version: 66.10
glider: 211
mission: 2
dive: 18
start: 3 5 114 15 52 3
data:
$ID,211
$MISSION,2
$DIVE,18
$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,-5298.2168
$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,17
$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
$GPS1,050314,153630,4742.961,-12224.275,2,1.0,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.7
$GPS2,050314,154939,4743.017,-12224.348,4,1.0,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.130,0.205
$KALMAN_X,-3607.9,38.4,-270.1,4710.2,-454.9
$KALMAN_Y,-3207.0,173.1,-594.6,2890.5,-414.0
$MHEAD_RNG_PITCHd_Wd,16.1,1872,-14.9,-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,-1.01,-146.6,0.0,0.0,0,75,0.00,0.00,-58.03,0.000,6,0.000,0.000,193,1796,3101,0,0,0,0,0,0,28.83,28.83,25.92
$GC,77,-1.01,-146.6,2.3,-2.5,9,91,9.30,2.30,0.00,0.000,4,0.269,0.064,2314,3212,3101,0,0,0,0,0,0,25.60,25.77,28.83
$GC,285,-1.01,-146.6,27.1,-10.0,50,293,0.00,2.28,0.00,0.000,6,0.000,0.056,2314,1804,3102,0,0,0,0,0,0,28.83,25.87,28.83
$GC,352,-1.01,-146.6,33.6,-9.7,63,359,0.00,2.35,0.00,0.000,4,0.000,0.072,2314,380,3102,0,0,0,0,0,0,28.83,25.91,28.83
$GC,403,-1.01,-146.6,39.0,-10.4,73,411,0.00,2.30,0.00,0.000,6,0.000,0.057,2307,1802,3102,0,0,0,0,0,0,28.83,25.98,28.83
$GC,470,-1.01,-146.6,45.7,-9.5,86,478,0.00,2.30,0.00,0.000,4,0.000,0.068,2297,3204,3103,0,0,0,0,0,0,28.83,25.98,28.83
$GC,547,-1.01,-146.6,53.7,-10.4,101,555,0.10,2.28,0.00,0.000,6,0.151,0.057,2327,1795,3103,0,0,0,0,0,0,25.91,25.98,28.83
$GC,674,-1.01,-146.6,64.4,-9.0,126,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1799,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-1.01,-146.6,76.5,-9.8,151,807,0.00,2.30,0.00,0.000,4,0.000,0.067,2320,3211,3103,0,0,0,0,0,0,28.83,25.96,28.83
$GC,911,-1.01,-146.6,88.7,-11.3,173,919,0.00,2.28,0.00,0.000,6,0.000,0.057,2320,1797,3103,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1038,-1.01,-146.6,103.3,-11.0,198,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1797,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-1.01,-146.6,117.2,-11.0,222,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1802,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-1.01,-146.6,130.9,-11.8,246,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1797,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-1.01,-146.6,143.4,-10.0,270,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1797,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-1.01,-146.6,156.3,-10.1,289,1527,0.00,2.28,0.00,0.000,4,0.000,0.067,2311,3207,3102,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1617,-1.01,-146.6,165.4,-9.8,298,1626,0.00,2.25,0.00,0.000,6,0.000,0.057,2311,1804,3102,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,1742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1742,begin apogee
$GC,1745,-0.28,0.0,176.6,-9.0,311,1859,0.80,0.00,109.88,0.522,6,0.145,0.000,2558,2017,2503,0,0,0,0,0,0,26.01,28.83,24.78
$STATE,1860,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1861,1.01,146.6,178.5,0.0,322,1977,1.23,2.35,108.90,0.487,4,0.093,0.069,2970,3404,1896,0,0,0,0,0,0,25.14,24.90,24.54
$GC,2031,1.01,146.6,163.5,12.7,339,2040,0.00,2.33,0.00,0.000,6,0.000,0.057,2979,2004,1889,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2336,1.01,146.6,124.9,11.9,390,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2004,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,1.01,146.6,110.9,12.3,414,2464,0.00,2.38,0.00,0.000,4,0.000,0.074,2988,590,1888,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2583,1.01,146.6,97.6,10.4,439,2591,0.00,2.28,0.00,0.000,6,0.000,0.057,2988,2002,1887,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2711,1.01,146.6,83.1,12.2,464,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2002,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2836,1.01,146.6,68.6,11.3,489,2844,0.00,2.33,0.00,0.000,4,0.000,0.070,2988,3408,1888,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2893,1.01,146.6,60.9,14.2,500,2901,0.00,2.28,0.00,0.000,6,0.000,0.059,2998,2000,1888,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3020,1.01,146.6,43.2,13.9,525,3027,0.00,2.30,0.00,0.000,4,0.000,0.070,2997,3401,1886,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3041,1.01,146.6,39.9,14.6,529,3049,0.00,2.25,0.00,0.000,6,0.000,0.059,3001,2004,1888,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3108,1.01,146.6,30.4,14.2,542,3116,0.00,2.35,0.00,0.000,4,0.000,0.074,3010,592,1888,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3215,1.01,146.6,14.9,13.9,563,3223,0.08,2.25,0.00,0.000,6,0.151,0.057,2987,1995,1888,0,0,0,0,0,0,25.91,25.99,28.83
$GC,3282,1.01,146.6,6.2,12.1,576,3290,0.00,2.35,0.00,0.000,4,0.000,0.071,2987,3412,1888,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,3323,end climb,SURFACE_DEPTH_REACHED
$STATE,3323,begin surface coast
$FINISH,0.3,1.021990
$STATE,3338,end surface coast,CONTROL_FINISHED_OK
$STATE,3338,begin surface
$SM_CCo,3355,31.00,0.143,0,0,1521,240.15
$SM_GC,1.44,7.68,2.60,31.00,0.063,0.058,0.143,193,1803,1521,-7.65,0.71,240.15,0,0,0,0,0,0,26.03,26.05,25.89
$IRIDIUM_FIX,4751.72,-12340.51,050314,141430
$TT8_MAMPS,0.109354,0.109354
$HUMID,29.64
$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,3.4/516052/498549
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426384
$24V_AH,24.5,2.780
$10V_AH,10.3,2.420
$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,19.175,51.250,218.775,31.000,0.000,21.901,37.126,373.883,0.000,4265.100,42.820,0.000,1663.874,361.920,1966.889,57.126,33.210,870.478,0.000,897.340,0.000,0.000,0.000
$DEVICE_MAMPS,269.280,74.205,522.495,143.055,0.000,13.010,160.000,223.000,0.000,42.612,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,396.306,0.000,0.000,0.000,0.000,0.000,4265.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.421,0.000,0.000,0.000
$MEM,200288
$DATA_FILE_SIZE,23435,587
$CAP_FILE_SIZE,82123,0
$CFSIZE,1024409600,1020346368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,164743,4743.346,-12224.057,1,1.1,38,16.3