version: 66.10
glider: 210
mission: 3
dive: 24
start: 3 13 114 14 29 48
data:
$ID,210
$MISSION,3
$DIVE,24
$N_DIVES,28
$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,-4697.4189
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,130314,141305,4743.207,-12224.119,2,1.0,36,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.3
$GPS2,130314,142906,4743.168,-12224.212,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.034,0.255
$KALMAN_X,-2410.7,8.9,-211.3,3214.6,282.4
$KALMAN_Y,-4675.9,-10.3,-343.8,5966.0,63.4
$MHEAD_RNG_PITCHd_Wd,336.1,1563,-17.6,-10.000
$D_GRID,175
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-90.00,0.000,2,0.000,0.000,160,2411,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.11,-146.6,3.0,-6.0,14,136,9.07,2.30,-12.52,0.000,4,0.255,0.097,2356,3793,3636,0,0,0,0,0,0,25.47,25.63,25.75
$GC,388,-1.11,-146.6,44.1,-12.9,81,395,0.00,2.17,0.00,0.000,6,0.000,0.060,2355,2393,3634,0,0,0,0,0,0,28.83,25.78,28.83
$GC,514,-1.11,-146.6,60.2,-12.8,106,521,0.00,2.20,0.00,0.000,4,0.000,0.063,2361,988,3634,0,0,0,0,0,0,28.83,25.78,28.83
$GC,673,-1.11,-146.6,80.7,-9.9,145,680,0.00,2.22,0.00,0.000,6,0.000,0.066,2346,2401,3634,0,0,0,0,0,0,28.83,25.81,28.83
$GC,799,-1.11,-146.6,96.3,-12.1,170,805,0.00,2.28,0.00,0.000,4,0.000,0.085,2336,3800,3634,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1077,-1.11,-146.6,134.7,-13.7,239,1085,0.15,2.17,0.00,0.000,6,0.174,0.059,2376,2403,3631,0,0,0,0,0,0,25.76,25.86,28.83
$GC,1204,-1.11,-146.6,150.3,-10.8,264,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2400,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1423,begin apogee
$GC,1425,-0.26,0.0,175.7,-11.0,286,1544,0.85,0.00,109.90,0.547,6,0.147,0.000,2640,2402,3026,0,0,0,0,0,0,25.77,28.83,24.56
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1546,1.11,146.6,179.1,0.0,300,1666,1.33,2.40,109.50,0.529,4,0.099,0.063,3093,979,2429,0,0,0,0,0,0,24.96,24.70,24.32
$GC,1717,1.11,146.6,163.8,13.1,320,1725,0.00,2.38,0.00,0.000,6,0.000,0.069,3090,2394,2421,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2022,1.11,146.6,122.1,13.7,371,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,1.11,146.6,105.5,13.7,395,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2398,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2262,1.11,146.6,89.9,13.5,419,2269,0.00,2.30,0.00,0.000,4,0.000,0.086,3093,3817,2420,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2369,1.11,146.6,73.9,13.0,445,2376,0.00,2.20,0.00,0.000,6,0.000,0.062,3103,2394,2421,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2494,1.11,146.6,59.1,10.6,470,2501,0.00,2.22,0.00,0.000,4,0.000,0.067,3118,979,2417,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2649,1.11,146.6,40.5,13.0,508,2656,0.00,2.30,0.00,0.000,6,0.000,0.068,3114,2411,2420,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2776,1.11,146.6,24.5,10.6,533,2782,0.00,2.28,0.00,0.000,4,0.000,0.085,3113,3802,2420,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2890,1.11,146.6,8.4,15.3,561,2898,0.17,2.17,0.00,0.000,6,0.194,0.062,3080,2400,2420,0,0,0,0,0,0,25.71,25.84,28.83
$STATE,2926,end climb,SURFACE_DEPTH_REACHED
$STATE,2926,begin surface coast
$FINISH,6.8,1.019987
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2996,begin surface
$SM_CCo,3001,192.45,0.122,0,0,497,621.59
$SM_CCo,3236,-0.08,0.000,0,0,501,621.59
$SM_CCo,3238,0.00,0.000,0,0,501,621.59
$SM_CCo,3239,0.00,0.000,0,0,501,621.59
$SM_GC,1.58,7.95,0.00,0.00,0.057,0.000,0.000,171,2400,501,-7.94,0.00,621.59,0,0,0,0,0,0,25.57,28.83,28.83
$IRIDIUM_FIX,4751.72,-12340.51,130314,131348
$TT8_MAMPS,0.113099,0.113099
$HUMID,30.07
$INTERNAL_PRESSURE,8.81667
$TCM_TEMP,17.30
$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,3.4/516052/498394
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426679
$24V_AH,24.3,3.056
$10V_AH,10.2,2.727
$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,19.525,31.600,219.400,192.450,0.000,0.000,0.000,509.725,0.000,4153.400,39.731,0.000,1618.020,490.529,1915.093,49.714,33.221,1502.878,0.000,884.937,0.000,0.000,0.000
$DEVICE_MAMPS,254.745,97.155,546.975,122.400,0.000,0.000,0.000,95.625,0.000,49.471,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,392.867,0.000,0.000,0.000,0.000,0.000,4153.400,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.964,0.000,0.000,0.000
$MEM,200432
$DATA_FILE_SIZE,23485,582
$CAP_FILE_SIZE,69055,0
$CFSIZE,1024409600,1020100608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,152439,4743.669,-12224.127,1,0.9,35,16.3