version: 66.10
glider: 211
mission: 2
dive: 4
start: 3 5 114 0 43 48
data:
$ID,211
$MISSION,2
$DIVE,4
$N_DIVES,25
$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,-4088.6655
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,050314,002544,4743.420,-12224.497,1,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.4
$GPS2,050314,004124,4743.412,-12224.484,4,1.0,39,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.112,0.236
$KALMAN_X,-247.4,-244.9,-143.0,1342.2,-5.9
$KALMAN_Y,-111.0,-10.7,147.6,-9.2,-114.2
$MHEAD_RNG_PITCHd_Wd,9.2,1246,-18.1,-10.000
$D_GRID,174
$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,-146.6,0.0,0.0,0,75,0.00,0.00,-58.45,0.000,6,0.000,0.000,187,1978,3101,0,0,0,0,0,0,28.83,28.83,26.06
$GC,77,-1.14,-146.6,2.1,-2.1,9,91,9.05,2.33,0.00,0.000,4,0.265,0.067,2289,3407,3102,0,0,0,0,0,0,25.70,25.79,28.83
$GC,690,-1.14,-146.6,77.1,-11.5,131,698,0.00,2.28,0.00,0.000,6,0.000,0.056,2290,2002,3103,0,0,0,0,0,0,28.83,26.10,28.83
$GC,816,-1.14,-146.6,91.3,-10.9,156,824,0.00,2.28,0.00,0.000,4,0.000,0.069,2280,3399,3102,0,0,0,0,0,0,28.83,26.08,28.83
$GC,908,-1.14,-146.6,102.5,-12.2,174,916,0.00,2.25,0.00,0.000,6,0.000,0.057,2281,1996,3102,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1035,-1.14,-146.6,116.2,-9.8,199,1043,0.00,2.33,0.00,0.000,4,0.000,0.071,2280,584,3102,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1096,-1.14,-146.6,122.8,-10.3,211,1105,0.10,2.25,0.00,0.000,6,0.161,0.055,2299,2000,3102,0,0,0,0,0,0,25.98,26.12,28.83
$GC,1224,-1.14,-146.6,135.1,-9.5,236,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2000,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1349,-1.14,-146.6,147.6,-9.8,261,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2000,3103,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1376,-0.26,0.0,150.1,-9.7,266,1488,0.90,0.00,108.40,0.514,6,0.148,0.000,2582,2000,2502,0,0,0,0,0,0,25.99,28.83,24.84
$STATE,1489,end apogee,CONTROL_FINISHED_OK
$STATE,1489,begin climb
$GC,1490,1.14,146.6,153.4,0.0,277,1607,1.33,0.00,108.05,0.483,6,0.086,0.000,3034,2000,1895,0,0,0,0,0,0,25.24,28.83,24.69
$GC,1726,1.14,146.6,126.6,15.8,315,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2000,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,1.14,146.6,108.7,15.1,339,1853,0.00,2.33,0.00,0.000,4,0.000,0.068,3034,3401,1891,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1857,1.14,146.6,107.0,14.5,341,1865,0.00,2.33,0.00,0.000,6,0.000,0.060,3041,1999,1892,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1984,1.14,146.6,87.5,14.9,366,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2001,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2109,1.14,146.6,67.7,15.2,391,2117,0.00,2.35,0.00,0.000,4,0.000,0.070,3041,3408,1891,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2176,1.14,146.6,56.7,17.3,404,2184,0.00,2.28,0.00,0.000,6,0.000,0.060,3051,2000,1892,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2303,1.14,146.6,36.7,14.3,429,2311,0.00,2.30,0.00,0.000,4,0.000,0.070,3051,3402,1892,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2335,1.14,146.6,32.0,14.2,435,2343,0.00,2.30,0.00,0.000,6,0.000,0.060,3055,2004,1892,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2402,1.14,146.6,23.0,13.4,448,2409,0.00,2.35,0.00,0.000,4,0.000,0.076,3052,579,1892,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2538,1.14,146.6,4.9,12.3,475,2546,0.00,2.28,0.00,0.000,6,0.000,0.057,3055,2000,1891,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,2564,end climb,SURFACE_DEPTH_REACHED
$STATE,2564,begin surface coast
$FINISH,0.3,1.010686
$STATE,2579,end surface coast,CONTROL_FINISHED_OK
$STATE,2580,begin surface
$SM_CCo,2594,30.67,0.145,0,0,1520,240.15
$SM_GC,1.19,7.93,0.00,30.67,0.066,0.000,0.145,184,1998,1520,-7.72,0.00,240.15,0,0,0,0,0,0,26.09,28.83,25.89
$IRIDIUM_FIX,4751.72,-12340.51,040314,232341
$TT8_MAMPS,0.107856,0.107856
$HUMID,30.82
$INTERNAL_PRESSURE,8.8723
$TCM_TEMP,17.10
$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,3.4/516052/498566
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426380
$24V_AH,24.7,1.127
$10V_AH,10.3,1.189
$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,19.300,32.200,216.450,30.675,0.000,23.825,39.156,343.835,0.000,3659.200,42.353,0.000,1212.899,341.040,1615.746,39.951,32.210,746.193,0.000,712.212,0.000,0.000,0.000
$DEVICE_MAMPS,264.690,76.500,514.080,144.585,0.000,13.010,160.000,223.000,0.000,50.072,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,325.384,0.000,0.000,0.000,0.000,0.000,3659.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.281,0.000,0.000,0.000
$MEM,200372
$DATA_FILE_SIZE,16749,483
$CAP_FILE_SIZE,62982,0
$CFSIZE,1024409600,1021542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,012643,4743.350,-12224.416,2,0.9,37,16.3