version: 66.10
glider: 210
mission: 3
dive: 15
start: 3 13 114 6 37 48
data:
$ID,210
$MISSION,3
$DIVE,15
$N_DIVES,25
$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,650
$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,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4685.9111
$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,24
$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
$GPS1,130314,061306,4743.277,-12224.485,2,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.9
$GPS2,130314,063706,4742.941,-12224.638,5,0.9,39,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.252,0.056
$KALMAN_X,-1153.9,85.3,417.5,733.3,-371.9
$KALMAN_Y,-2160.0,-51.2,286.6,2446.6,-129.1
$MHEAD_RNG_PITCHd_Wd,61.2,802,-17.6,-10.000
$D_GRID,178
$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,-90.10,0.000,2,0.000,0.000,166,2389,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.11,-146.6,3.1,-6.1,14,136,9.02,2.22,-13.55,0.000,4,0.250,0.078,2375,974,3634,0,0,0,0,0,0,25.44,25.61,25.60
$GC,292,-1.11,-146.6,21.4,-10.0,57,299,0.00,2.28,0.00,0.000,6,0.000,0.067,2364,2408,3634,0,0,0,0,0,0,28.83,25.70,28.83
$GC,358,-1.11,-146.6,28.6,-11.4,70,364,0.00,2.25,0.00,0.000,4,0.000,0.087,2352,3799,3638,0,0,0,0,0,0,28.83,25.70,28.83
$GC,424,-1.11,-146.6,36.9,-13.3,86,431,0.00,2.17,0.00,0.000,6,0.000,0.063,2354,2402,3635,0,0,0,0,0,0,28.83,25.77,28.83
$GC,490,-1.11,-146.6,44.5,-10.9,99,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2398,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,610,-1.11,-146.6,59.0,-11.7,123,617,0.00,2.28,0.00,0.000,4,0.000,0.085,2343,3802,3635,0,0,0,0,0,0,28.83,25.77,28.83
$GC,785,-1.11,-146.6,82.5,-13.9,166,792,0.00,2.20,0.00,0.000,6,0.000,0.057,2343,2384,3633,0,0,0,0,0,0,28.83,25.84,28.83
$GC,911,-1.11,-146.6,98.8,-13.2,191,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2382,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1031,-1.11,-146.6,113.8,-12.9,215,1038,0.12,2.28,0.00,0.000,4,0.187,0.081,2359,3802,3638,0,0,0,0,0,0,25.70,25.81,28.83
$GC,1118,-1.11,-146.6,125.0,-13.3,236,1125,0.00,2.15,0.00,0.000,6,0.000,0.060,2362,2401,3635,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1244,-1.11,-146.6,140.9,-12.3,261,1251,0.00,2.25,0.00,0.000,4,0.000,0.085,2351,3804,3634,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1299,-1.11,-146.6,148.3,-13.8,274,1306,0.00,2.17,0.00,0.000,6,0.000,0.063,2353,2399,3635,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1425,-1.11,-146.6,164.6,-12.0,288,1428,0.00,2.25,0.00,0.000,4,0.000,0.085,2341,3799,3634,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,1524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1524,begin apogee
$GC,1529,-0.26,0.0,178.3,-14.5,300,1647,0.98,0.00,113.53,0.542,6,0.155,0.000,2640,2398,3032,0,0,0,0,0,0,25.77,28.83,24.56
$STATE,1648,end apogee,CONTROL_FINISHED_OK
$STATE,1648,begin climb
$GC,1649,1.11,146.6,182.6,0.0,314,1769,1.30,2.30,109.47,0.523,4,0.102,0.063,3086,991,2424,0,0,0,0,0,0,24.91,24.72,24.35
$GC,1836,1.11,146.6,166.2,12.2,336,1844,0.00,2.30,0.00,0.000,6,0.000,0.068,3082,2400,2423,0,0,0,0,0,0,28.83,25.14,28.83
$GC,2141,1.11,146.6,126.9,12.8,384,2148,0.00,2.30,0.00,0.000,4,0.000,0.085,3083,3807,2423,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2167,1.11,146.6,123.1,15.1,390,2175,0.00,2.22,0.00,0.000,6,0.000,0.067,3091,2401,2421,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2294,1.11,146.6,106.0,13.7,415,2300,0.00,2.22,0.00,0.000,4,0.000,0.068,3102,988,2422,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2352,1.11,146.6,97.7,13.8,429,2360,0.00,2.28,0.00,0.000,6,0.000,0.072,3102,2401,2423,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2478,1.11,146.6,80.1,14.0,454,2486,0.00,2.22,0.00,0.000,4,0.000,0.068,3113,990,2424,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2534,1.11,146.6,72.3,14.3,467,2541,0.00,2.28,0.00,0.000,6,0.000,0.072,3112,2407,2425,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2660,1.11,146.6,53.7,14.9,492,2667,0.00,2.25,0.00,0.000,4,0.000,0.088,3112,3803,2422,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2714,1.11,146.6,45.2,15.3,505,2722,0.15,2.17,0.00,0.000,6,0.202,0.066,3088,2400,2420,0,0,0,0,0,0,25.70,25.83,28.83
$GC,2841,1.11,146.6,28.3,12.4,530,2848,0.00,2.22,0.00,0.000,4,0.000,0.068,3097,977,2422,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2876,1.11,146.6,24.0,12.5,538,2883,0.00,2.28,0.00,0.000,6,0.000,0.073,3097,2407,2422,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2942,1.11,146.6,16.1,13.2,551,2949,0.00,2.28,0.00,0.000,4,0.000,0.093,3097,3796,2425,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2960,1.11,146.6,13.5,13.9,555,2968,0.00,2.25,0.00,0.000,6,0.000,0.072,3108,2388,2422,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3027,1.11,146.6,5.6,11.4,568,3033,0.00,2.25,0.00,0.000,4,0.000,0.073,3118,980,2420,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,3036,end climb,SURFACE_DEPTH_REACHED
$STATE,3036,begin surface coast
$FINISH,3.1,1.019804
$STATE,3077,end surface coast,CONTROL_FINISHED_OK
$STATE,3077,begin surface
$SM_CCo,3095,185.00,0.119,0,0,499,621.59
$SM_CCo,3281,-0.10,0.000,0,0,500,621.59
$SM_CCo,3282,0.08,1.179,0,0,495,622.33
$SM_GC,1.05,8.35,2.35,0.08,0.086,0.073,1.179,170,2414,495,-7.96,-0.37,622.33,0,0,0,0,0,0,25.84,25.82,25.41
$IRIDIUM_FIX,4751.72,-12340.51,130314,020233
$TT8_MAMPS,0.11235,0.11235
$HUMID,30.15
$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,3.4/516052/498402
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/426748
$24V_AH,24.4,2.269
$10V_AH,10.2,2.052
$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,19.925,62.900,223.000,185.075,0.000,0.000,0.000,1111.050,0.000,4806.800,40.570,0.000,1455.410,538.419,2539.129,70.557,33.219,2183.227,0.000,903.468,0.000,0.000,0.000
$DEVICE_MAMPS,250.155,92.565,541.620,1178.865,0.000,0.000,0.000,106.335,0.000,49.504,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,390.163,0.000,0.000,0.000,0.000,0.000,4806.900,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.968,0.000,0.000,0.000
$MEM,200368
$DATA_FILE_SIZE,23466,580
$CAP_FILE_SIZE,86682,0
$CFSIZE,1024409600,1020755968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,073324,4742.819,-12224.269,3,0.9,37,16.3