version: 66.10
glider: 210
mission: 4
dive: 3
start: 3 24 114 18 44 47
data:
$ID,210
$MISSION,4
$DIVE,3
$N_DIVES,28
$D_SURF,5
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,50
$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,15
$T_MISSION,20
$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,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,186
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$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,662.8006
$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,-5291.1909
$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,2618
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.200001
$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,25
$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,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00091
$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,-65.990921
$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
$GPS1,240314,182707,4743.128,-12224.469,2,1.1,36,16.3
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-21.6
$GPS2,240314,184407,4742.744,-12224.481,3,1.0,38,16.3
$SPEED_LIMITS,0.173,0.283
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.028,0.282
$KALMAN_X,-26.6,-16.0,-15.8,121.5,-11.5
$KALMAN_Y,-527.4,-289.7,-284.7,285.3,-199.4
$MHEAD_RNG_PITCHd_Wd,349.5,2402,-15.6,-10.000
$D_GRID,174
$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,-0.94,-181.7,0.0,0.0,0,170,0.00,0.00,-148.93,0.000,6,0.000,0.000,133,2388,3941,0,0,0,0,0,0,28.83,28.83,26.15
$GC,171,-0.94,-181.7,-0.0,-0.8,24,185,6.78,2.15,0.00,0.000,4,0.145,0.060,2312,987,3940,0,0,0,0,0,0,25.81,26.01,28.83
$GC,354,-0.94,-181.7,-0.0,0.2,60,362,0.00,2.22,0.00,0.000,6,0.000,0.060,2298,2400,3940,0,0,0,0,0,0,28.83,26.01,28.83
$GC,421,-0.94,-181.7,-0.0,0.0,73,428,0.00,2.25,0.00,0.000,4,0.000,0.082,2287,3796,3941,0,0,0,0,0,0,28.83,25.99,28.83
$GC,467,-0.94,-181.7,-0.1,0.2,82,475,0.00,2.20,0.00,0.000,6,0.000,0.062,2287,2394,3941,0,0,0,0,0,0,28.83,26.04,28.83
$GC,534,-0.94,-181.7,-0.1,-0.2,95,541,0.00,2.20,0.00,0.000,4,0.000,0.063,2286,987,3940,0,0,0,0,0,0,28.83,26.02,28.83
$GC,545,-0.94,-181.7,-0.1,0.0,97,553,0.10,2.25,0.00,0.000,6,0.161,0.064,2310,2400,3941,0,0,0,0,0,0,25.91,26.02,28.83
$STATE,606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,606,begin apogee
$GC,609,-0.25,0.0,-0.1,-0.0,109,617,0.70,0.00,5.55,0.128,2,0.146,0.000,2532,2401,3874,0,0,0,0,0,0,25.92,28.83,28.83
$STATE,617,end apogee,SURFACE_DEPTH_REACHED
$STATE,617,begin surface coast
$FINISH,-0.1,0.999499
$STATE,695,end surface coast,NO_VERTICAL_VELOCITY
$STATE,695,begin surface
$SM_CCo,708,311.00,0.113,0,0,498,662.80
$SM_GC,-0.16,6.15,0.00,311.00,0.044,0.000,0.113,161,2399,498,-7.59,0.03,662.80,0,0,0,0,0,0,26.06,28.83,25.53
$IRIDIUM_FIX,4751.72,-12340.51,240314,171712
$TT8_MAMPS,0.113848,0.113848
$HUMID,32.71
$INTERNAL_PRESSURE,8.91433
$TCM_TEMP,17.90
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,72
$MI_LOG,3.4/516052/498370
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/426854
$24V_AH,25.5,3.422
$10V_AH,10.2,3.089
$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,13.725,13.275,5.550,311.000,0.000,0.000,0.000,411.175,0.000,1913.500,40.117,0.000,662.516,473.852,802.530,34.622,31.290,1021.244,0.000,190.918,0.000,0.000,0.000
$DEVICE_MAMPS,160.650,81.855,127.755,113.220,0.000,0.000,0.000,38.250,0.000,44.669,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,85.807,0.000,0.000,0.000,0.000,0.000,1913.500,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.618,0.000,0.000,0.000
$MEM,200380
$DATA_FILE_SIZE,3523,126
$CAP_FILE_SIZE,31751,0
$CFSIZE,1024409600,1021296640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240314,190238,4742.427,-12224.509,2,1.2,36,16.3
$RESTART_TIME,Sat Mar 29 00:25:15 2014