version: 66.10
glider: 210
mission: 3
dive: 14
start: 3 13 114 5 18 40
data:
$ID,210
$MISSION,3
$DIVE,14
$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,-4684.6528
$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,16
$R_STBD_OVSHOOT,18
$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
$GPS1,130314,051110,4743.626,-12224.197,2,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.7
$GPS2,130314,051758,4743.596,-12224.200,4,0.8,39,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.036,-0.255
$KALMAN_X,-374.4,-16.2,376.1,634.4,65.0
$KALMAN_Y,-1716.2,-186.2,286.3,3341.5,41.1
$MHEAD_RNG_PITCHd_Wd,155.8,1131,-17.6,-10.000
$D_GRID,173
$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,-77.62,0.000,2,0.000,0.000,173,2400,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.11,-146.6,3.5,-7.6,12,135,8.98,2.33,-22.55,0.000,4,0.256,0.099,2357,3812,3633,0,0,0,0,0,0,25.66,25.76,25.91
$GC,207,-1.11,-146.6,14.2,-11.4,36,214,0.00,2.22,0.00,0.000,6,0.000,0.062,2357,2393,3637,0,0,0,0,0,0,28.83,25.81,28.83
$GC,273,-1.11,-146.6,21.5,-11.3,49,280,0.00,2.28,0.00,0.000,4,0.000,0.087,2346,3801,3633,0,0,0,0,0,0,28.83,25.79,28.83
$GC,432,-1.11,-146.6,43.0,-15.0,88,439,0.00,2.17,0.00,0.000,6,0.000,0.061,2345,2392,3633,0,0,0,0,0,0,28.83,25.85,28.83
$GC,558,-1.11,-146.6,59.4,-13.0,113,565,0.00,2.28,0.00,0.000,4,0.000,0.086,2336,3803,3636,0,0,0,0,0,0,28.83,25.82,28.83
$GC,733,-1.11,-146.6,83.2,-14.5,156,740,0.15,2.15,0.00,0.000,6,0.177,0.060,2373,2401,3631,0,0,0,0,0,0,25.74,25.88,28.83
$GC,860,-1.11,-146.6,98.4,-11.9,181,866,0.00,2.25,0.00,0.000,4,0.000,0.085,2362,3800,3636,0,0,0,0,0,0,28.83,25.84,28.83
$GC,882,-1.11,-146.6,101.2,-12.1,186,889,0.00,2.20,0.00,0.000,6,0.000,0.067,2364,2392,3632,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1008,-1.11,-146.6,115.9,-11.8,211,1015,0.00,2.30,0.00,0.000,4,0.000,0.086,2353,3801,3633,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1107,-1.11,-146.6,128.3,-12.2,235,1114,0.00,2.17,0.00,0.000,6,0.000,0.063,2352,2394,3634,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1233,-1.11,-146.6,143.7,-13.2,260,1240,0.00,2.28,0.00,0.000,4,0.000,0.085,2342,3809,3635,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1463,-0.26,0.0,173.1,-13.2,294,1599,0.98,0.00,122.57,0.733,6,0.155,0.000,2641,2390,3041,0,0,0,0,1,0,25.79,28.83,23.73
$STATE,1599,end apogee,CONTROL_FINISHED_OK
$STATE,1600,begin climb
$GC,1600,1.11,146.6,177.6,0.0,310,1728,1.33,2.30,114.32,0.530,4,0.101,0.065,3087,998,2425,0,0,0,0,0,0,24.60,24.71,24.34
$GC,1880,1.11,146.6,148.2,12.7,345,1887,0.00,2.28,0.00,0.000,6,0.000,0.069,3087,2404,2424,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2006,1.11,146.6,131.8,13.0,370,2013,0.00,2.33,0.00,0.000,4,0.000,0.089,3092,3806,2424,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2049,1.11,146.6,125.4,15.0,380,2056,0.00,2.22,0.00,0.000,6,0.000,0.068,3097,2406,2423,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2175,1.11,146.6,107.4,13.6,405,2182,0.00,2.22,0.00,0.000,4,0.000,0.069,3108,986,2424,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2210,1.11,146.6,102.6,13.6,413,2218,0.00,2.30,0.00,0.000,6,0.000,0.075,3108,2404,2421,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2337,1.11,146.6,84.4,13.6,438,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2404,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,1.11,146.6,67.1,14.2,462,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2405,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,1.11,146.6,50.1,14.3,486,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,2424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,1.11,146.6,33.3,14.5,510,2704,0.00,2.22,0.00,0.000,4,0.000,0.067,3118,986,2423,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2760,1.11,146.6,24.5,13.6,525,2767,0.12,2.25,0.00,0.000,6,0.191,0.072,3089,2402,2423,0,0,0,0,0,0,25.71,25.82,28.83
$GC,2826,1.11,146.6,16.3,11.3,538,2833,0.00,2.30,0.00,0.000,4,0.000,0.091,3093,3808,2421,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2913,1.11,149.7,6.9,9.9,559,2920,0.00,2.22,0.00,0.000,6,0.000,0.065,3098,2388,2422,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,2938,end climb,SURFACE_DEPTH_REACHED
$STATE,2938,begin surface coast
$FINISH,3.1,1.020063
$STATE,3014,end surface coast,CONTROL_FINISHED_OK
$STATE,3014,begin surface
$SM_CCo,3029,183.68,0.120,0,0,499,621.84
$SM_GC,1.09,8.27,0.00,183.68,0.084,0.000,0.120,173,2389,499,-7.96,-0.20,621.84,0,0,0,0,0,0,25.86,28.83,25.46
$IRIDIUM_FIX,4751.72,-12340.51,130314,020233
$TT8_MAMPS,0.120589,0.120589
$HUMID,30.35
$INTERNAL_PRESSURE,8.81667
$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,3.4/516052/498403
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426652
$24V_AH,23.7,2.131
$10V_AH,10.2,1.936
$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,19.825,49.500,236.900,183.675,0.000,0.000,0.000,83.325,0.000,3715.600,40.201,0.000,1374.596,527.905,1547.675,56.258,33.219,1154.899,0.000,931.799,0.000,0.000,0.000
$DEVICE_MAMPS,256.275,98.685,732.870,120.105,0.000,0.000,0.000,38.250,0.000,49.745,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,389.662,0.000,0.000,0.000,0.000,0.000,3715.500,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.919,0.000,0.000,0.000
$MEM,200432
$DATA_FILE_SIZE,23424,579
$CAP_FILE_SIZE,67285,0
$CFSIZE,1024409600,1019985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,061306,4743.277,-12224.485,2,0.9,37,16.3