version: 66.10
glider: 210
mission: 4
dive: 1
start: 3 24 114 17 25 26
data:
$ID,210
$MISSION,4
$DIVE,1
$N_DIVES,28
$D_SURF,5
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,40
$D_BOOST,50
$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,15
$T_MISSION,20
$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,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,186
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51427
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,660
$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,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5288.6748
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,176
$PITCH_MAX,3891
$C_PITCH,2618
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3802
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00091
$VBD_PUMP_AD_RATE_SURFACE,6
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-65.990921
$PRESSURE_SLOPE,0.0001165312
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$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,0.0044015264
$SEABIRD_T_H,0.00063760363
$SEABIRD_T_I,2.4963432e-05
$SEABIRD_T_J,2.8850222e-06
$SEABIRD_C_G,-9.9132805
$SEABIRD_C_H,1.1217544
$SEABIRD_C_I,-0.00011588677
$SEABIRD_C_J,0.00016613943
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,240314,171732,4743.263,-12224.498,1,0.9,35,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.2
$GPS2,240314,172441,4743.192,-12224.532,4,0.8,38,16.3
$SPEED_LIMITS,0.173,0.283
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.115,0.259
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,7.6,1637,-15.6,-10.000
$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,15,-0.94,-181.7,0.0,0.0,0,120,0.00,0.00,-102.97,0.000,2,0.000,0.000,168,2416,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.94,-181.7,3.1,-5.3,16,149,8.23,2.33,-12.73,0.000,4,0.232,0.074,2319,983,3947,0,0,0,0,0,0,25.80,26.01,25.99
$GC,173,-0.94,-181.7,14.0,-18.0,25,181,0.00,2.25,0.00,0.000,6,0.000,0.068,2310,2387,3947,0,0,0,0,0,0,28.83,25.98,28.83
$GC,240,-0.94,-181.7,25.7,-17.4,38,248,0.00,2.28,0.00,0.000,4,0.000,0.080,2295,3801,3945,0,0,0,0,0,0,28.83,25.99,28.83
$GC,297,-0.94,-181.7,36.5,-19.0,49,304,0.00,2.17,0.00,0.000,6,0.000,0.059,2299,2409,3946,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,342,begin apogee
$GC,345,-0.25,0.0,45.2,-18.9,58,429,0.73,0.00,79.97,0.233,6,0.148,0.000,2529,2404,3204,0,0,0,0,0,0,25.93,28.83,25.53
$STATE,430,end apogee,CONTROL_FINISHED_OK
$STATE,430,begin climb
$GC,431,0.94,181.7,51.7,0.0,71,573,1.15,2.33,131.80,0.457,4,0.121,0.078,2911,3818,2454,0,0,0,0,0,0,25.69,25.22,24.91
$GC,597,1.03,286.5,44.8,6.1,98,651,0.00,2.28,44.10,0.216,6,0.000,0.062,2918,2402,2034,0,0,0,0,0,0,28.83,25.41,25.27
$GC,769,1.11,368.5,33.5,6.9,130,811,0.15,2.30,36.33,0.192,4,0.096,0.080,2981,3817,1700,0,0,0,0,0,0,25.77,25.64,25.52
$GC,855,1.11,368.5,24.7,12.1,145,863,0.00,2.22,0.00,0.000,6,0.000,0.060,2989,2402,1705,0,0,0,0,0,0,28.83,25.77,28.83
$GC,922,1.11,368.8,17.7,10.0,158,929,0.00,2.25,0.00,0.000,4,0.000,0.083,2989,3807,1700,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1018,1.15,418.4,8.1,8.1,177,1046,0.00,2.20,19.98,0.135,6,0.000,0.060,2998,2400,1493,0,0,0,0,0,0,28.83,25.94,25.79
$STATE,1059,end climb,SURFACE_DEPTH_REACHED
$STATE,1059,begin surface coast
$FINISH,0.3,1.020046
$STATE,1129,end surface coast,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$SM_CCo,1145,97.65,0.120,0,0,510,660.10
$SM_GC,0.83,7.53,0.00,97.65,0.054,0.000,0.120,168,2402,510,-7.60,0.11,660.10,0,0,0,0,0,0,25.98,28.83,25.72
$IRIDIUM_FIX,4751.72,-12340.51,240314,171755
$TT8_MAMPS,0.113848,0.113848
$HUMID,30.98
$INTERNAL_PRESSURE,8.8948
$TCM_TEMP,17.70
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,72
$MI_LOG,3.4/516052/498371
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/427078
$24V_AH,24.9,3.316
$10V_AH,10.3,2.988
$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,17.775,22.600,312.175,97.650,0.000,0.000,0.000,0.000,0.000,1234.400,39.777,0.000,323.677,480.911,494.671,20.009,29.115,716.167,0.000,291.555,0.000,0.000,0.000
$DEVICE_MAMPS,231.795,82.620,456.705,120.105,0.000,0.000,0.000,0.000,0.000,46.473,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,126.993,0.000,0.000,0.000,0.000,0.000,1234.400,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.346,0.000,0.000,0.000
$MEM,200524
$DATA_FILE_SIZE,6886,198
$CAP_FILE_SIZE,90812,0
$CFSIZE,1024409600,1021820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240314,174700,4743.229,-12224.477,2,0.9,36,16.3