version: 66.10
glider: 211
mission: 5
dive: 4
start: 2 20 114 21 39 43
data:
$ID,211
$MISSION,5
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,50
$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,40
$T_MISSION,50
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,1.023
$MASS,51597
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,3.43736e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,41.529999
$TGT_DEFAULT_LON,-71.309998
$TGT_AUTO_DEFAULT,0
$SM_CC,698.61438
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39824.555
$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,15
$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,30
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3348
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00015000001
$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,-65.040062
$PRESSURE_SLOPE,0.000116496
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,0
$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
$GPS1,221215,214439,4743.479,-12224.229,26,0.8,60,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-55.9
$GPS2,221215,215255,4743.559,-12224.186,3,1.2,38,16.3
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.067,0.254
$KALMAN_X,7.9,-16.5,-8.7,210.0,2.4
$KALMAN_Y,-43.5,-85.5,-70.4,1049.7,-28.4
$MHEAD_RNG_PITCHd_Wd,359.5,850,-17.3,-10.000
$D_GRID,120
$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,-1.18,-146.6,0.0,0.0,0,164,0.00,0.00,-145.38,0.000,6,0.000,0.000,153,1779,3945,0,0,0,0,0,0,28.83,28.83,25.96
$GC,165,-1.18,-146.6,0.1,0.0,23,179,7.22,2.17,0.00,0.000,4,0.169,0.046,2266,391,3945,0,0,0,0,0,0,25.48,25.73,28.83
$GC,318,-1.18,-146.6,0.0,0.5,53,326,0.00,2.20,0.00,0.000,6,0.000,0.033,2255,1814,3945,0,0,0,0,0,0,28.83,25.77,28.83
$GC,385,-1.18,-146.6,0.0,-0.2,66,392,0.00,2.20,0.00,0.000,4,0.000,0.046,2238,3201,3946,0,0,0,0,0,0,28.83,25.69,28.83
$GC,481,-1.18,-146.6,0.0,-0.1,85,489,0.15,2.15,0.00,0.000,6,0.207,0.032,2268,1797,3947,0,0,0,0,0,0,25.16,25.77,28.83
$GC,548,-1.18,-146.6,0.1,0.2,98,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,1796,3946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-1.18,-146.6,0.1,-0.4,110,616,0.00,2.20,0.00,0.000,4,0.000,0.045,2242,3226,3947,0,0,0,0,0,0,28.83,25.84,28.83
$GC,660,-1.18,-146.6,-0.0,0.2,120,668,0.12,2.17,0.00,0.000,6,0.149,0.030,2269,1805,3946,0,0,0,0,0,0,25.36,25.78,28.83
$GC,727,-1.18,-146.6,0.1,0.3,133,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,1802,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-1.18,-146.6,0.1,-0.1,146,800,0.00,2.28,0.00,0.000,4,0.000,0.046,2249,384,3947,0,0,0,0,0,0,28.83,25.70,28.83
$GC,939,-1.18,-146.6,0.0,0.3,175,947,0.20,2.20,0.00,0.000,6,0.249,0.031,2269,1807,3948,0,0,0,0,0,0,25.10,25.84,28.83
$GC,1006,-1.18,-146.6,0.0,0.1,188,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,1820,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-1.18,-146.6,0.1,0.0,200,1073,0.00,2.17,0.00,0.000,4,0.000,0.044,2236,3198,3948,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1098,-1.18,-146.6,0.1,-0.8,206,1106,0.12,2.15,0.00,0.000,6,0.218,0.031,2265,1791,3949,0,0,0,0,0,0,25.10,25.78,28.83
$GC,1165,-1.18,-146.6,0.1,0.3,219,1172,0.00,2.20,0.00,0.000,4,0.000,0.045,2251,3197,3952,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1221,-1.18,-146.6,0.1,-0.4,230,1229,0.10,2.17,0.00,0.000,6,0.218,0.030,2268,1792,3948,0,0,0,0,0,0,25.07,25.76,28.83
$GC,1288,-1.18,-146.6,-0.0,0.2,243,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1791,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-1.18,-146.6,-0.0,0.4,255,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1788,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1408,-1.18,-146.6,0.0,0.0,267,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,1788,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-1.18,-146.6,0.1,0.0,279,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1788,3949,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1508,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1508,begin apogee
$GC,1510,-0.33,0.0,-0.0,0.3,287,1518,1.12,0.00,5.12,0.142,2,0.203,0.000,2540,2005,3882,0,0,0,0,0,0,25.37,28.83,28.83
$STATE,1519,end apogee,SURFACE_DEPTH_REACHED
$STATE,1519,begin surface coast
$FINISH,-0.0,0.999912
$STATE,1602,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1602,begin surface
$SM_CCo,1616,295.12,0.124,0,0,497,698.61
$SM_GC,0.02,6.35,0.32,295.12,0.047,0.056,0.124,178,1795,497,-7.68,0.90,698.61,0,0,0,0,0,0,25.79,25.77,25.27
$IRIDIUM_FIX,4748.51,-12337.82,181008,111140
$TT8_MAMPS,0.102613,0.102613
$HUMID,36.41
$INTERNAL_PRESSURE,8.9016
$TCM_TEMP,18.00
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,118
$MI_LOG,3.5/516052/497914
$MI_ROOT,70.7/190403/55838
$MI_HOME,2.3/436550/426350
$24V_AH,25.1,14.631
$10V_AH,10.2,6.827
$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,15.400,26.900,5.125,295.125,0.000,120.353,75.612,0.000,0.000,2388.000,42.180,0.000,909.183,494.406,967.368,38.546,32.198,758.281,0.000,443.696,0.000,0.000,0.000
$DEVICE_MAMPS,248.625,55.845,141.525,123.930,0.000,13.010,160.000,0.000,0.000,37.771,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,211.484,0.000,0.000,0.000,0.000,0.000,2388.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.644,0.000,0.000,0.000
$MEM,223244
$DATA_FILE_SIZE,10171,305
$CAP_FILE_SIZE,45062,0
$CFSIZE,1024409600,1021345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221215,222655,4741.314,-12224.293,37,1.2,71,16.3