version: 66.10
glider: 211
mission: 2
dive: 15
start: 3 5 114 12 15 52
data:
$ID,211
$MISSION,2
$DIVE,15
$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,-5041.7778
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,050314,120106,4742.843,-12224.057,5,0.8,40,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.9
$GPS2,050314,121328,4742.767,-12224.230,4,0.9,39,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.149,0.191
$KALMAN_X,-1959.0,285.8,-204.6,2899.3,-483.8
$KALMAN_Y,-2508.8,341.3,528.1,448.1,-591.6
$MHEAD_RNG_PITCHd_Wd,21.7,519,-14.9,-8.000
$D_GRID,161
$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,-1.01,-146.6,0.0,0.0,0,75,0.00,0.00,-58.60,0.000,6,0.000,0.000,185,1790,3100,0,0,0,0,0,0,28.83,28.83,25.91
$GC,77,-1.01,-146.6,2.1,-2.0,9,91,9.50,2.30,0.00,0.000,4,0.274,0.064,2318,3210,3102,0,0,0,0,0,0,25.53,25.76,28.83
$GC,165,-1.01,-146.6,13.8,-10.7,26,173,0.00,2.28,0.00,0.000,6,0.000,0.056,2319,1813,3103,0,0,0,0,0,0,28.83,25.81,28.83
$GC,232,-1.01,-146.6,20.6,-10.0,39,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1813,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,292,-1.01,-146.6,26.6,-10.3,51,299,0.00,2.28,0.00,0.000,4,0.000,0.067,2309,3202,3103,0,0,0,0,0,0,28.83,25.88,28.83
$GC,328,-1.01,-146.6,30.5,-10.7,58,336,0.00,2.28,0.00,0.000,6,0.000,0.057,2309,1800,3103,0,0,0,0,0,0,28.83,25.86,28.83
$GC,395,-1.01,-146.6,38.1,-11.0,71,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1803,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,455,-1.01,-146.6,45.0,-11.4,83,463,0.00,2.30,0.00,0.000,4,0.000,0.068,2305,3205,3103,0,0,0,0,0,0,28.83,25.92,28.83
$GC,517,-1.01,-146.6,51.5,-10.8,95,525,0.00,2.28,0.00,0.000,6,0.000,0.058,2305,1803,3103,0,0,0,0,0,0,28.83,25.91,28.83
$GC,644,-1.01,-146.6,64.3,-10.4,120,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1802,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,763,-1.01,-146.6,76.2,-10.8,144,771,0.00,2.30,0.00,0.000,4,0.000,0.067,2295,3212,3103,0,0,0,0,0,0,28.83,25.97,28.83
$GC,800,-1.01,-146.6,80.1,-11.1,151,808,0.10,2.28,0.00,0.000,6,0.150,0.057,2325,1801,3102,0,0,0,0,0,0,25.89,25.96,28.83
$GC,928,-1.01,-146.6,92.6,-8.7,176,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1801,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1053,-1.01,-146.6,104.0,-9.6,201,1061,0.00,2.30,0.00,0.000,4,0.000,0.067,2320,3210,3103,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1125,-1.01,-146.6,111.4,-10.0,215,1133,0.00,2.28,0.00,0.000,6,0.000,0.057,2321,1801,3103,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1252,-1.01,-146.6,125.2,-12.2,240,1259,0.00,2.35,0.00,0.000,4,0.000,0.071,2320,385,3102,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1313,-1.01,-146.6,130.3,-10.1,252,1321,0.00,2.30,0.00,0.000,6,0.000,0.057,2311,1796,3103,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1440,-1.01,-146.6,144.7,-8.0,277,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,1797,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1571,-1.01,-146.6,156.9,-9.3,296,1574,0.00,2.33,0.00,0.000,4,0.000,0.067,2305,3216,3103,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,1740,end dive,NO_VERTICAL_VELOCITY
$STATE,1740,begin apogee
$GC,1744,-0.28,0.0,158.2,0.0,313,1864,0.75,0.00,109.70,0.515,6,0.096,0.000,2563,1986,2495,0,0,0,0,0,0,25.98,28.83,24.68
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1865,1.01,146.6,158.2,0.0,325,1984,1.20,0.00,110.05,0.471,6,0.088,0.000,2972,1986,1895,0,0,0,0,0,0,25.13,28.83,24.58
$GC,2282,1.01,146.6,120.1,9.0,397,2291,0.00,2.35,0.00,0.000,4,0.000,0.072,2975,592,1889,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2330,1.01,146.6,115.6,9.8,406,2337,0.00,2.28,0.00,0.000,6,0.000,0.057,2976,2002,1889,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2456,1.01,146.6,103.7,8.9,431,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2002,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2576,1.01,146.6,93.2,11.5,455,2584,0.00,2.35,0.00,0.000,4,0.000,0.073,2978,587,1887,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2593,1.01,146.6,90.9,13.0,458,2601,0.00,2.28,0.00,0.000,6,0.000,0.056,2982,2001,1887,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2720,1.01,146.6,75.4,12.2,483,2728,0.00,2.33,0.00,0.000,4,0.000,0.070,2982,3404,1889,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2767,1.01,146.6,68.8,13.8,492,2775,0.00,2.28,0.00,0.000,6,0.000,0.058,2988,2000,1888,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2893,1.01,146.6,53.4,10.6,517,2901,0.00,2.38,0.00,0.000,4,0.000,0.076,2988,583,1890,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2955,1.01,146.6,45.3,12.3,529,2963,0.00,2.28,0.00,0.000,6,0.000,0.057,2989,2003,1890,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3082,1.01,146.6,31.4,9.7,554,3090,0.00,2.33,0.00,0.000,4,0.000,0.070,2988,3404,1889,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3174,1.01,146.6,20.0,12.0,572,3182,0.00,2.28,0.00,0.000,6,0.000,0.058,2999,1993,1889,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3241,1.01,146.6,12.2,11.8,585,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1993,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,1.01,146.6,5.2,12.2,597,3309,0.00,2.35,0.00,0.000,4,0.000,0.074,3001,589,1889,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,3327,end climb,SURFACE_DEPTH_REACHED
$STATE,3327,begin surface coast
$FINISH,0.7,1.022380
$STATE,3337,end surface coast,CONTROL_FINISHED_OK
$STATE,3337,begin surface
$SM_CCo,3354,31.23,0.142,0,0,1519,240.15
$SM_GC,1.08,7.70,2.00,31.23,0.060,0.059,0.142,189,1803,1519,-7.66,-0.74,240.15,0,0,0,0,0,0,25.98,26.02,25.82
$IRIDIUM_FIX,4751.72,-12340.51,050314,111134
$TT8_MAMPS,0.107856,0.107856
$HUMID,29.28
$INTERNAL_PRESSURE,8.82347
$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,3.4/516052/498553
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426326
$24V_AH,24.6,2.403
$10V_AH,10.3,2.134
$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,19.250,59.275,219.750,31.225,0.000,25.275,33.860,353.642,0.000,4220.200,42.521,0.000,1592.324,395.748,1960.248,52.765,33.214,918.552,0.000,917.205,0.000,0.000,0.000
$DEVICE_MAMPS,273.870,75.735,514.845,142.290,0.000,13.010,160.000,223.000,0.000,51.183,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,407.408,0.000,0.000,0.000,0.000,0.000,4220.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.405,0.000,0.000,0.000
$MEM,200280
$DATA_FILE_SIZE,23455,604
$CAP_FILE_SIZE,82363,0
$CFSIZE,1024409600,1020592128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,131128,4742.829,-12224.167,2,0.8,37,16.3