version: 66.10
glider: 211
mission: 2
dive: 10
start: 3 5 114 6 24 52
data:
$ID,211
$MISSION,2
$DIVE,10
$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,-4601.6143
$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,21
$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
$GPS1,050314,061041,4743.885,-12223.951,3,0.8,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.0
$GPS2,050314,062228,4743.946,-12223.898,5,0.8,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.047,-0.238
$KALMAN_X,-530.9,-175.3,81.5,2055.7,146.7
$KALMAN_Y,-1693.6,-295.7,-453.1,3425.8,260.7
$MHEAD_RNG_PITCHd_Wd,175.0,1757,-14.9,-8.000
$D_GRID,170
$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,-1.01,-146.6,0.0,0.0,0,76,0.00,0.32,-58.17,0.000,6,0.000,0.198,185,1795,3101,0,0,0,0,0,0,28.83,25.83,25.96
$GC,77,-1.01,-146.6,2.2,-2.1,9,91,9.45,2.30,0.00,0.000,4,0.275,0.067,2309,3212,3100,0,0,0,0,0,0,25.60,25.79,28.83
$GC,505,-1.01,-146.6,52.6,-8.8,94,513,0.00,2.28,0.00,0.000,6,0.000,0.057,2313,1803,3102,0,0,0,0,0,0,28.83,25.96,28.83
$GC,632,-1.01,-146.6,65.4,-10.2,119,640,0.00,2.30,0.00,0.000,4,0.000,0.067,2306,3210,3103,0,0,0,0,0,0,28.83,25.97,28.83
$GC,704,-1.01,-146.6,72.8,-9.4,133,712,0.00,2.28,0.00,0.000,6,0.000,0.057,2307,1806,3103,0,0,0,0,0,0,28.83,25.97,28.83
$GC,830,-1.01,-146.6,85.1,-10.0,158,838,0.00,2.28,0.00,0.000,4,0.000,0.067,2304,3204,3102,0,0,0,0,0,0,28.83,26.01,28.83
$GC,862,-1.01,-146.6,88.5,-10.3,164,870,0.00,2.28,0.00,0.000,6,0.000,0.057,2304,1796,3102,0,0,0,0,0,0,28.83,25.98,28.83
$GC,989,-1.01,-146.6,102.1,-10.9,189,997,0.00,2.35,0.00,0.000,4,0.000,0.073,2304,384,3102,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1061,-1.01,-146.6,110.2,-11.9,203,1069,0.10,2.28,0.00,0.000,6,0.161,0.057,2327,1796,3102,0,0,0,0,0,0,25.91,26.03,28.83
$GC,1188,-1.01,-146.6,121.4,-8.2,228,1196,0.00,2.30,0.00,0.000,4,0.000,0.068,2319,3208,3102,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1275,-1.01,-146.6,128.7,-7.9,245,1283,0.00,2.28,0.00,0.000,6,0.000,0.058,2319,1800,3101,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1402,-1.01,-146.6,139.2,-8.0,270,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1800,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-1.01,-146.6,149.0,-9.1,294,1529,0.00,2.28,0.00,0.000,4,0.000,0.067,2311,3206,3102,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1553,-1.01,-146.6,152.0,-9.3,298,1557,0.00,2.28,0.00,0.000,6,0.000,0.058,2311,1796,3102,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,1752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1752,begin apogee
$GC,1755,-0.28,0.0,170.8,-9.3,318,1870,0.80,0.00,110.57,0.513,6,0.148,0.000,2555,2010,2501,0,0,0,0,0,0,25.94,28.83,24.77
$STATE,1871,end apogee,CONTROL_FINISHED_OK
$STATE,1871,begin climb
$GC,1872,1.01,146.6,173.1,0.0,329,1992,1.27,2.35,109.28,0.478,4,0.094,0.069,2979,3402,1894,0,0,0,0,0,0,25.06,24.94,24.53
$GC,2015,1.01,146.6,161.0,12.0,343,2024,0.00,2.35,0.00,0.000,6,0.000,0.057,2977,1996,1890,0,0,0,0,0,0,28.83,25.18,28.83
$GC,2321,1.01,146.6,124.2,11.4,396,2329,0.00,2.38,0.00,0.000,4,0.000,0.073,2982,584,1889,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2348,1.01,146.6,120.9,12.4,401,2356,0.00,2.28,0.00,0.000,6,0.000,0.057,2982,1991,1889,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2475,1.01,146.6,105.4,11.9,426,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1991,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,1.01,146.6,91.0,11.1,451,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1991,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,1.01,146.6,77.7,10.6,475,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1991,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2840,1.01,146.6,65.1,10.4,499,2848,0.00,2.35,0.00,0.000,4,0.000,0.071,2982,3408,1889,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3017,1.01,146.6,47.7,10.2,534,3025,0.00,2.28,0.00,0.000,6,0.000,0.059,2988,2013,1889,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3144,1.01,146.6,35.2,9.1,559,3152,0.00,2.38,0.00,0.000,4,0.000,0.076,2988,585,1889,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3215,1.01,146.6,28.7,8.9,573,3224,0.00,2.28,0.00,0.000,6,0.000,0.058,2989,1998,1889,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3282,1.01,146.6,22.7,8.3,586,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2000,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3342,1.01,146.6,16.8,10.4,598,3350,0.00,2.33,0.00,0.000,4,0.000,0.071,2989,3401,1889,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3459,1.01,146.6,3.1,12.6,621,3467,0.00,2.28,0.00,0.000,6,0.000,0.060,2998,1994,1889,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,3470,end climb,SURFACE_DEPTH_REACHED
$STATE,3470,begin surface coast
$FINISH,0.3,1.022420
$STATE,3485,end surface coast,CONTROL_FINISHED_OK
$STATE,3485,begin surface
$SM_CCo,3500,30.85,0.143,0,0,1520,240.15
$SM_GC,0.65,7.70,0.32,30.85,0.060,0.091,0.143,191,1801,1520,-7.66,0.51,240.15,0,0,0,0,0,0,26.00,25.93,25.84
$IRIDIUM_FIX,4751.72,-12340.51,050314,050551
$TT8_MAMPS,0.110852,0.110852
$HUMID,30.35
$INTERNAL_PRESSURE,8.85277
$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,3.4/516052/498559
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426319
$24V_AH,24.5,1.779
$10V_AH,10.3,1.669
$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,19.325,51.650,219.850,30.850,0.000,25.144,42.333,325.775,0.000,4331.600,43.149,0.000,1748.699,367.388,1958.262,48.166,33.224,889.708,0.000,937.177,0.000,0.000,0.000
$DEVICE_MAMPS,274.635,198.135,512.550,143.055,0.000,13.010,160.000,223.000,0.000,50.478,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,422.950,0.000,0.000,0.000,0.000,0.000,4331.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.319,0.000,0.000,0.000
$MEM,200328
$DATA_FILE_SIZE,23438,626
$CAP_FILE_SIZE,79473,0
$CFSIZE,1024409600,1021018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,072304,4743.723,-12224.024,13,1.0,47,16.3