version: 66.10
glider: 208
mission: 2
dive: 5
start: 2 7 114 3 19 36
data:
$ID,208
$MISSION,2
$DIVE,5
$N_DIVES,30
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$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,85
$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,51476
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$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,-2864.7551
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,249
$PITCH_MAX,3894
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.059999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,196
$ROLL_MAX,3778
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,2859
$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,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.040756
$PRESSURE_SLOPE,0.0001164818
$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,0.30000001
$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,0.0043976754
$SEABIRD_T_H,0.00063337648
$SEABIRD_T_I,2.4533158e-05
$SEABIRD_T_J,2.8976478e-06
$SEABIRD_C_G,-9.7807083
$SEABIRD_C_H,1.1372483
$SEABIRD_C_I,-0.0015743772
$SEABIRD_C_J,0.00019512554
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,070214,030740,4744.016,-12224.370,4,1.0,14,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-63.1
$GPS2,070214,031854,4743.992,-12224.338,4,1.0,14,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.215,0.040
$KALMAN_X,575.7,339.0,145.6,-1516.8,170.7
$KALMAN_Y,749.6,780.2,-137.3,341.6,-309.6
$MHEAD_RNG_PITCHd_Wd,264.3,600,-21.3,-10.000
$D_GRID,173
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.31,-102.2,0.0,0.0,0,79,0.00,0.00,-58.28,0.000,6,0.000,0.000,245,1989,3275,0,0,0,0,0,0,28.83,28.83,26.17
$GC,80,-1.37,-146.6,2.2,-2.3,10,101,8.82,2.22,-4.85,0.000,4,0.298,0.075,2075,575,3457,0,0,0,0,0,0,25.74,25.97,26.12
$GC,341,-1.37,-146.6,49.5,-17.1,73,348,0.00,2.15,0.00,0.000,6,0.000,0.044,2065,2001,3457,0,0,0,0,0,0,28.83,26.17,28.83
$GC,467,-1.37,-146.6,71.5,-17.7,98,474,0.00,2.17,0.00,0.000,4,0.000,0.060,2055,3400,3457,0,0,0,0,0,0,28.83,26.17,28.83
$GC,485,-1.37,-146.6,74.8,-17.9,102,493,0.12,2.17,0.00,0.000,6,0.199,0.043,2082,1967,3458,0,0,0,0,0,0,26.00,26.21,28.83
$GC,612,-1.37,-146.6,96.6,-16.3,127,619,0.00,2.12,0.00,0.000,4,0.000,0.063,2082,599,3457,0,0,0,0,0,0,28.83,26.18,28.83
$GC,723,-1.37,-146.6,114.6,-17.3,154,730,0.00,2.12,0.00,0.000,6,0.000,0.045,2072,1994,3457,0,0,0,0,0,0,28.83,26.24,28.83
$GC,849,-1.37,-146.6,137.3,-18.0,179,855,0.00,2.17,0.00,0.000,4,0.000,0.061,2062,3406,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,895,-1.37,-146.6,145.9,-18.5,190,903,0.10,2.12,0.00,0.000,6,0.203,0.043,2081,1988,3457,0,0,0,0,0,0,26.06,26.26,28.83
$GC,1021,-1.37,-146.6,166.2,-15.0,205,1024,0.00,2.20,0.00,0.000,4,0.000,0.061,2071,3407,3457,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,1069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1069,begin apogee
$GC,1073,-0.28,0.0,173.8,-15.8,211,1192,1.27,0.00,109.40,0.531,6,0.189,0.000,2426,1854,2851,0,0,0,0,0,0,26.07,28.83,24.91
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1194,1.37,146.6,178.9,0.0,225,1313,1.67,2.40,107.65,0.490,4,0.119,0.080,2962,457,2247,0,0,0,0,0,0,25.34,25.17,24.79
$GC,1324,1.37,146.6,167.5,13.3,240,1332,0.00,2.28,0.00,0.000,6,0.000,0.056,2962,1844,2245,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1629,1.37,146.6,122.4,14.9,290,1636,0.00,2.28,0.00,0.000,4,0.000,0.068,2962,3262,2244,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1676,1.37,146.6,115.0,16.2,301,1683,0.00,2.20,0.00,0.000,6,0.000,0.059,2972,1863,2244,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1802,1.37,146.6,94.2,16.0,326,1809,0.00,2.35,0.00,0.000,4,0.000,0.083,2983,440,2244,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1940,1.37,146.6,71.1,17.1,360,1948,0.00,2.22,0.00,0.000,6,0.000,0.057,2983,1860,2244,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2067,1.37,146.6,50.9,15.7,385,2073,0.00,2.20,0.00,0.000,4,0.000,0.068,2983,3253,2244,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2141,1.37,146.6,37.9,17.2,403,2149,0.00,2.20,0.00,0.000,6,0.000,0.059,2993,1850,2244,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2167,1.37,146.6,33.2,17.6,408,2174,0.00,2.25,0.00,0.000,4,0.000,0.069,2993,3261,2244,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2186,1.37,146.6,30.1,16.4,412,2194,0.12,2.25,0.00,0.000,6,0.223,0.061,2978,1845,2244,0,0,0,0,0,0,26.03,26.20,28.83
$GC,2213,1.37,146.6,25.8,16.2,417,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1846,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,1.37,146.6,22.7,15.8,421,2239,0.00,2.22,0.00,0.000,4,0.000,0.067,2978,3252,2244,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2299,1.37,146.6,11.0,18.3,437,2306,0.00,2.20,0.00,0.000,6,0.000,0.060,2988,1846,2244,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2325,1.37,146.6,6.7,16.3,442,2332,0.00,2.30,0.00,0.000,4,0.000,0.086,2998,441,2244,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2352,1.37,146.6,2.7,15.8,448,2359,0.00,2.20,0.00,0.000,6,0.000,0.059,2998,1860,2244,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2362,end climb,SURFACE_DEPTH_REACHED
$STATE,2362,begin surface coast
$FINISH,0.3,1.009451
$STATE,2372,end surface coast,CONTROL_FINISHED_OK
$STATE,2372,begin surface
$SM_CCo,2387,26.17,0.132,0,0,1917,230.09
$SM_GC,0.88,7.75,0.22,26.17,0.073,0.073,0.132,255,2005,1917,-7.06,-0.71,230.09,0,0,0,0,0,0,26.22,26.27,26.06
$IRIDIUM_FIX,4751.72,-12340.51,070214,020259
$TT8_MAMPS,0.10486,0.10486
$HUMID,25.97
$INTERNAL_PRESSURE,9.01127
$TCM_TEMP,18.10
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,13
$MI_LOG,3.3/516052/498797
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.3/436550/426683
$24V_AH,24.8,0.889
$10V_AH,10.4,0.728
$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,19.875,53.650,217.050,26.175,0.000,24.659,37.133,252.669,0.000,3157.500,15.368,0.000,1033.087,337.345,1431.925,34.735,33.195,771.108,0.000,702.705,0.000,0.000,0.000
$DEVICE_MAMPS,298.350,85.680,530.910,132.345,0.000,12.240,160.000,223.000,0.000,45.437,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,302.888,0.000,0.000,0.000,0.000,0.000,3157.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.866,0.000,0.000,0.000
$MEM,323572
$DATA_FILE_SIZE,16784,452
$CAP_FILE_SIZE,63340,0
$CFSIZE,1024409600,1022083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,040018,4743.753,-12224.835,3,1.0,13,16.3