version: 66.10
glider: 210
mission: 3
dive: 18
start: 3 13 114 9 52 58
data:
$ID,210
$MISSION,3
$DIVE,18
$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,-4689.7783
$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,13
$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
$GPS1,130314,093711,4742.570,-12224.456,2,0.9,36,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.7
$GPS2,130314,095216,4742.546,-12224.563,5,1.0,40,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.174,0.190
$KALMAN_X,-2296.5,111.4,-448.5,2798.4,-391.8
$KALMAN_Y,-3696.2,174.9,-335.7,3643.0,-415.5
$MHEAD_RNG_PITCHd_Wd,26.3,1096,-17.6,-10.000
$D_GRID,142
$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,-146.6,0.0,0.0,0,101,0.00,0.00,-83.55,0.000,2,0.000,0.000,170,2416,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.11,-146.6,3.1,-4.9,13,135,9.15,2.28,-16.62,0.000,4,0.256,0.096,2361,3814,3627,0,0,0,0,0,0,25.45,25.60,25.74
$GC,399,-1.11,-146.6,41.1,-15.7,84,406,0.00,2.20,0.00,0.000,6,0.000,0.060,2361,2393,3630,0,0,0,0,0,0,28.83,25.75,28.83
$GC,525,-1.11,-146.6,57.5,-12.5,109,532,0.00,2.30,0.00,0.000,4,0.000,0.084,2350,3810,3630,0,0,0,0,0,0,28.83,25.76,28.83
$GC,852,-1.11,-146.6,102.8,-18.2,190,859,0.00,2.15,0.00,0.000,6,0.000,0.059,2351,2400,3630,0,0,0,0,0,0,28.83,25.86,28.83
$GC,978,-1.11,-146.6,119.4,-12.7,215,985,0.00,2.28,0.00,0.000,4,0.000,0.083,2339,3812,3629,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1025,-1.11,-146.6,125.0,-13.1,226,1032,0.12,2.17,0.00,0.000,6,0.180,0.062,2374,2402,3627,0,0,0,0,0,0,25.75,25.86,28.83
$GC,1151,-1.11,-146.6,139.7,-11.2,251,1158,0.00,2.28,0.00,0.000,4,0.000,0.085,2359,3818,3629,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,1333,end dive,NO_VERTICAL_VELOCITY
$STATE,1333,begin apogee
$GC,1337,-0.26,0.0,140.1,0.0,296,1453,0.85,0.00,107.47,0.521,6,0.120,0.000,2642,2389,3027,0,0,0,0,0,0,25.80,28.83,24.56
$STATE,1454,end apogee,CONTROL_FINISHED_OK
$STATE,1454,begin climb
$GC,1455,1.11,146.6,140.2,0.0,314,1573,1.33,2.35,109.28,0.500,4,0.110,0.064,3085,968,2426,0,0,0,0,0,0,24.90,24.75,24.39
$GC,1749,1.11,146.6,120.7,11.7,376,1756,0.00,2.33,0.00,0.000,6,0.000,0.067,3087,2413,2422,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1875,1.11,146.6,106.5,12.4,401,1882,0.00,2.25,0.00,0.000,4,0.000,0.065,3098,988,2423,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2054,1.12,160.0,86.6,9.4,445,2068,0.00,2.25,7.90,0.183,6,0.000,0.068,3094,2403,2389,0,0,0,0,0,0,28.83,25.68,25.43
$GC,2187,1.12,160.0,72.1,11.3,471,2195,0.00,2.35,2.00,0.181,4,0.000,0.086,3094,3805,2389,0,0,0,0,0,0,28.83,25.71,25.58
$GC,2251,1.12,160.0,64.1,12.2,486,2258,0.00,2.20,2.15,0.174,6,0.000,0.064,3109,2396,2388,0,0,0,0,0,0,28.83,25.75,25.57
$GC,2377,1.13,169.8,50.7,9.5,511,2386,0.00,0.00,6.72,0.218,6,0.000,0.000,3105,2397,2339,0,0,0,0,0,0,28.83,28.83,25.56
$GC,2504,1.13,169.8,38.5,10.3,536,2512,0.00,0.00,1.73,0.182,6,0.000,0.000,3104,2396,2348,0,0,0,0,0,0,28.83,28.83,25.56
$GC,2571,1.13,169.8,32.2,10.4,549,2579,0.00,2.22,1.38,0.180,4,0.000,0.064,3113,983,2345,0,0,0,0,0,0,28.83,25.77,25.19
$GC,2639,1.13,169.8,25.0,11.2,565,2646,0.00,2.28,1.42,0.180,6,0.000,0.071,3116,2405,2347,0,0,0,0,0,0,28.83,25.70,25.70
$GC,2705,1.13,169.8,17.9,10.5,578,2713,0.00,0.00,1.30,0.185,6,0.000,0.000,3115,2413,2350,0,0,0,0,0,0,28.83,28.83,25.72
$GC,2772,1.13,169.8,11.0,10.0,591,2780,0.00,0.00,1.30,0.184,6,0.000,0.000,3115,2412,2345,0,0,0,0,0,0,28.83,28.83,25.72
$GC,2839,1.21,231.3,5.7,7.1,604,2859,0.00,0.00,19.08,0.131,2,0.000,0.000,3111,2408,2143,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2860,end climb,SURFACE_DEPTH_REACHED
$STATE,2860,begin surface coast
$FINISH,2.1,1.019538
$STATE,2933,end surface coast,CONTROL_FINISHED_OK
$STATE,2933,begin surface
$SM_CCo,2948,161.70,0.118,0,0,499,621.84
$SM_CCo,3111,-0.17,0.000,0,0,503,621.59
$SM_CCo,3113,0.28,0.409,0,0,502,621.84
$SM_GC,1.21,8.27,0.00,0.28,0.077,0.000,0.409,167,2408,502,-7.97,0.23,621.84,0,0,0,0,0,0,25.22,28.83,25.45
$IRIDIUM_FIX,4751.72,-12340.51,130314,080808
$TT8_MAMPS,0.118342,0.118342
$HUMID,30.19
$INTERNAL_PRESSURE,8.82643
$TCM_TEMP,17.30
$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,3.4/516052/498399
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426550
$24V_AH,24.4,2.599
$10V_AH,10.2,2.328
$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,19.725,36.125,261.725,161.975,0.000,0.000,0.000,508.650,0.000,4126.200,41.282,0.000,1376.429,531.547,1942.794,50.098,33.227,1541.232,0.000,891.940,0.000,0.000,0.000
$DEVICE_MAMPS,256.275,95.625,520.965,408.510,0.000,0.000,0.000,92.565,0.000,49.752,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,418.408,0.000,0.000,0.000,0.000,0.000,4126.100,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.989,0.000,0.000,0.000
$MEM,200396
$DATA_FILE_SIZE,23412,622
$CAP_FILE_SIZE,72048,0
$CFSIZE,1024409600,1020526592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,104544,4742.548,-12224.316,2,1.0,37,16.3