version: 66.10
glider: 211
mission: 2
dive: 11
start: 3 5 114 7 38 8
data:
$ID,211
$MISSION,2
$DIVE,11
$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,-4696.8994
$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,12
$R_STBD_OVSHOOT,27
$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
$GPS1,050314,072304,4743.723,-12224.024,13,1.0,47,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.0
$GPS2,050314,073544,4743.800,-12223.915,4,0.9,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.041,-0.239
$KALMAN_X,-459.8,-76.9,91.0,1855.6,141.5
$KALMAN_Y,-1221.9,-228.5,-268.0,2428.3,570.8
$MHEAD_RNG_PITCHd_Wd,173.4,1486,-14.9,-8.000
$D_GRID,171
$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,15,-1.01,-146.6,0.0,0.0,0,75,0.00,0.00,-57.88,0.000,6,0.000,0.000,191,1794,3101,0,0,0,0,0,0,28.83,28.83,25.92
$GC,77,-1.01,-146.6,2.2,-2.1,9,91,9.55,2.28,0.00,0.000,4,0.278,0.065,2314,3210,3102,0,0,0,0,0,0,25.58,25.77,28.83
$GC,390,-1.01,-146.6,40.6,-12.3,71,398,0.00,2.28,0.00,0.000,6,0.000,0.056,2314,1803,3103,0,0,0,0,0,0,28.83,25.91,28.83
$GC,517,-1.01,-146.6,54.9,-10.8,96,524,0.00,2.38,0.00,0.000,4,0.000,0.073,2314,377,3103,0,0,0,0,0,0,28.83,25.92,28.83
$GC,598,-1.01,-146.6,64.0,-9.8,112,606,0.00,2.28,0.00,0.000,6,0.000,0.057,2306,1792,3103,0,0,0,0,0,0,28.83,25.98,28.83
$GC,725,-1.01,-146.6,75.9,-10.7,137,733,0.00,2.33,0.00,0.000,4,0.000,0.068,2297,3209,3104,0,0,0,0,0,0,28.83,25.99,28.83
$GC,862,-1.01,-146.6,89.5,-9.5,164,870,0.10,2.30,0.00,0.000,6,0.148,0.057,2328,1789,3103,0,0,0,0,0,0,25.91,25.98,28.83
$GC,989,-1.01,-146.6,100.8,-8.9,189,997,0.00,2.33,0.00,0.000,4,0.000,0.073,2329,388,3103,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1031,-1.01,-146.6,104.7,-8.9,197,1039,0.00,2.28,0.00,0.000,6,0.000,0.057,2321,1798,3103,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1158,-1.01,-146.6,116.7,-8.8,222,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1798,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-1.01,-146.6,126.7,-7.9,246,1286,0.00,2.33,0.00,0.000,4,0.000,0.068,2317,3215,3106,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1339,-1.01,-146.6,131.8,-8.5,258,1348,0.00,2.30,0.00,0.000,6,0.000,0.058,2317,1792,3103,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1467,-1.01,-146.6,142.5,-9.4,283,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1792,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-1.01,-146.6,153.8,-8.9,304,1595,0.00,2.33,0.00,0.000,4,0.000,0.067,2308,3215,3103,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1626,-1.01,-146.6,156.5,-9.2,307,1634,0.00,2.28,0.00,0.000,6,0.000,0.057,2308,1808,3102,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,1781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1781,begin apogee
$GC,1783,-0.28,0.0,171.9,-9.6,323,1898,0.82,0.00,110.30,0.506,6,0.145,0.000,2562,2017,2501,0,0,0,0,0,0,25.91,28.83,24.76
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1900,1.01,146.6,174.6,0.0,334,2019,1.25,0.00,109.97,0.475,6,0.091,0.000,2977,2018,1893,0,0,0,0,0,0,25.10,28.83,24.56
$GC,2316,1.01,146.6,127.8,12.9,392,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2017,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,1.01,146.6,112.1,12.6,416,2444,0.00,2.28,0.00,0.000,4,0.000,0.070,2978,3397,1887,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2468,1.01,146.6,107.8,13.2,422,2476,0.00,2.28,0.00,0.000,6,0.000,0.058,2985,1999,1887,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2595,1.01,146.6,91.5,13.1,447,2603,0.00,2.38,0.00,0.000,4,0.000,0.076,2989,588,1891,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2667,1.01,146.6,82.1,13.5,461,2675,0.00,2.28,0.00,0.000,6,0.000,0.057,2989,1997,1886,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2794,1.01,146.6,66.6,9.2,486,2802,0.00,2.30,0.00,0.000,4,0.000,0.071,2988,3411,1888,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2915,1.01,146.6,52.3,12.5,510,2923,0.00,2.30,0.00,0.000,6,0.000,0.059,2998,1990,1887,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3043,1.01,146.6,37.7,11.1,535,3050,0.00,2.35,0.00,0.000,4,0.000,0.076,3001,587,1888,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3174,1.01,146.6,22.4,11.5,561,3182,0.00,2.28,0.00,0.000,6,0.000,0.057,3001,2003,1887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3241,1.01,146.6,15.0,10.8,574,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2003,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,1.01,146.6,8.4,11.0,586,3309,0.00,2.35,0.00,0.000,4,0.000,0.075,3001,590,1888,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3352,1.01,146.6,2.5,11.7,596,3360,0.00,2.28,0.00,0.000,6,0.000,0.057,3001,2005,1887,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,3363,end climb,SURFACE_DEPTH_REACHED
$STATE,3363,begin surface coast
$FINISH,0.2,1.011549
$STATE,3379,end surface coast,CONTROL_FINISHED_OK
$STATE,3379,begin surface
$SM_CCo,3394,30.67,0.142,0,0,1520,240.15
$SM_GC,1.06,7.75,0.35,30.67,0.064,0.086,0.142,193,1795,1520,-7.65,0.45,240.15,0,0,0,0,0,0,25.90,26.00,25.84
$IRIDIUM_FIX,4751.72,-12340.51,050314,060620
$TT8_MAMPS,0.109354,0.109354
$HUMID,30.50
$INTERNAL_PRESSURE,8.85277
$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,3.4/516052/498558
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426399
$24V_AH,24.6,1.896
$10V_AH,10.3,1.764
$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,19.475,51.375,220.275,30.675,0.000,26.187,33.418,366.458,0.000,4285.800,42.566,0.000,1697.079,381.769,1928.382,50.908,33.220,873.027,0.000,884.766,0.000,0.000,0.000
$DEVICE_MAMPS,277.695,86.445,505.665,142.290,0.000,13.010,160.000,223.000,0.000,50.776,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,405.857,0.000,0.000,0.000,0.000,0.000,4285.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.339,0.000,0.000,0.000
$MEM,200360
$DATA_FILE_SIZE,23420,601
$CAP_FILE_SIZE,79230,0
$CFSIZE,1024409600,1020936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,083424,4743.509,-12224.048,3,1.1,37,16.3