version: 66.10
glider: 211
mission: 2
dive: 8
start: 3 5 114 4 27 27
data:
$ID,211
$MISSION,2
$DIVE,8
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$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,1.0232
$MASS,51560
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,240
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4430.7456
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3885
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3804
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2503
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.624176
$PRESSURE_SLOPE,0.000116496
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.3
$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,0.0044050673
$SEABIRD_T_H,0.00064281846
$SEABIRD_T_I,2.6230078e-05
$SEABIRD_T_J,3.1112161e-06
$SEABIRD_C_G,-9.7493286
$SEABIRD_C_H,1.1199749
$SEABIRD_C_I,-0.001491752
$SEABIRD_C_J,0.0001964062
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,050314,041436,4743.214,-12223.896,2,1.0,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.2
$GPS2,050314,042502,4743.165,-12223.802,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.028,0.260
$KALMAN_X,-694.2,-264.5,27.1,2482.2,18.1
$KALMAN_Y,-1748.8,-249.5,-390.7,1921.4,-360.9
$MHEAD_RNG_PITCHd_Wd,337.5,1567,-18.1,-10.000
$D_GRID,162
$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,-1.14,-146.6,0.0,0.0,0,75,0.00,0.00,-57.75,0.000,6,0.000,0.000,186,1991,3101,0,0,0,0,0,0,28.83,28.83,25.98
$GC,77,-1.14,-146.6,2.3,-2.7,9,91,9.07,2.28,0.00,0.000,4,0.265,0.067,2298,584,3103,0,0,0,0,0,0,25.63,25.79,28.83
$GC,305,-1.14,-146.6,31.5,-11.3,54,313,0.00,2.28,0.00,0.000,6,0.000,0.055,2290,2008,3099,0,0,0,0,0,0,28.83,25.96,28.83
$GC,371,-1.14,-146.6,38.8,-10.7,67,379,0.00,2.30,0.00,0.000,4,0.000,0.069,2280,3406,3101,0,0,0,0,0,0,28.83,25.95,28.83
$GC,433,-1.14,-146.6,46.3,-12.0,79,441,0.00,2.28,0.00,0.000,6,0.000,0.056,2280,1993,3101,0,0,0,0,0,0,28.83,25.98,28.83
$GC,560,-1.14,-146.6,60.9,-10.4,104,568,0.00,2.33,0.00,0.000,4,0.000,0.070,2280,587,3101,0,0,0,0,0,0,28.83,25.89,28.83
$GC,782,-1.14,-146.6,84.1,-9.9,148,790,0.08,2.28,0.00,0.000,6,0.171,0.056,2294,2002,3101,0,0,0,0,0,0,25.91,26.02,28.83
$GC,909,-1.14,-146.6,97.6,-10.7,173,917,0.00,2.30,0.00,0.000,4,0.000,0.069,2286,3405,3101,0,0,0,0,0,0,28.83,26.02,28.83
$GC,941,-1.14,-146.6,100.7,-10.2,179,949,0.00,2.25,0.00,0.000,6,0.000,0.057,2286,1997,3101,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1068,-1.14,-146.6,115.3,-13.0,204,1076,0.00,2.33,0.00,0.000,4,0.000,0.070,2277,3404,3101,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1119,-1.14,-146.6,121.7,-12.4,214,1127,0.00,2.25,0.00,0.000,6,0.000,0.056,2277,2001,3101,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1247,-1.14,-146.6,139.0,-13.0,239,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2002,3101,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1368,-0.26,0.0,150.1,-8.7,263,1492,1.00,0.00,113.60,0.971,6,0.157,0.000,2578,2000,2507,0,0,0,0,1,0,25.94,28.83,23.93
$STATE,1493,end apogee,CONTROL_FINISHED_OK
$STATE,1493,begin climb
$GC,1494,1.14,146.6,152.7,0.0,275,1616,1.35,2.42,112.82,0.478,4,0.085,0.072,3040,592,1897,0,0,0,0,0,0,24.70,24.89,24.54
$GC,1639,1.14,146.6,137.9,14.4,296,1648,0.00,2.33,0.00,0.000,6,0.000,0.057,3040,1992,1892,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1767,1.14,146.6,119.9,14.3,321,1774,0.00,2.38,0.00,0.000,4,0.000,0.070,3040,3398,1892,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1813,1.14,146.6,112.3,16.6,330,1821,0.00,2.33,0.00,0.000,6,0.000,0.060,3041,2005,1891,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1940,1.14,146.6,94.3,14.4,355,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2006,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,1.14,146.6,77.3,13.8,380,2073,0.00,2.35,0.00,0.000,4,0.000,0.070,3041,3406,1891,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2107,1.14,146.6,70.9,15.4,388,2115,0.00,2.30,0.00,0.000,6,0.000,0.059,3050,1989,1891,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2234,1.14,146.6,53.9,13.3,413,2242,0.00,2.35,0.00,0.000,4,0.000,0.074,3055,587,1891,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2321,1.14,146.6,42.7,12.4,430,2329,0.00,2.28,0.00,0.000,6,0.000,0.057,3055,2005,1892,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2448,1.14,146.6,26.2,12.7,455,2456,0.00,2.33,0.00,0.000,4,0.000,0.071,3055,3408,1890,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2519,1.14,146.6,16.4,14.3,469,2527,0.00,2.28,0.00,0.000,6,0.000,0.060,3062,2002,1892,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2586,1.14,146.6,7.0,13.7,482,2594,0.00,2.38,0.00,0.000,4,0.000,0.076,3068,585,1892,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,2627,end climb,SURFACE_DEPTH_REACHED
$STATE,2627,begin surface coast
$FINISH,0.3,1.012710
$STATE,2642,end surface coast,CONTROL_FINISHED_OK
$STATE,2642,begin surface
$SM_CCo,2660,30.83,0.143,0,0,1522,240.15
$SM_GC,1.20,8.00,2.30,30.83,0.067,0.057,0.143,183,2008,1522,-7.73,-0.68,240.15,0,0,0,0,0,0,26.00,26.04,25.77
$IRIDIUM_FIX,4751.72,-12340.51,050314,030328
$TT8_MAMPS,0.109354,0.109354
$HUMID,30.42
$INTERNAL_PRESSURE,8.86254
$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,45
$MI_LOG,3.4/516052/498562
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426366
$24V_AH,23.9,1.557
$10V_AH,10.3,1.494
$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,19.500,50.850,226.425,30.825,0.000,26.796,38.212,291.068,0.000,3410.300,42.656,0.000,1201.636,377.423,1598.757,48.600,33.250,812.406,0.000,735.017,0.000,0.000,0.000
$DEVICE_MAMPS,265.455,75.735,970.785,143.055,0.000,13.010,160.000,223.000,0.000,50.870,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,331.180,0.000,0.000,0.000,0.000,0.000,3410.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.365,0.000,0.000,0.000
$MEM,200540
$DATA_FILE_SIZE,20073,493
$CAP_FILE_SIZE,67875,0
$CFSIZE,1024409600,1021165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,051128,4743.488,-12223.866,2,0.8,36,16.3