version: 66.10
glider: 211
mission: 2
dive: 17
start: 3 5 114 14 40 45
data:
$ID,211
$MISSION,2
$DIVE,17
$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,-5212.9976
$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,19
$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
$GPS1,050314,142331,4742.854,-12224.356,2,0.9,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.0
$GPS2,050314,143821,4742.858,-12224.484,4,1.0,38,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.157,0.185
$KALMAN_X,-3214.6,194.8,-304.7,4025.6,-579.3
$KALMAN_Y,-3186.0,292.9,-219.6,2082.7,-762.8
$MHEAD_RNG_PITCHd_Wd,23.9,658,-14.9,-8.000
$D_GRID,175
$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,-57.97,0.000,6,0.000,0.000,184,1800,3100,0,0,0,0,0,0,28.83,28.83,25.90
$GC,77,-1.01,-146.6,2.4,-3.3,9,91,9.50,2.33,0.00,0.000,4,0.274,0.066,2316,3219,3104,0,0,0,0,0,0,25.56,25.73,28.83
$GC,315,-1.01,-146.6,30.7,-9.9,56,323,0.00,2.30,0.00,0.000,6,0.000,0.057,2316,1806,3100,0,0,0,0,0,0,28.83,25.89,28.83
$GC,382,-1.01,-146.6,37.3,-10.1,69,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1806,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,442,-1.01,-146.6,43.3,-9.2,81,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1806,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,562,-1.01,-146.6,54.6,-9.8,105,570,0.00,2.28,0.00,0.000,4,0.000,0.067,2307,3207,3100,0,0,0,0,0,0,28.83,25.94,28.83
$GC,714,-1.01,-146.6,71.4,-11.3,135,721,0.00,2.28,0.00,0.000,6,0.000,0.057,2307,1797,3100,0,0,0,0,0,0,28.83,25.94,28.83
$GC,840,-1.01,-146.6,86.2,-11.3,160,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1794,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,960,-1.01,-146.6,101.1,-13.1,184,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1797,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1080,-1.01,-146.6,117.1,-14.0,208,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,1797,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1200,-1.01,-146.6,131.5,-12.1,232,1208,0.00,2.30,0.00,0.000,4,0.000,0.067,2301,3211,3100,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1317,-1.01,-146.6,144.5,-10.7,255,1325,0.08,2.28,0.00,0.000,6,0.154,0.057,2324,1797,3100,0,0,0,0,0,0,25.92,25.98,28.83
$GC,1449,-1.01,-146.6,158.4,-10.2,273,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,1796,3103,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1628,begin apogee
$GC,1631,-0.28,0.0,175.5,-8.9,291,1753,0.75,0.00,112.78,0.951,6,0.141,0.000,2555,2011,2505,0,0,0,0,1,0,25.91,28.83,23.87
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1755,1.01,146.6,178.1,0.0,303,1881,1.25,2.35,114.35,0.496,4,0.092,0.068,2970,3401,1892,0,0,0,0,0,0,24.60,24.82,24.50
$GC,1890,1.01,146.6,168.4,11.7,317,1894,0.00,2.38,0.00,0.000,6,0.000,0.057,2978,1991,1892,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2195,1.01,146.6,130.3,14.2,362,2203,0.00,2.35,0.00,0.000,4,0.000,0.072,2988,591,1892,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2217,1.01,146.6,127.6,12.2,366,2225,0.00,2.28,0.00,0.000,6,0.000,0.056,2988,1993,1891,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2344,1.01,146.6,113.5,9.8,391,2352,0.00,2.35,0.00,0.000,4,0.000,0.070,2987,3404,1892,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2376,1.01,146.6,109.9,11.7,397,2384,0.00,2.30,0.00,0.000,6,0.000,0.058,2998,1993,1891,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2503,1.01,146.6,96.2,11.5,422,2510,0.00,2.35,0.00,0.000,4,0.000,0.075,3002,592,1891,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2569,1.01,146.6,88.3,12.4,435,2577,0.00,2.28,0.00,0.000,6,0.000,0.057,3003,2005,1891,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2696,1.01,146.6,72.6,12.6,460,2704,0.00,2.33,0.00,0.000,4,0.000,0.070,3002,3404,1891,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2733,1.01,146.6,67.8,13.1,467,2741,0.10,2.28,0.00,0.000,6,0.151,0.059,2983,2001,1891,0,0,0,0,0,0,25.86,25.94,28.83
$GC,2860,1.01,146.6,53.0,12.2,492,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2000,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,1.01,146.6,37.7,11.9,517,2993,0.00,2.30,0.00,0.000,4,0.000,0.070,2982,3401,1891,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3027,1.01,146.6,33.1,10.5,525,3035,0.00,2.28,0.00,0.000,6,0.000,0.058,2989,1990,1892,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3094,1.01,146.6,26.1,10.4,538,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1991,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,1.01,146.6,20.3,9.2,550,3162,0.00,2.35,0.00,0.000,4,0.000,0.074,2999,588,1891,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3291,1.01,146.6,5.8,12.0,577,3299,0.00,2.28,0.00,0.000,6,0.000,0.057,2999,2006,1891,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,3327,end climb,SURFACE_DEPTH_REACHED
$STATE,3327,begin surface coast
$FINISH,0.3,1.022410
$STATE,3347,end surface coast,CONTROL_FINISHED_OK
$STATE,3347,begin surface
$SM_CCo,3362,31.25,0.144,0,0,1519,240.15
$SM_GC,0.83,7.72,0.35,31.25,0.062,0.083,0.144,193,1797,1519,-7.65,0.54,240.15,0,0,0,0,0,0,25.98,25.98,25.82
$IRIDIUM_FIX,4751.72,-12340.51,050314,141431
$TT8_MAMPS,0.109354,0.109354
$HUMID,29.56
$INTERNAL_PRESSURE,8.8723
$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,3.4/516052/498550
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.4/436550/426277
$24V_AH,23.9,2.671
$10V_AH,10.3,2.325
$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,19.400,46.850,227.125,31.250,0.000,47.882,68.012,370.427,0.000,4355.600,42.693,0.000,1745.799,373.721,1984.575,55.470,33.211,864.791,0.000,870.485,0.000,0.000,0.000
$DEVICE_MAMPS,273.870,83.385,950.895,143.820,0.000,13.010,160.000,223.000,0.000,51.914,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,396.964,0.000,0.000,0.000,0.000,0.000,4355.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.406,0.000,0.000,0.000
$MEM,200304
$DATA_FILE_SIZE,23416,588
$CAP_FILE_SIZE,79795,0
$CFSIZE,1024409600,1020444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,153630,4742.961,-12224.275,2,1.0,36,16.3