version: 66.10
glider: 210
mission: 3
dive: 10
start: 3 13 114 1 8 14
data:
$ID,210
$MISSION,3
$DIVE,10
$N_DIVES,0
$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,621.59021
$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,-4679.5288
$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,21
$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
$GPS1,130314,010144,4742.479,-12224.794,1,0.9,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-69.3
$GPS2,130314,010732,4742.486,-12224.763,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.030,0.256
$KALMAN_X,-608.5,-401.6,-125.9,1049.0,282.2
$KALMAN_Y,-1225.1,-614.2,-208.3,1722.0,300.8
$MHEAD_RNG_PITCHd_Wd,350.4,2960,-17.6,-10.000
$D_GRID,158
$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,-89.93,0.000,2,0.000,0.000,160,2392,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.11,-146.6,3.0,-5.7,14,136,9.07,2.30,-12.90,0.000,4,0.257,0.099,2358,3800,3633,0,0,0,0,0,0,25.58,25.75,25.92
$GC,584,-1.11,-146.6,65.6,-11.9,130,591,0.00,2.15,0.00,0.000,6,0.000,0.058,2359,2393,3633,0,0,0,0,0,0,28.83,25.89,28.83
$GC,710,-1.11,-146.6,79.9,-10.8,155,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2393,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,835,-1.11,-146.6,94.0,-11.5,180,842,0.00,2.28,0.00,0.000,4,0.000,0.084,2353,3804,3633,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1026,-1.11,-146.6,120.1,-16.0,227,1033,0.00,2.15,0.00,0.000,6,0.000,0.060,2348,2400,3633,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1152,-1.11,-146.6,137.4,-12.7,252,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2398,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-1.11,-146.6,153.9,-12.2,275,1286,0.00,2.25,0.00,0.000,4,0.000,0.084,2338,3801,3634,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,1317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1322,-0.26,0.0,158.4,-12.5,279,1440,0.95,0.00,109.05,0.539,6,0.157,0.000,2629,2404,3027,0,0,0,0,0,0,25.76,28.83,24.62
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1441,1.11,146.6,161.2,0.0,293,1561,1.38,2.33,108.88,0.513,4,0.104,0.064,3093,979,2429,0,0,0,0,0,0,24.99,24.83,24.45
$GC,1608,1.11,146.6,143.0,14.9,318,1616,0.00,2.33,0.00,0.000,6,0.000,0.070,3093,2399,2425,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1734,1.11,146.6,126.9,12.7,343,1741,0.00,2.28,0.00,0.000,4,0.000,0.068,3104,989,2424,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1745,1.11,146.6,125.7,12.4,345,1752,0.00,2.33,0.00,0.000,6,0.000,0.076,3104,2411,2424,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1871,1.11,146.6,109.2,12.7,370,1878,0.00,2.28,0.00,0.000,4,0.000,0.069,3113,979,2422,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1914,1.11,146.6,103.1,14.8,380,1921,0.00,2.30,0.00,0.000,6,0.000,0.073,3114,2405,2427,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2040,1.11,146.6,83.9,15.7,405,2047,0.00,2.28,0.00,0.000,4,0.000,0.090,3112,3801,2424,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2091,1.11,146.6,75.0,20.1,417,2099,0.15,2.20,0.00,0.000,6,0.207,0.065,3093,2397,2424,0,0,0,0,0,0,25.65,25.78,28.83
$GC,2218,1.11,146.6,59.3,12.0,442,2225,0.00,2.22,0.00,0.000,4,0.000,0.067,3101,981,2424,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2272,1.11,146.6,52.5,12.8,455,2280,0.00,2.28,0.00,0.000,6,0.000,0.071,3101,2410,2422,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2399,1.11,146.6,36.4,13.7,480,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2411,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,1.11,146.6,27.3,13.3,493,2471,0.00,2.25,0.00,0.000,4,0.000,0.067,3110,973,2424,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2474,1.11,146.6,25.8,13.0,495,2482,0.00,2.33,0.00,0.000,6,0.000,0.073,3110,2395,2424,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2541,1.11,146.6,17.5,12.4,508,2548,0.00,2.30,0.00,0.000,4,0.000,0.092,3115,3806,2424,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2560,1.11,146.6,15.2,12.1,512,2567,0.15,2.20,0.00,0.000,6,0.205,0.070,3086,2400,2423,0,0,0,0,0,0,25.72,25.86,28.83
$GC,2626,1.11,146.6,8.4,10.8,525,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,2423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,2.3,1.020173
$STATE,2735,end surface coast,CONTROL_FINISHED_OK
$STATE,2735,begin surface
$SM_CCo,2751,183.20,0.119,0,0,499,621.59
$SM_GC,1.12,8.25,0.00,183.20,0.085,0.000,0.119,169,2397,499,-7.96,0.00,621.59,0,0,0,0,0,0,25.86,28.83,25.50
$IRIDIUM_FIX,4751.72,-12340.51,120314,232311
$TT8_MAMPS,0.118342,0.118342
$HUMID,30.78
$INTERNAL_PRESSURE,8.82643
$TCM_TEMP,17.10
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,69
$MI_LOG,3.4/516052/498406
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/426733
$24V_AH,24.4,1.708
$10V_AH,10.2,1.580
$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,19.950,45.225,217.925,183.200,0.000,0.000,0.000,83.050,0.000,3372.200,39.735,0.000,1240.075,512.956,1405.370,47.150,33.200,1090.324,0.000,833.968,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,99.450,539.325,118.575,0.000,0.000,0.000,37.485,0.000,49.006,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,368.082,0.000,0.000,0.000,0.000,0.000,3372.200,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.817,0.000,0.000,0.000
$MEM,200488
$DATA_FILE_SIZE,20085,547
$CAP_FILE_SIZE,60759,0
$CFSIZE,1024409600,1020706816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,015802,4742.960,-12224.360,2,0.9,37,16.3