version: 66.10
glider: 211
mission: 2
dive: 2
start: 3 4 114 21 41 46
data:
$ID,211
$MISSION,2
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,-3368.7139
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,040314,213411,4743.907,-12225.210,3,1.0,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-58.4
$GPS2,040314,213924,4743.951,-12225.249,4,1.0,39,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.196,-0.173
$KALMAN_X,-105.4,-105.4,-105.4,75.3,-276.4
$KALMAN_Y,206.3,206.3,206.3,357.0,541.0
$MHEAD_RNG_PITCHd_Wd,115.1,1558,-18.1,-10.000
$D_GRID,191
$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,-1.14,-146.6,0.0,0.0,0,107,0.00,0.00,-88.28,0.000,6,0.000,0.000,186,2012,3100,0,0,0,0,0,0,28.83,28.83,26.31
$GC,108,-1.14,-146.6,2.5,-4.1,14,123,8.77,2.25,0.00,0.000,4,0.257,0.065,2288,3412,3102,0,0,0,0,0,0,25.89,26.12,28.83
$GC,196,-1.14,-146.6,18.3,-17.2,31,204,0.00,2.25,0.00,0.000,6,0.000,0.057,2288,2004,3103,0,0,0,0,0,0,28.83,26.13,28.83
$GC,263,-1.14,-146.6,23.8,-5.9,44,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2004,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,323,-1.14,-146.6,31.0,-15.5,56,331,0.00,2.25,0.00,0.000,4,0.000,0.067,2278,3400,3103,0,0,0,0,0,0,28.83,26.02,28.83
$GC,440,-1.14,-146.6,47.1,-14.1,79,448,0.00,2.22,0.00,0.000,6,0.000,0.057,2278,2006,3103,0,0,0,0,0,0,28.83,26.16,28.83
$GC,567,-1.14,-146.6,64.7,-14.0,104,575,0.00,2.25,0.00,0.000,4,0.000,0.066,2268,3403,3102,0,0,0,0,0,0,28.83,26.17,28.83
$GC,589,-1.14,-146.6,68.0,-14.9,108,597,0.10,2.25,0.00,0.000,6,0.161,0.057,2298,1994,3103,0,0,0,0,0,0,26.03,26.16,28.83
$GC,716,-1.14,-146.6,83.1,-9.9,133,723,0.00,2.28,0.00,0.000,4,0.000,0.067,2291,3402,3103,0,0,0,0,0,0,28.83,26.18,28.83
$GC,757,-1.14,-146.6,87.8,-11.7,141,765,0.00,2.22,0.00,0.000,6,0.000,0.057,2291,2006,3103,0,0,0,0,0,0,28.83,26.18,28.83
$GC,884,-1.14,-146.6,103.7,-13.7,166,892,0.00,2.35,0.00,0.000,4,0.000,0.073,2291,587,3103,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1056,-1.14,-146.6,128.9,-15.8,200,1064,0.00,2.25,0.00,0.000,6,0.000,0.055,2282,1998,3102,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1183,-1.14,-146.6,145.9,-12.5,225,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2000,3102,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1219,-0.26,0.0,150.3,-12.4,232,1331,0.95,0.00,103.43,0.500,6,0.149,0.000,2574,1999,2498,0,0,0,0,0,0,26.07,28.83,25.06
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1333,1.14,146.6,153.9,0.0,243,1444,1.33,2.40,104.12,0.476,4,0.090,0.074,3039,585,1898,0,0,0,0,0,0,25.48,25.25,24.90
$GC,1468,1.14,146.6,142.1,13.3,261,1476,0.00,2.33,0.00,0.000,6,0.000,0.056,3039,2005,1896,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1595,1.14,146.6,124.8,11.4,286,1603,0.00,2.33,0.00,0.000,4,0.000,0.069,3039,3405,1896,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1637,1.14,146.6,119.3,13.7,294,1645,0.00,2.35,0.00,0.000,6,0.000,0.061,3041,2001,1896,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1764,1.14,146.6,103.2,13.8,319,1772,0.00,2.35,0.00,0.000,4,0.000,0.078,3041,586,1896,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1855,1.14,146.6,90.4,13.7,337,1863,0.00,2.28,0.00,0.000,6,0.000,0.056,3041,2009,1895,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1983,1.14,146.6,73.3,13.2,362,1990,0.00,2.30,0.00,0.000,4,0.000,0.070,3041,3410,1895,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2159,1.14,146.6,48.2,14.7,397,2167,0.00,2.28,0.00,0.000,6,0.000,0.061,3043,1996,1896,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2286,1.14,146.6,32.1,11.8,422,2294,0.00,2.33,0.00,0.000,4,0.000,0.074,3053,589,1894,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2308,1.14,146.6,29.4,12.5,426,2316,0.00,2.25,0.00,0.000,6,0.000,0.057,3053,2005,1896,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2374,1.14,146.6,20.5,14.5,439,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2005,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,1.14,146.6,12.1,14.8,451,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2005,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,1.14,146.6,3.9,12.9,463,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2005,1896,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2509,end climb,SURFACE_DEPTH_REACHED
$STATE,2509,begin surface coast
$FINISH,0.3,1.022710
$STATE,2519,end surface coast,CONTROL_FINISHED_OK
$STATE,2519,begin surface
$SM_CCo,2534,30.10,0.146,0,0,1523,240.15
$SM_GC,1.10,7.88,0.00,30.10,0.066,0.000,0.146,183,2005,1523,-7.73,0.14,240.15,0,0,0,0,0,0,26.19,28.83,26.01
$IRIDIUM_FIX,4751.72,-12340.51,040314,212129
$TT8_MAMPS,0.108605,0.108605
$HUMID,31.29
$INTERNAL_PRESSURE,8.89184
$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,3.4/516052/498571
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426596
$24V_AH,24.9,0.760
$10V_AH,10.4,0.927
$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,19.025,45.750,207.550,30.100,0.000,0.000,0.000,0.000,0.000,2678.800,42.566,0.000,1135.801,369.395,1110.026,20.655,30.060,786.878,0.000,699.787,0.000,0.000,0.000
$DEVICE_MAMPS,257.040,78.030,499.545,146.115,0.000,0.000,0.000,0.000,0.000,50.376,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,314.302,0.000,0.000,0.000,0.000,0.000,2678.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,42.185,0.000,0.000,0.000
$MEM,200388
$DATA_FILE_SIZE,16803,468
$CAP_FILE_SIZE,88101,0
$CFSIZE,1024409600,1021706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040314,222339,4743.673,-12224.909,1,0.9,36,16.3