version: 66.10
glider: 210
mission: 3
dive: 23
start: 3 13 114 13 21 45
data:
$ID,210
$MISSION,3
$DIVE,23
$N_DIVES,28
$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,340
$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,650
$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,-4696.1621
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,130314,130524,4742.671,-12224.164,2,0.8,36,16.3
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.7
$GPS2,130314,132103,4742.805,-12224.018,4,0.9,39,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,4752.953,-12229.524
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.150,0.209
$KALMAN_X,-2380.9,17.8,-479.5,3686.6,245.9
$KALMAN_Y,-4553.8,47.5,-532.9,5308.4,-38.7
$MHEAD_RNG_PITCHd_Wd,308.0,20000,-17.6,-10.000
$D_GRID,157
$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,-1.11,-146.6,0.0,0.0,0,94,0.00,0.00,-77.18,0.000,2,0.000,0.000,169,2392,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.11,-146.6,3.9,-9.2,12,129,9.48,2.20,-17.38,0.000,4,0.269,0.074,2366,982,3631,0,0,0,0,0,0,25.42,25.61,25.72
$GC,325,-1.11,-146.6,28.8,-12.1,66,332,0.00,2.25,0.00,0.000,6,0.000,0.067,2356,2401,3631,0,0,0,0,0,0,28.83,25.72,28.83
$GC,391,-1.11,-146.6,37.0,-12.6,79,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2402,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,451,-1.11,-146.6,45.3,-13.9,91,458,0.00,2.25,0.00,0.000,4,0.000,0.083,2346,3798,3631,0,0,0,0,0,0,28.83,25.73,28.83
$GC,546,-1.11,-146.6,60.1,-17.0,114,553,0.00,2.25,0.00,0.000,6,0.000,0.061,2346,2367,3632,0,0,0,0,0,0,28.83,25.79,28.83
$GC,672,-1.11,-146.6,77.5,-12.9,139,679,0.00,2.15,0.00,0.000,4,0.000,0.063,2350,982,3632,0,0,0,0,0,0,28.83,25.79,28.83
$GC,707,-1.11,-146.6,82.1,-12.7,147,715,0.15,2.28,0.00,0.000,6,0.179,0.070,2374,2404,3631,0,0,0,0,0,0,25.70,25.78,28.83
$GC,834,-1.11,-146.6,97.5,-12.1,172,841,0.00,2.25,0.00,0.000,4,0.000,0.085,2364,3806,3631,0,0,0,0,0,0,28.83,25.81,28.83
$GC,968,-1.11,-146.6,115.7,-12.4,205,976,0.00,2.17,0.00,0.000,6,0.000,0.060,2364,2399,3631,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1095,-1.11,-146.6,130.6,-11.4,230,1101,0.00,2.28,0.00,0.000,4,0.000,0.084,2353,3806,3631,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1186,-1.11,-146.6,141.9,-12.4,252,1193,0.00,2.20,0.00,0.000,6,0.000,0.061,2353,2397,3631,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1318,-0.26,0.0,157.0,-10.7,272,1480,0.93,0.00,149.90,0.508,6,0.151,0.000,2640,2397,3044,0,0,0,0,1,0,25.66,28.83,23.93
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1482,1.11,146.6,160.4,0.0,291,1612,1.33,2.40,116.80,1.227,4,0.099,0.063,3090,996,2444,0,0,0,0,1,0,24.84,24.21,23.42
$GC,1704,1.11,146.6,139.5,13.7,328,1711,0.00,2.30,1.73,0.246,6,0.000,0.066,3095,2404,2441,0,0,0,0,0,0,28.83,25.07,24.73
$GC,1830,1.11,146.6,122.9,13.0,353,1838,0.00,0.00,1.60,0.230,6,0.000,0.000,3091,2404,2442,0,0,0,0,0,0,28.83,28.83,25.05
$GC,1957,1.11,146.6,104.9,15.1,378,1965,0.00,0.00,1.20,0.199,6,0.000,0.000,3090,2404,2444,0,0,0,0,0,0,28.83,28.83,25.41
$GC,2084,1.11,146.6,87.1,14.4,403,2091,0.00,2.28,1.40,0.213,4,0.000,0.082,3091,3802,2445,0,0,0,0,0,0,28.83,25.63,25.39
$GC,2191,1.11,146.6,70.0,15.8,429,2199,0.00,2.22,1.20,0.201,6,0.000,0.063,3101,2390,2440,0,0,0,0,0,0,28.83,25.69,25.53
$GC,2318,1.11,146.6,52.6,12.8,454,2325,0.00,2.20,1.15,0.204,4,0.000,0.063,3112,988,2441,0,0,0,0,0,0,28.83,25.72,25.60
$GC,2349,1.11,146.6,48.5,13.1,461,2357,0.00,2.28,0.93,0.216,6,0.000,0.072,3112,2405,2441,0,0,0,0,0,0,28.83,25.70,25.65
$GC,2476,1.11,146.6,31.6,13.3,486,2484,0.00,2.22,1.20,0.205,4,0.000,0.065,3121,996,2439,0,0,0,0,0,0,28.83,25.75,25.62
$GC,2600,1.11,146.6,16.9,12.3,516,2607,0.15,2.25,0.93,0.238,6,0.186,0.070,3085,2415,2436,0,0,0,0,0,0,25.66,25.77,25.70
$GC,2666,1.11,146.6,9.2,10.8,529,2674,0.00,0.00,0.82,0.225,6,0.000,0.000,3082,2411,2437,0,0,0,0,0,0,28.83,28.83,25.69
$GC,2733,1.50,463.1,7.7,-4.7,542,2839,0.35,0.00,102.07,0.133,2,0.078,0.000,3216,2410,1368,0,0,0,0,0,0,25.81,28.83,28.83
$STATE,2839,end climb,SURFACE_DEPTH_REACHED
$STATE,2839,begin surface coast
$FINISH,0.2,1.005958
$STATE,2922,end surface coast,CONTROL_FINISHED_OK
$STATE,2922,begin surface
$SM_CCo,2937,87.15,0.119,0,0,497,621.59
$SM_CCo,3026,-0.17,0.000,0,0,501,621.59
$SM_CCo,3028,0.20,0.526,0,0,496,621.59
$SM_GC,1.03,8.40,0.00,0.20,0.066,0.000,0.526,165,2413,496,-7.96,0.28,621.59,0,0,0,0,0,0,25.67,28.83,25.46
$IRIDIUM_FIX,4751.72,-12340.51,130314,121200
$TT8_MAMPS,0.116844,0.116844
$HUMID,30.35
$INTERNAL_PRESSURE,8.81667
$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,69
$MI_LOG,3.4/516052/498395
$MI_ROOT,70.7/190403/55826
$MI_HOME,2.3/436550/426591
$24V_AH,23.4,2.947
$10V_AH,10.2,2.629
$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,20.775,40.425,380.925,87.350,0.000,0.000,0.000,498.975,0.000,4158.200,40.776,0.000,1419.427,522.387,1892.788,48.911,33.224,1566.062,0.000,876.702,0.000,0.000,0.000
$DEVICE_MAMPS,268.515,84.915,1227.060,525.555,0.000,0.000,0.000,91.035,0.000,49.215,45.690,0.000,0.390,14.710,41.670,61.150,65.640,16.000,0.000,23.970,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,384.920,0.000,0.000,0.000,0.000,0.000,4158.200,0.000,0.000,0.000
$SENSOR_MAMPS,39.700,0.000,0.000,0.000,0.000,0.000,43.962,0.000,0.000,0.000
$MEM,200448
$DATA_FILE_SIZE,23543,575
$CAP_FILE_SIZE,74442,0
$CFSIZE,1024409600,1020182528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,130314,141305,4743.207,-12224.119,2,1.0,36,16.3