version: 66.10
glider: 211
mission: 2
dive: 9
start: 3 5 114 5 25 21
data:
$ID,211
$MISSION,2
$DIVE,9
$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,-4515.375
$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,18
$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
$GPS1,050314,051128,4743.488,-12223.866,2,0.8,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.1
$GPS2,050314,052256,4743.498,-12223.695,4,0.8,38,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.118,0.233
$KALMAN_X,-560.8,-227.5,60.1,2409.0,103.7
$KALMAN_Y,-1778.9,-299.9,-480.9,2712.8,-81.1
$MHEAD_RNG_PITCHd_Wd,316.9,1005,-18.1,-10.000
$D_GRID,163
$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,-146.6,0.0,0.0,0,74,0.00,0.00,-57.83,0.000,6,0.000,0.000,183,2011,3101,0,0,0,0,0,0,28.83,28.83,25.96
$GC,76,-1.14,-146.6,2.3,-2.3,9,90,9.23,2.28,0.00,0.000,4,0.269,0.066,2291,3418,3102,0,0,0,0,0,0,25.63,25.79,28.83
$GC,104,-1.14,-146.6,7.9,-17.5,14,112,0.00,2.30,0.00,0.000,6,0.000,0.055,2291,1998,3102,0,0,0,0,0,0,28.83,25.83,28.83
$GC,170,-1.14,-146.6,14.8,-10.9,27,178,0.00,2.35,0.00,0.000,4,0.000,0.070,2291,584,3102,0,0,0,0,0,0,28.83,25.84,28.83
$GC,252,-1.14,-146.6,24.1,-11.5,43,260,0.00,2.28,0.00,0.000,6,0.000,0.056,2281,1984,3101,0,0,0,0,0,0,28.83,25.90,28.83
$GC,319,-1.14,-146.6,31.1,-10.4,56,327,0.00,2.35,0.00,0.000,4,0.000,0.070,2271,3413,3102,0,0,0,0,0,0,28.83,25.91,28.83
$GC,386,-1.14,-146.6,38.9,-11.4,69,394,0.10,2.28,0.00,0.000,6,0.156,0.056,2301,2001,3102,0,0,0,0,0,0,25.79,25.89,28.83
$GC,453,-1.14,-146.6,46.2,-10.5,82,461,0.00,2.33,0.00,0.000,4,0.000,0.069,2293,3418,3105,0,0,0,0,0,0,28.83,25.86,28.83
$GC,475,-1.14,-146.6,48.5,-10.9,86,482,0.00,2.28,0.00,0.000,6,0.000,0.056,2293,2003,3102,0,0,0,0,0,0,28.83,25.97,28.83
$GC,601,-1.14,-146.6,61.6,-8.8,111,609,0.00,2.33,0.00,0.000,4,0.000,0.071,2293,594,3105,0,0,0,0,0,0,28.83,25.96,28.83
$GC,868,-1.14,-146.6,88.8,-9.5,164,876,0.00,2.28,0.00,0.000,6,0.000,0.055,2284,2009,3102,0,0,0,0,0,0,28.83,26.04,28.83
$GC,995,-1.14,-146.6,100.6,-9.2,189,1003,0.00,2.28,0.00,0.000,4,0.000,0.070,2275,3421,3103,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1072,-1.14,-146.6,107.8,-9.5,204,1079,0.00,2.28,0.00,0.000,6,0.000,0.056,2276,2001,3101,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1199,-1.14,-146.6,119.6,-9.7,229,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2000,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1324,-1.14,-146.6,132.9,-10.4,254,1332,0.00,2.30,0.00,0.000,4,0.000,0.069,2266,3408,3103,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1366,-1.14,-146.6,137.4,-11.0,262,1374,0.10,2.25,0.00,0.000,6,0.161,0.055,2296,2001,3103,0,0,0,0,0,0,25.94,26.05,28.83
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1494,-0.26,0.0,150.3,-11.4,287,1608,0.90,0.00,109.65,0.514,6,0.147,0.000,2576,2000,2501,0,0,0,0,0,0,25.95,28.83,24.78
$STATE,1609,end apogee,CONTROL_FINISHED_OK
$STATE,1609,begin climb
$GC,1610,1.14,146.6,153.4,0.0,298,1729,1.35,2.40,108.97,0.477,4,0.086,0.067,3035,3415,1894,0,0,0,0,0,0,25.15,24.96,24.56
$GC,1772,1.14,146.6,136.9,15.3,322,1781,0.00,2.35,0.00,0.000,6,0.000,0.057,3041,2011,1888,0,0,0,0,0,0,28.83,25.21,28.83
$GC,1899,1.14,146.6,117.2,16.1,347,1907,0.00,2.42,0.00,0.000,4,0.000,0.075,3041,581,1886,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1931,1.14,146.6,112.1,15.7,353,1939,0.00,2.33,0.00,0.000,6,0.000,0.057,3041,2006,1888,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2058,1.14,146.6,93.3,13.9,378,2066,0.00,2.33,0.00,0.000,4,0.000,0.071,3041,3423,1888,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2100,1.14,146.6,87.0,15.5,386,2108,0.00,2.33,0.00,0.000,6,0.000,0.059,3051,1997,1888,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2227,1.14,146.6,69.6,13.0,411,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1997,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,1.14,146.6,51.7,14.2,436,2360,0.00,2.38,0.00,0.000,4,0.000,0.074,3055,585,1888,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2439,1.14,146.6,40.4,13.2,453,2447,0.00,2.30,0.00,0.000,6,0.000,0.057,3055,2006,1888,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2566,1.14,146.6,22.4,14.8,478,2574,0.00,2.33,0.00,0.000,4,0.000,0.071,3055,3409,1888,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2623,1.14,146.6,13.8,14.6,489,2631,0.08,2.30,0.00,0.000,6,0.170,0.060,3043,1988,1890,0,0,0,0,0,0,25.89,26.01,28.83
$GC,2690,1.14,146.6,4.9,12.9,502,2698,0.00,2.35,0.00,0.000,4,0.000,0.070,3043,3410,1888,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,0.2,1.022490
$STATE,2721,end surface coast,CONTROL_FINISHED_OK
$STATE,2721,begin surface
$SM_CCo,2738,30.95,0.144,0,0,1520,240.15
$SM_GC,1.19,7.93,2.33,30.95,0.066,0.060,0.144,185,1998,1520,-7.71,0.76,240.15,0,0,0,0,0,0,25.98,25.98,25.82
$IRIDIUM_FIX,4751.72,-12340.51,050314,040435
$TT8_MAMPS,0.108605,0.108605
$HUMID,30.31
$INTERNAL_PRESSURE,8.92113
$TCM_TEMP,17.10
$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,3.4/516052/498561
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.4/436550/426260
$24V_AH,24.6,1.662
$10V_AH,10.3,1.574
$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,19.675,60.250,218.625,30.950,0.000,24.303,34.341,326.186,0.000,3549.500,42.221,0.000,1226.589,391.097,1684.681,45.776,33.229,837.949,0.000,753.494,0.000,0.000,0.000
$DEVICE_MAMPS,269.280,74.970,514.080,143.820,0.000,13.010,160.000,223.000,0.000,50.946,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,341.267,0.000,0.000,0.000,0.000,0.000,3549.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.392,0.000,0.000,0.000
$MEM,200344
$DATA_FILE_SIZE,20144,508
$CAP_FILE_SIZE,73728,0
$CFSIZE,1024409600,1021100032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,061041,4743.885,-12223.951,3,0.8,37,16.3