version: 66.10
glider: 211
mission: 2
dive: 13
start: 3 5 114 10 7 16
data:
$ID,211
$MISSION,2
$DIVE,13
$N_DIVES,30
$D_SURF,2
$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,75
$T_MISSION,80
$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,-4867.897
$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,2655
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,1800
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,28
$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
$GPS1,050314,094554,4743.224,-12224.243,2,1.4,37,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.0
$GPS2,050314,100452,4743.158,-12224.396,4,1.0,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.153,-0.143
$KALMAN_X,-1024.1,160.9,29.7,1650.5,-183.9
$KALMAN_Y,-1311.8,43.1,434.7,364.4,335.0
$MHEAD_RNG_PITCHd_Wd,116.9,574,-17.8,-8.000
$D_GRID,176
$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,-1.12,-105.3,0.0,0.0,0,69,0.00,0.00,-52.60,0.000,6,0.000,0.000,186,1815,2933,0,0,0,0,0,0,28.83,28.83,25.94
$GC,70,-1.17,-146.6,1.6,-0.9,8,91,9.15,2.35,-4.75,0.000,4,0.272,0.083,2271,378,3102,0,0,0,0,0,0,25.63,25.77,25.79
$GC,340,-1.17,-146.6,36.0,-14.1,61,348,0.00,2.30,0.00,0.000,6,0.000,0.057,2263,1801,3101,0,0,0,0,0,0,28.83,25.94,28.83
$GC,407,-1.17,-146.6,44.3,-12.5,74,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1802,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,527,-1.17,-146.6,57.0,-9.1,98,535,0.00,2.30,0.00,0.000,4,0.000,0.067,2252,3206,3100,0,0,0,0,0,0,28.83,25.97,28.83
$GC,638,-1.17,-146.6,71.3,-12.1,120,647,0.00,2.28,0.00,0.000,6,0.000,0.057,2252,1799,3099,0,0,0,0,0,0,28.83,25.94,28.83
$GC,766,-1.17,-146.6,87.3,-13.8,145,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,1797,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-1.17,-146.6,103.4,-13.8,170,899,0.00,2.30,0.00,0.000,4,0.000,0.067,2242,3212,3100,0,0,0,0,0,0,28.83,26.00,28.83
$GC,983,-1.17,-146.6,115.1,-12.8,188,991,0.10,2.28,0.00,0.000,6,0.170,0.057,2272,1802,3101,0,0,0,0,0,0,25.91,25.94,28.83
$GC,1110,-1.17,-146.6,129.3,-11.3,213,1118,0.00,2.30,0.00,0.000,4,0.000,0.067,2265,3215,3100,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1231,-1.17,-146.6,142.7,-10.6,237,1239,0.00,2.28,0.00,0.000,6,0.000,0.057,2265,1799,3101,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1358,-1.17,-146.6,156.9,-11.1,256,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1799,3101,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1528,begin apogee
$GC,1530,-0.28,0.0,176.0,-11.4,273,1661,0.98,0.00,115.15,0.952,6,0.151,0.000,2556,2007,2509,0,0,0,0,1,0,25.82,28.83,23.91
$STATE,1662,end apogee,CONTROL_FINISHED_OK
$STATE,1662,begin climb
$GC,1662,1.17,146.6,179.2,0.0,286,1785,1.42,2.42,113.38,0.498,4,0.091,0.069,3028,3409,1896,0,0,0,0,0,0,24.72,24.84,24.50
$GC,1818,1.17,146.6,162.2,15.4,302,1823,0.00,2.38,0.00,0.000,6,0.000,0.057,3038,1988,1893,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2124,1.17,146.6,115.9,15.7,355,2132,0.00,2.35,0.00,0.000,4,0.000,0.073,3041,591,1893,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2140,1.17,146.6,113.1,16.2,358,2148,0.00,2.30,0.00,0.000,6,0.000,0.057,3041,2007,1893,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2267,1.17,146.6,93.5,15.6,383,2275,0.00,2.33,0.00,0.000,4,0.000,0.070,3041,3404,1893,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2324,1.17,146.6,85.0,17.4,394,2332,0.00,2.28,0.00,0.000,6,0.000,0.057,3048,2001,1893,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2451,1.17,146.6,66.3,13.9,419,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2001,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,1.17,146.6,48.6,14.8,444,2585,0.00,2.35,0.00,0.000,4,0.000,0.073,3055,592,1893,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2643,1.17,146.6,38.9,15.3,457,2652,0.05,2.25,0.00,0.000,6,0.173,0.056,3037,1998,1892,0,0,0,0,0,0,25.88,25.99,28.83
$GC,2710,1.17,146.6,29.2,14.1,470,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1998,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2770,1.17,146.6,20.7,15.3,482,2778,0.00,2.33,0.00,0.000,4,0.000,0.073,3041,595,1893,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2812,1.17,146.6,14.8,14.3,490,2820,0.00,2.25,0.00,0.000,6,0.000,0.057,3040,1992,1893,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2879,1.17,146.6,5.3,13.4,503,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1992,1892,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2909,end climb,SURFACE_DEPTH_REACHED
$STATE,2909,begin surface coast
$FINISH,0.3,1.022096
$STATE,2919,end surface coast,CONTROL_FINISHED_OK
$STATE,2919,begin surface
$SM_CCo,2933,31.30,0.143,0,0,1520,240.15
$SM_GC,1.25,7.88,0.32,31.30,0.064,0.086,0.143,191,1798,1520,-7.66,0.62,240.15,0,0,0,0,0,0,25.97,25.98,25.82
$IRIDIUM_FIX,4751.72,-12340.51,050314,090919
$TT8_MAMPS,0.106358,0.106358
$HUMID,30.27
$INTERNAL_PRESSURE,8.92113
$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,3.4/516052/498555
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426380
$24V_AH,23.9,2.173
$10V_AH,10.3,1.951
$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,19.575,42.250,228.525,31.300,0.000,73.321,140.550,450.285,0.000,4195.500,42.690,0.000,1549.304,356.692,2020.485,55.545,33.218,811.025,0.000,777.442,0.000,0.000,0.000
$DEVICE_MAMPS,271.575,85.680,951.660,143.055,0.000,13.010,160.000,223.000,0.000,51.110,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,344.293,0.000,0.000,0.000,0.000,0.000,4195.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.370,0.000,0.000,0.000
$MEM,200288
$DATA_FILE_SIZE,20173,511
$CAP_FILE_SIZE,76876,0
$CFSIZE,1024409600,1020772352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,105552,4742.791,-12224.098,2,1.0,37,16.3