version: 66.10
glider: 210
mission: 3
dive: 11
start: 3 13 114 2 16 12
data:
$ID,210
$MISSION,3
$DIVE,11
$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,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,-4680.7866
$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,12
$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
$GPS1,130314,015802,4742.960,-12224.360,2,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.4
$GPS2,130314,021530,4742.938,-12224.344,5,0.9,40,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.040,0.254
$KALMAN_X,-417.2,-337.5,34.8,1154.8,375.3
$KALMAN_Y,-1469.1,-535.4,9.6,2510.1,176.4
$MHEAD_RNG_PITCHd_Wd,334.7,2012,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-77.38,0.000,2,0.000,0.000,169,2399,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.11,-146.6,3.3,-7.0,12,135,9.18,2.35,-21.52,0.000,4,0.257,0.099,2359,3799,3632,0,0,0,0,0,0,25.43,25.51,25.77
$GC,231,-1.11,-146.6,15.9,-13.6,42,238,0.00,2.20,0.00,0.000,6,0.000,0.061,2360,2386,3633,0,0,0,0,0,0,28.83,25.72,28.83
$GC,297,-1.11,-146.6,24.5,-12.5,55,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2389,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,357,-1.11,-146.6,31.6,-11.2,67,364,0.00,2.33,0.00,0.000,4,0.000,0.086,2349,3818,3631,0,0,0,0,0,0,28.83,25.72,28.83
$GC,520,-1.11,-146.6,53.6,-14.7,107,527,0.00,2.20,0.00,0.000,6,0.000,0.060,2349,2393,3633,0,0,0,0,0,0,28.83,25.82,28.83
$GC,646,-1.11,-146.6,70.8,-12.4,132,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2392,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,766,-1.11,-146.6,86.7,-13.6,156,773,0.00,2.28,0.00,0.000,4,0.000,0.083,2338,3810,3631,0,0,0,0,0,0,28.83,25.81,28.83
$GC,829,-1.11,-146.6,94.8,-14.2,171,836,0.15,2.20,0.00,0.000,6,0.177,0.063,2376,2400,3633,0,0,0,0,0,0,25.73,25.88,28.83
$GC,955,-1.11,-146.6,108.3,-10.3,196,962,0.00,2.28,0.00,0.000,4,0.000,0.086,2366,3806,3633,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1062,-1.11,-146.6,121.4,-13.6,222,1069,0.00,2.17,0.00,0.000,6,0.000,0.063,2365,2398,3635,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1188,-1.11,-146.6,137.2,-12.7,247,1195,0.00,2.28,0.00,0.000,4,0.000,0.086,2355,3806,3633,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1303,-1.11,-146.6,152.5,-13.7,273,1306,0.00,2.17,0.00,0.000,6,0.000,0.060,2356,2389,3633,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1498,-0.26,0.0,175.4,-11.6,292,1659,0.93,0.00,149.18,0.573,6,0.151,0.000,2638,2388,3039,0,0,0,0,1,0,25.76,28.83,23.86
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1661,1.11,146.6,180.0,0.0,311,1788,1.33,2.30,113.60,0.532,4,0.099,0.065,3091,991,2427,0,0,0,0,0,0,24.77,24.73,23.95
$GC,1820,1.11,146.6,165.9,13.6,330,1823,0.00,2.35,0.00,0.000,6,0.000,0.070,3091,2409,2429,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2128,1.11,146.6,123.5,13.5,380,2135,0.00,2.25,0.00,0.000,4,0.000,0.066,3101,985,2426,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2167,1.11,146.6,118.1,13.7,389,2174,0.00,2.28,0.00,0.000,6,0.000,0.072,3101,2401,2428,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2293,1.11,146.6,100.0,14.4,414,2300,0.00,2.22,0.00,0.000,4,0.000,0.068,3111,991,2424,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2311,1.11,146.6,97.1,15.0,418,2319,0.00,2.28,0.00,0.000,6,0.000,0.075,3111,2399,2424,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2438,1.11,146.6,79.1,13.1,443,2445,0.00,2.30,0.00,0.000,4,0.000,0.090,3111,3814,2423,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2456,1.11,146.6,75.8,17.1,447,2464,0.15,2.22,0.00,0.000,6,0.205,0.070,3086,2403,2424,0,0,0,0,0,0,25.65,25.79,28.83
$GC,2583,1.11,146.6,58.9,13.3,472,2590,0.00,2.22,0.00,0.000,4,0.000,0.070,3097,982,2424,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2606,1.11,146.6,56.0,13.2,477,2613,0.00,2.28,0.00,0.000,6,0.000,0.076,3096,2401,2424,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2732,1.11,146.6,40.8,12.9,502,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2399,2423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,1.11,146.6,25.9,11.9,526,2859,0.00,2.28,0.00,0.000,4,0.000,0.089,3097,3806,2424,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2907,1.11,146.6,18.7,13.4,539,2914,0.00,2.20,0.00,0.000,6,0.000,0.067,3107,2395,2424,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2973,1.11,146.6,10.9,11.3,552,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2394,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,1.21,228.8,5.8,6.2,564,3060,0.00,0.00,25.50,0.129,2,0.000,0.000,3107,2395,2147,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3061,end climb,SURFACE_DEPTH_REACHED
$STATE,3061,begin surface coast
$FINISH,3.6,1.019145
$STATE,3169,end surface coast,CONTROL_FINISHED_OK
$STATE,3169,begin surface
$SM_CCo,3184,128.70,0.118,0,0,787,550.70
$SM_GC,1.28,8.32,0.00,128.70,0.084,0.000,0.118,167,2399,787,-7.97,-0.06,550.70,0,0,0,0,0,0,25.83,28.83,25.54
$IRIDIUM_FIX,4751.72,-12340.51,120314,232311
$TT8_MAMPS,0.118342,0.118342
$HUMID,30.90
$INTERNAL_PRESSURE,8.8948
$TCM_TEMP,17.20
$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,3.4/516052/498405
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/426808
$24V_AH,23.9,1.838
$10V_AH,10.2,1.686
$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,20.050,49.625,288.275,128.700,0.000,0.000,0.000,737.525,0.000,4507.600,41.241,0.000,1518.756,505.018,2167.255,58.836,33.211,1788.780,0.000,906.043,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,99.450,572.985,117.810,0.000,0.000,0.000,104.040,0.000,49.592,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,396.393,0.000,0.000,0.000,0.000,0.000,4507.500,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.846,0.000,0.000,0.000
$MEM,200408
$DATA_FILE_SIZE,23402,590
$CAP_FILE_SIZE,79027,0
$CFSIZE,1024409600,1021100032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,031217,4743.492,-12224.140,2,1.0,36,16.3