,323,1890,1.25,2.42,108.95,0.474,4,0.093,0.072,2988,589,1897,0,0,0,0,0,0,25.15,24.91,24.57
$GC,1914,1.03,146.6,144.8,15.3,340,1922,0.00,2.35,0.00,0.000,6,0.000,0.057,2987,1998,1892,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2041,1.03,146.6,127.7,13.3,365,2049,0.00,2.40,0.00,0.000,4,0.000,0.070,2987,3414,1888,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2083,1.03,146.6,121.7,14.7,373,2091,0.00,2.33,0.00,0.000,6,0.000,0.059,2992,2001,1888,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2210,1.03,146.6,105.7,12.2,398,2218,0.00,2.35,0.00,0.000,4,0.000,0.073,3001,572,1891,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2232,1.03,146.6,103.1,12.5,402,2240,0.00,2.33,0.00,0.000,6,0.000,0.057,3000,2005,1888,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2359,1.03,146.6,87.0,13.1,427,2366,0.00,2.35,0.00,0.000,4,0.000,0.073,3001,594,1888,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2395,1.03,146.6,82.5,12.7,434,2403,0.00,2.28,0.00,0.000,6,0.000,0.057,3001,2006,1888,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2522,1.03,146.6,66.3,13.6,459,2530,0.00,2.33,0.00,0.000,4,0.000,0.070,3001,3404,1888,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2554,1.03,146.6,61.8,14.0,465,2562,0.00,2.28,0.00,0.000,6,0.000,0.058,3004,2001,1888,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2681,1.03,146.6,44.6,13.0,490,2688,0.00,2.35,0.00,0.000,4,0.000,0.073,3014,593,1888,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2692,1.03,146.6,43.1,12.4,492,2700,0.00,2.28,0.00,0.000,6,0.000,0.057,3014,2006,1889,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2819,1.03,146.6,26.6,13.5,517,2827,0.00,2.33,0.00,0.000,4,0.000,0.070,3014,3405,1888,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2876,1.03,146.6,18.6,14.3,528,2884,0.08,2.28,0.00,0.000,6,0.161,0.059,2988,1998,1891,0,0,0,0,0,0,25.91,25.98,28.83
$GC,2943,1.03,146.6,10.6,11.4,541,2951,0.00,2.35,0.00,0.000,4,0.000,0.073,3000,591,1888,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3000,1.03,146.6,3.9,12.3,552,3008,0.00,2.28,0.00,0.000,6,0.000,0.057,2999,2004,1888,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,3016,end climb,SURFACE_DEPTH_REACHED
$STATE,3016,begin surface coast
$FINISH,0.4,1.022271
$STATE,3026,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3041,31.27,0.142,0,0,1520,240.15
$SM_GC,1.27,7.72,0.35,31.27,0.060,0.085,0.142,184,1792,1520,-7.67,0.48,240.15,0,0,0,0,0,0,25.97,25.89,25.80
$IRIDIUM_FIX,4751.72,-12340.51,050314,101057
$TT8_MAMPS,0.114597,0.114597
$HUMID,29.72
$INTERNAL_PRESSURE,8.8723
$TCM_TEMP,17.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,45
$MI_LOG,3.4/516052/498554
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.4/436550/426251
$24V_AH,24.6,2.286
$10V_AH,10.3,2.039
$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,19.375,69.500,219.900,31.275,0.000,22.631,34.972,361.130,0.000,3907.100,42.936,0.000,1382.912,405.990,1857.027,53.300,33.217,897.673,0.000,833.673,0.000,0.000,0.000
$DEVICE_MAMPS,271.575,84.915,503.370,141.525,0.000,13.010,160.000,223.000,0.000,51.376,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,375.002,0.000,0.000,0.000,0.000,0.000,3907.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.411,0.000,0.000,0.000
$MEM,200320
$DATA_FILE_SIZE,20141,557
$CAP_FILE_SIZE,83168,0
$CFSIZE,1024409600,1020674048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,120106,4742.843,-12224.057,5,0.8,40,16.3