version: 66.10
glider: 211
mission: 2
dive: 16
start: 3 5 114 13 30 4
data:
$ID,211
$MISSION,2
$DIVE,16
$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,-5126.4482
$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,18
$R_STBD_OVSHOOT,24
$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
$GPS1,050314,131128,4742.829,-12224.167,2,0.8,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-65.8
$GPS2,050314,132740,4742.780,-12224.430,4,0.9,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.126,0.207
$KALMAN_X,-2730.3,279.6,-276.3,3501.5,-578.5
$KALMAN_Y,-3020.6,375.6,258.4,1216.8,-906.8
$MHEAD_RNG_PITCHd_Wd,14.9,672,-14.9,-8.000
$D_GRID,167
$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,-1.01,-146.6,0.0,0.0,0,75,0.00,0.00,-57.92,0.000,6,0.000,0.000,197,1807,3098,0,0,0,0,0,0,28.83,28.83,25.93
$GC,77,-1.01,-146.6,2.4,-2.8,9,91,9.48,2.30,0.00,0.000,4,0.275,0.064,2316,3214,3100,0,0,0,0,0,0,25.53,25.75,28.83
$GC,370,-1.01,-146.6,32.6,-10.8,67,378,0.00,2.28,0.00,0.000,6,0.000,0.056,2316,1809,3102,0,0,0,0,0,0,28.83,25.89,28.83
$GC,437,-1.01,-146.6,40.3,-12.1,80,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1808,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,556,-1.01,-146.6,51.8,-9.1,104,564,0.00,2.30,0.00,0.000,4,0.000,0.067,2307,3214,3101,0,0,0,0,0,0,28.83,25.94,28.83
$GC,598,-1.01,-146.6,55.4,-8.8,112,606,0.00,2.28,0.00,0.000,6,0.000,0.057,2307,1801,3102,0,0,0,0,0,0,28.83,25.94,28.83
$GC,725,-1.01,-146.6,67.9,-10.8,137,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1801,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-1.01,-146.6,81.8,-11.8,161,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1801,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-1.01,-146.6,95.0,-11.0,185,973,0.00,2.30,0.00,0.000,4,0.000,0.067,2298,3210,3102,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1082,-1.01,-146.6,110.0,-13.5,208,1090,0.10,2.28,0.00,0.000,6,0.151,0.057,2328,1804,3102,0,0,0,0,0,0,25.91,25.98,28.83
$GC,1209,-1.01,-146.6,126.2,-12.8,233,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1803,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1335,-1.01,-146.6,141.8,-12.5,258,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1804,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-1.01,-146.6,160.5,-17.6,277,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1804,3105,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1511,-0.28,0.0,167.8,-14.6,282,1625,0.75,0.00,109.57,0.510,6,0.147,0.000,2557,2015,2501,0,0,0,0,0,0,25.49,28.83,24.74
$STATE,1626,end apogee,CONTROL_FINISHED_OK
$STATE,1626,begin climb
$GC,1627,1.01,146.6,175.5,0.0,293,1744,1.25,2.47,109.25,0.485,4,0.096,0.071,2982,584,1895,0,0,0,0,0,0,25.10,24.87,24.44
$GC,1848,1.08,206.3,167.4,5.8,315,1899,0.00,2.33,45.90,0.481,6,0.000,0.055,2982,1999,1655,0,0,0,0,0,0,28.83,25.44,24.75
$GC,2198,1.08,206.3,132.5,11.6,364,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2000,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,1.08,206.3,118.8,10.9,388,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2000,1641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2438,1.08,206.3,105.9,10.2,412,2446,0.00,2.35,0.00,0.000,4,0.000,0.072,2989,585,1641,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2465,1.08,206.3,103.2,8.9,417,2473,0.00,2.28,0.00,0.000,6,0.000,0.056,2988,1998,1642,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2592,1.08,206.3,89.5,11.6,442,2599,0.00,2.33,0.00,0.000,4,0.000,0.070,2988,3400,1641,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2614,1.08,206.3,86.9,12.5,446,2621,0.00,2.28,0.00,0.000,6,0.000,0.058,2998,1994,1642,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2740,1.08,206.3,70.5,13.3,471,2748,0.00,2.35,0.00,0.000,4,0.000,0.074,3003,589,1642,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2777,1.08,206.3,65.3,14.9,478,2785,0.00,2.28,0.00,0.000,6,0.000,0.057,3004,2006,1641,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2904,1.08,206.3,46.5,14.7,503,2912,0.00,2.33,0.00,0.000,4,0.000,0.070,3003,3406,1644,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2970,1.08,206.3,36.6,14.0,516,2979,0.00,2.28,0.00,0.000,6,0.000,0.058,3014,1996,1642,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3037,1.08,206.3,26.9,14.0,529,3045,0.00,2.35,0.00,0.000,4,0.000,0.075,3014,591,1642,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3079,1.08,206.3,21.0,13.4,537,3087,0.00,2.28,0.00,0.000,6,0.000,0.057,3014,2007,1642,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3146,1.08,206.3,11.9,13.6,550,3154,0.00,2.35,0.00,0.000,4,0.000,0.074,3014,595,1641,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3208,1.08,206.3,3.4,14.2,562,3216,0.00,2.25,0.00,0.000,6,0.000,0.057,3014,1995,1641,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,3218,end climb,SURFACE_DEPTH_REACHED
$STATE,3219,begin surface coast
$FINISH,0.5,1.022441
$STATE,3229,end surface coast,CONTROL_FINISHED_OK
$STATE,3229,begin surface
$SM_CCo,3244,10.12,0.149,0,0,1521,240.15
$SM_GC,2.59,7.82,0.32,10.12,0.063,0.086,0.149,184,1801,1521,-7.68,0.71,240.15,0,0,0,0,0,0,25.96,25.98,25.79
$IRIDIUM_FIX,4751.72,-12340.51,050314,131334
$TT8_MAMPS,0.109354,0.109354
$HUMID,29.28
$INTERNAL_PRESSURE,8.85277
$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,3.4/516052/498551
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.4/436550/426187
$24V_AH,24.4,2.533
$10V_AH,10.3,2.230
$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,19.400,46.850,264.725,10.125,0.000,50.001,69.193,436.299,0.000,4340.300,42.307,0.000,1641.349,360.899,2036.324,59.826,33.214,863.094,0.000,867.608,0.000,0.000,0.000
$DEVICE_MAMPS,275.400,85.680,510.255,149.175,0.000,13.010,160.000,223.000,0.000,50.859,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,381.610,0.000,0.000,0.000,0.000,0.000,4340.400,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.398,0.000,0.000,0.000
$MEM,200320
$DATA_FILE_SIZE,20111,566
$CAP_FILE_SIZE,82491,0
$CFSIZE,1024409600,1020510208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,142331,4742.854,-12224.356,2,0.9,37,16.3