version: 66.10
glider: 210
mission: 3
dive: 13
start: 3 13 114 4 15 55
data:
$ID,210
$MISSION,3
$DIVE,13
$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,-4683.3955
$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,20
$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
$GPS1,130314,040844,4743.919,-12223.977,2,0.8,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.7
$GPS2,130314,041513,4743.923,-12223.994,5,0.9,39,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.075,-0.247
$KALMAN_X,-208.6,-138.3,311.0,908.5,256.0
$KALMAN_Y,-1814.4,-307.8,283.3,4176.1,3.3
$MHEAD_RNG_PITCHd_Wd,180.7,1709,-17.6,-10.000
$D_GRID,172
$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,-77.32,0.000,2,0.000,0.000,168,2395,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.11,-146.6,3.8,-9.3,12,129,9.00,2.22,-19.27,0.000,4,0.256,0.080,2371,972,3633,0,0,0,0,0,0,25.62,25.79,25.79
$GC,449,-1.11,-146.6,42.1,-12.4,97,456,0.00,2.25,0.00,0.000,6,0.000,0.068,2360,2400,3637,0,0,0,0,0,0,28.83,25.82,28.83
$GC,575,-1.11,-146.6,57.2,-12.3,122,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2400,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,695,-1.11,-146.6,71.1,-11.6,146,702,0.00,2.25,0.00,0.000,4,0.000,0.086,2350,3802,3637,0,0,0,0,0,0,28.83,25.82,28.83
$GC,938,-1.11,-146.6,104.2,-13.4,206,945,0.00,2.15,0.00,0.000,6,0.000,0.059,2350,2394,3634,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1064,-1.11,-146.6,119.5,-11.3,231,1071,0.00,2.28,0.00,0.000,4,0.000,0.085,2340,3805,3634,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1183,-1.11,-146.6,135.2,-13.5,260,1191,0.12,2.17,0.00,0.000,6,0.185,0.062,2369,2392,3633,0,0,0,0,0,0,25.77,25.90,28.83
$GC,1310,-1.11,-146.6,149.4,-11.6,285,1316,0.00,2.28,0.00,0.000,4,0.000,0.086,2359,3803,3631,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1348,-1.11,-146.6,153.7,-12.8,290,1355,0.00,2.22,0.00,0.000,6,0.000,0.067,2359,2404,3633,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,1501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1501,begin apogee
$GC,1504,-0.26,0.0,173.0,-12.0,306,1657,0.90,0.00,138.43,0.720,6,0.151,0.000,2637,2404,3041,0,0,0,0,1,0,25.78,28.83,23.68
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1659,1.11,146.6,177.5,0.0,324,1781,1.33,2.38,113.72,0.529,4,0.103,0.066,3081,991,2430,0,0,0,0,0,0,24.58,24.72,24.35
$GC,1904,1.11,146.6,152.9,12.9,354,1908,0.00,2.30,0.00,0.000,6,0.000,0.069,3081,2402,2425,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2209,1.11,146.6,111.2,14.2,412,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2404,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,1.11,146.6,94.8,14.0,436,2336,0.00,2.30,0.00,0.000,4,0.000,0.087,3077,3802,2425,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2384,1.11,146.6,87.0,14.4,449,2391,0.00,2.22,0.00,0.000,6,0.000,0.067,3089,2388,2424,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2510,1.11,146.6,69.3,13.3,474,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2387,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2636,1.11,146.6,52.1,13.2,499,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2385,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,1.11,146.6,35.7,11.6,524,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2392,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,1.11,146.6,28.8,11.3,536,2828,0.00,2.17,0.00,0.000,4,0.000,0.065,3099,986,2424,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2947,1.11,146.6,13.9,10.8,567,2955,0.00,2.25,0.00,0.000,6,0.000,0.070,3097,2405,2421,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3013,1.11,146.6,6.9,10.2,580,3020,0.00,2.28,0.00,0.000,4,0.000,0.090,3095,3806,2423,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,3040,end climb,SURFACE_DEPTH_REACHED
$STATE,3040,begin surface coast
$FINISH,3.6,1.020982
$STATE,3060,end surface coast,CONTROL_FINISHED_OK
$STATE,3060,begin surface
$SM_CCo,3077,183.75,0.119,0,0,499,621.59
$SM_GC,1.09,8.38,2.28,183.75,0.088,0.069,0.119,173,2402,499,-7.94,0.71,621.59,0,0,0,0,0,0,25.84,25.87,25.48
$IRIDIUM_FIX,4751.72,-12340.51,130314,020233
$TT8_MAMPS,0.117593,0.117593
$HUMID,30.39
$INTERNAL_PRESSURE,8.79714
$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,3.4/516052/498403
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/426802
$24V_AH,23.7,2.029
$10V_AH,10.2,1.849
$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,19.725,36.000,252.150,183.750,0.000,0.000,0.000,80.475,0.000,3739.800,40.888,0.000,1456.464,508.678,1531.082,50.386,33.230,1122.003,0.000,923.172,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,90.270,719.865,119.340,0.000,0.000,0.000,38.250,0.000,49.303,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,398.481,0.000,0.000,0.000,0.000,0.000,3739.900,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.873,0.000,0.000,0.000
$MEM,200432
$DATA_FILE_SIZE,23441,591
$CAP_FILE_SIZE,62788,0
$CFSIZE,1024409600,1020362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,051110,4743.626,-12224.197,2,0.9,37,16.3