version: 66.10
glider: 210
mission: 3
dive: 9
start: 3 13 114 0 32 49
data:
$ID,210
$MISSION,3
$DIVE,9
$N_DIVES,0
$D_SURF,5
$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,60
$T_MISSION,80
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$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,621.59021
$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,2
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4678.27
$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,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,18
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3034
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-65.985092
$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
$GPS1,130314,002529,4742.202,-12225.038,3,0.8,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.9
$GPS2,130314,003207,4742.213,-12224.992,4,0.9,38,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.075,0.247
$KALMAN_X,-681.2,-423.8,-181.7,912.6,72.3
$KALMAN_Y,-1218.8,-646.5,-303.1,1337.4,120.7
$MHEAD_RNG_PITCHd_Wd,0.6,3533,-17.6,-10.000
$D_GRID,78
$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,-1.11,-146.6,0.0,0.0,0,100,0.00,0.00,-83.62,0.000,2,0.000,0.000,169,2403,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.11,-146.6,3.3,-4.3,13,129,9.12,2.28,-9.50,0.000,4,0.258,0.080,2370,978,3631,0,0,0,0,0,0,25.60,25.79,25.91
$GC,349,-1.11,-146.6,30.8,-10.6,72,356,0.00,2.28,0.00,0.000,6,0.000,0.069,2360,2410,3632,0,0,0,0,0,0,28.83,25.82,28.83
$GC,415,-1.11,-146.6,38.4,-11.9,85,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2410,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-1.11,-146.6,45.7,-11.9,97,482,0.00,2.25,0.00,0.000,4,0.000,0.086,2348,3794,3632,0,0,0,0,0,0,28.83,25.82,28.83
$GC,658,-1.11,-146.6,71.5,-14.8,142,665,0.00,2.20,0.00,0.000,6,0.000,0.060,2353,2390,3633,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,708,begin apogee
$GC,710,-0.26,0.0,78.3,-12.4,152,782,0.93,0.00,64.28,0.309,6,0.151,0.000,2641,2389,3037,0,0,0,0,0,0,25.76,28.83,25.25
$STATE,782,end apogee,CONTROL_FINISHED_OK
$STATE,782,begin climb
$GC,783,1.11,146.6,81.1,0.0,163,855,1.30,2.30,63.72,0.304,4,0.103,0.067,3087,988,2439,0,0,0,0,0,0,25.46,25.26,25.02
$GC,863,1.11,150.5,75.5,9.8,176,871,0.00,2.30,2.47,0.289,6,0.000,0.073,3087,2395,2420,0,0,0,0,0,0,28.83,24.71,25.05
$GC,990,1.11,150.5,59.5,13.3,201,997,0.00,2.25,0.00,0.000,4,0.000,0.070,3093,980,2424,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1008,1.11,150.5,56.9,13.8,205,1015,0.00,2.30,0.00,0.000,6,0.000,0.074,3094,2401,2425,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1134,1.11,150.5,41.3,11.1,230,1142,0.00,2.30,0.35,0.360,4,0.000,0.088,3094,3807,2422,0,0,0,0,0,0,28.83,25.64,25.61
$GC,1185,1.11,150.5,34.3,14.1,242,1193,0.00,2.22,0.00,0.000,6,0.000,0.068,3104,2397,2424,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1252,1.11,150.5,25.7,12.6,255,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,2426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,1.11,150.5,17.9,12.9,267,1318,0.00,2.30,0.00,0.000,4,0.000,0.089,3104,3808,2424,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1322,1.11,150.5,16.5,13.5,269,1329,0.00,2.28,0.00,0.000,6,0.000,0.070,3115,2400,2424,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1388,1.11,150.5,9.1,11.1,282,1395,0.00,2.30,0.00,0.000,4,0.000,0.093,3115,3796,2424,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1398,1.11,150.5,7.9,11.8,284,1406,0.08,2.28,0.00,0.000,6,0.194,0.073,3089,2392,2424,0,0,0,0,0,0,25.63,25.79,28.83
$STATE,1429,end climb,SURFACE_DEPTH_REACHED
$STATE,1429,begin surface coast
$FINISH,1.9,1.019796
$STATE,1485,end surface coast,CONTROL_FINISHED_OK
$STATE,1485,begin surface
$SM_CCo,1500,182.38,0.116,0,0,497,621.59
$SM_GC,0.99,8.27,0.00,182.38,0.084,0.000,0.116,164,2392,497,-7.95,-0.25,621.59,0,0,0,0,0,0,25.83,28.83,25.37
$IRIDIUM_FIX,4751.72,-12340.51,120314,232311
$TT8_MAMPS,0.119091,0.119091
$HUMID,31.02
$INTERNAL_PRESSURE,8.82643
$TCM_TEMP,17.30
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,69
$MI_LOG,3.4/516052/498406
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.2/436550/426866
$24V_AH,24.7,1.621
$10V_AH,10.2,1.501
$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,19.700,31.825,130.825,182.375,0.000,0.000,0.000,84.350,0.000,2146.100,39.781,0.000,643.327,433.614,846.581,38.015,33.192,792.745,0.000,438.269,0.000,0.000,0.000
$DEVICE_MAMPS,257.805,92.565,360.315,116.280,0.000,0.000,0.000,38.250,0.000,49.467,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,200.788,0.000,0.000,0.000,0.000,0.000,2146.200,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.762,0.000,0.000,0.000
$MEM,200488
$DATA_FILE_SIZE,10184,301
$CAP_FILE_SIZE,42276,0
$CFSIZE,1024409600,1021018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,010144,4742.479,-12224.794,1,0.9,36,16.3