version: 66.10
glider: 210
mission: 3
dive: 5
start: 3 12 114 21 15 12
data:
$ID,210
$MISSION,3
$DIVE,5
$N_DIVES,0
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$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,50
$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,100
$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,550
$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,2
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4395.6191
$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,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,17
$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
$GPS1,120314,210943,4741.750,-12225.321,2,1.0,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.2
$GPS2,120314,211431,4741.715,-12225.350,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.088,0.195
$KALMAN_X,-526.2,-360.7,-322.4,398.7,-19.0
$KALMAN_Y,-1010.3,-472.2,-400.5,146.7,-124.8
$MHEAD_RNG_PITCHd_Wd,8.0,2914,-21.8,-10.000
$D_GRID,69
$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,-1.30,-97.8,0.0,0.0,0,94,0.00,0.00,-76.65,0.000,2,0.000,0.000,178,2358,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.30,-97.8,3.6,-8.0,12,128,8.73,0.00,-17.27,0.000,6,0.253,0.000,2320,2357,3430,0,0,0,0,0,0,25.64,28.83,25.96
$GC,187,-1.30,-97.8,8.9,-5.9,29,194,0.00,2.30,0.00,0.000,4,0.000,0.083,2306,3762,3425,0,0,0,0,0,0,28.83,25.74,28.83
$GC,430,-1.30,-97.8,28.7,-11.1,89,437,0.00,2.17,0.00,0.000,6,0.000,0.060,2306,2345,3429,0,0,0,0,0,0,28.83,25.91,28.83
$GC,496,-1.30,-97.8,35.5,-10.7,102,503,0.00,2.17,0.00,0.000,4,0.000,0.067,2306,939,3429,0,0,0,0,0,0,28.83,25.89,28.83
$GC,550,-1.30,-97.8,41.8,-11.9,115,558,0.00,2.25,0.00,0.000,6,0.000,0.072,2295,2359,3430,0,0,0,0,0,0,28.83,25.89,28.83
$GC,676,-1.30,-97.8,56.9,-12.3,140,683,0.00,2.25,0.00,0.000,4,0.000,0.086,2285,3756,3430,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,774,begin apogee
$GC,779,-0.27,0.0,69.4,-14.4,164,825,1.20,0.00,41.05,0.285,6,0.164,0.000,2647,2340,3035,0,0,0,0,0,0,25.80,28.83,25.44
$STATE,826,end apogee,CONTROL_FINISHED_OK
$STATE,826,begin climb
$GC,827,1.30,97.8,72.0,0.0,171,879,1.48,2.22,43.05,0.284,4,0.106,0.067,3160,938,2638,0,0,0,0,0,0,25.66,25.48,25.18
$GC,907,1.30,97.8,66.2,10.2,186,914,0.00,2.28,0.00,0.000,6,0.000,0.075,3160,2346,2640,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1033,1.30,97.8,50.1,12.9,211,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2346,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,1.30,97.8,34.6,11.6,235,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2346,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1212,1.30,97.8,27.7,11.5,247,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2346,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,1.30,97.8,21.0,10.5,259,1279,0.00,2.22,0.00,0.000,4,0.000,0.069,3168,928,2640,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1315,1.30,97.8,16.3,11.8,269,1322,0.00,2.28,0.00,0.000,6,0.000,0.074,3170,2348,2639,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1381,1.30,97.8,8.7,11.2,282,1388,0.00,2.30,0.00,0.000,4,0.000,0.091,3170,3765,2639,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1392,1.30,97.9,7.6,10.0,284,1399,0.00,2.25,0.00,0.000,6,0.000,0.074,3182,2345,2643,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,1432,end climb,SURFACE_DEPTH_REACHED
$STATE,1432,begin surface coast
$FINISH,4.0,1.020994
$STATE,1518,end surface coast,CONTROL_FINISHED_OK
$STATE,1518,begin surface
$SM_CCo,1534,172.20,0.119,0,0,790,550.21
$SM_GC,1.54,8.82,0.00,172.20,0.104,0.000,0.119,168,2345,790,-7.99,-0.14,550.21,0,0,0,0,0,0,25.88,28.83,25.53
$IRIDIUM_FIX,4751.72,-12340.51,120314,212102
$TT8_MAMPS,0.116844,0.116844
$HUMID,30.94
$INTERNAL_PRESSURE,8.8655
$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,3.4/516052/498410
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426698
$24V_AH,25.2,1.355
$10V_AH,10.2,1.227
$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,20.225,26.950,84.100,172.200,0.000,0.000,0.000,0.000,0.000,1673.600,39.545,0.000,641.491,383.202,734.305,15.575,33.205,647.714,0.000,448.308,0.000,0.000,0.000
$DEVICE_MAMPS,253.215,91.035,285.345,119.340,0.000,0.000,0.000,0.000,0.000,50.321,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,207.242,0.000,0.000,0.000,0.000,0.000,1673.600,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,42.748,0.000,0.000,0.000
$MEM,200456
$DATA_FILE_SIZE,10178,309
$CAP_FILE_SIZE,76864,0
$CFSIZE,1024409600,1021575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120314,214430,4741.730,-12225.332,2,1.1,36,16.3