version: 66.10
glider: 210
mission: 3
dive: 17
start: 3 13 114 8 49 10
data:
$ID,210
$MISSION,3
$DIVE,17
$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,-4688.4272
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,130314,083807,4742.669,-12224.397,1,0.9,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.1
$GPS2,130314,084828,4742.584,-12224.486,5,0.9,39,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.183,0.182
$KALMAN_X,-1982.1,140.1,-124.4,2229.4,-568.3
$KALMAN_Y,-3365.7,161.1,-12.8,3076.7,-562.9
$MHEAD_RNG_PITCHd_Wd,28.9,980,-17.6,-10.000
$D_GRID,157
$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,-89.97,0.000,2,0.000,0.000,170,2411,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.11,-146.6,3.4,-5.7,14,135,9.07,2.25,-11.20,0.000,4,0.256,0.074,2368,974,3630,0,0,0,0,0,0,25.47,25.64,25.75
$GC,155,-1.11,-146.6,9.6,-11.0,23,162,0.00,2.30,0.00,0.000,6,0.000,0.070,2354,2406,3631,0,0,0,0,0,0,28.83,25.64,28.83
$GC,221,-1.11,-146.6,16.4,-11.1,36,228,0.00,2.25,0.00,0.000,4,0.000,0.067,2358,977,3632,0,0,0,0,0,0,28.83,25.70,28.83
$GC,356,-1.11,-146.6,32.9,-14.4,69,363,0.00,2.30,0.00,0.000,6,0.000,0.070,2350,2409,3634,0,0,0,0,0,0,28.83,25.74,28.83
$GC,422,-1.11,-146.6,41.9,-13.1,82,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2408,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,542,-1.11,-146.6,58.3,-13.4,106,549,0.10,2.22,0.00,0.000,4,0.202,0.085,2359,3802,3631,0,0,0,0,0,0,25.70,25.78,28.83
$GC,701,-1.11,-146.6,78.9,-13.9,145,708,0.00,2.17,0.00,0.000,6,0.000,0.060,2358,2398,3634,0,0,0,0,0,0,28.83,25.84,28.83
$GC,827,-1.11,-146.6,94.1,-10.9,170,834,0.00,2.28,0.00,0.000,4,0.000,0.085,2345,3812,3630,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1034,-1.11,-146.6,119.0,-14.2,221,1041,0.00,2.17,0.00,0.000,6,0.000,0.060,2349,2390,3631,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1160,-1.11,-146.6,133.9,-10.3,246,1167,0.00,2.28,0.00,0.000,4,0.000,0.086,2340,3801,3631,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1179,-1.11,-146.6,135.8,-9.7,250,1186,0.12,2.17,0.00,0.000,6,0.146,0.067,2373,2403,3631,0,0,0,0,0,0,25.79,25.86,28.83
$GC,1306,-1.11,-146.6,135.7,0.5,275,1312,0.00,2.22,0.00,0.000,4,0.000,0.064,2370,984,3631,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1320,end dive,NO_VERTICAL_VELOCITY
$STATE,1320,begin apogee
$GC,1324,-0.26,0.0,135.8,0.0,278,1435,0.88,0.00,100.57,0.899,6,0.140,0.000,2641,2402,3040,0,0,0,0,1,0,25.79,28.83,23.72
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1436,1.11,146.6,135.8,0.0,295,1560,1.40,2.42,112.07,0.496,4,0.125,0.085,3074,3798,2430,0,0,0,0,0,0,24.49,24.68,24.36
$GC,1876,1.11,146.6,85.2,14.0,393,1883,0.00,2.20,0.00,0.000,6,0.000,0.060,3085,2384,2427,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2002,1.11,146.6,68.7,12.6,418,2009,0.00,2.20,0.00,0.000,4,0.000,0.065,3093,989,2424,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2037,1.11,146.6,64.2,13.1,426,2044,0.00,2.28,0.00,0.000,6,0.000,0.071,3094,2407,2427,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2163,1.11,146.6,48.8,11.0,451,2170,0.00,2.28,0.00,0.000,4,0.000,0.089,3093,3802,2427,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2209,1.11,146.6,42.8,12.6,462,2217,0.00,2.20,0.00,0.000,6,0.000,0.065,3103,2399,2427,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2335,1.11,146.6,27.4,11.7,487,2342,0.00,2.22,0.00,0.000,4,0.000,0.068,3114,979,2425,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2354,1.11,146.6,25.3,11.1,491,2361,0.00,2.28,0.00,0.000,6,0.000,0.073,3121,2399,2428,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2420,1.12,155.3,18.6,9.6,504,2428,0.00,2.28,3.03,0.168,4,0.000,0.070,3123,984,2403,0,0,0,0,0,0,28.83,25.70,25.70
$GC,2504,1.13,167.4,9.8,9.4,524,2518,0.00,2.28,5.97,0.148,6,0.000,0.072,3123,2408,2355,0,0,0,0,0,0,28.83,25.78,25.72
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,1.9,1.020069
$STATE,2631,end surface coast,CONTROL_FINISHED_OK
$STATE,2631,begin surface
$SM_CCo,2646,179.27,0.117,0,0,498,621.59
$SM_CCo,2827,-0.10,0.000,0,0,502,621.34
$SM_CCo,2829,0.00,0.000,0,0,501,621.59
$SM_GC,1.19,8.35,0.00,0.00,0.083,0.000,0.000,170,2411,501,-7.95,0.31,621.59,0,0,0,0,0,0,25.80,28.83,28.83
$IRIDIUM_FIX,4751.72,-12340.51,130314,070720
$TT8_MAMPS,0.116844,0.116844
$HUMID,30.23
$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,3.4/516052/498400
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426726
$24V_AH,23.7,2.492
$10V_AH,10.2,2.230
$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,19.925,49.575,221.650,179.275,0.000,0.000,0.000,356.675,0.000,3548.600,40.678,0.000,1096.268,540.493,1645.332,46.711,33.219,1354.694,0.000,788.824,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,88.740,898.875,117.045,0.000,0.000,0.000,94.860,0.000,49.404,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,368.435,0.000,0.000,0.000,0.000,0.000,3548.600,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.992,0.000,0.000,0.000
$MEM,200460
$DATA_FILE_SIZE,20106,549
$CAP_FILE_SIZE,68220,0
$CFSIZE,1024409600,1020608512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,093711,4742.570,-12224.456,2,0.9,36,16.3