version: 66.10
glider: 211
mission: 2
dive: 6
start: 3 5 114 2 38 22
data:
$ID,211
$MISSION,2
$DIVE,6
$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,-4259.5786
$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,12
$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
$GPS1,050314,022343,4743.386,-12224.476,2,1.0,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.3
$GPS2,050314,023557,4743.342,-12224.428,4,1.4,38,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.067,0.253
$KALMAN_X,-670.4,-299.6,-29.2,1773.3,-148.5
$KALMAN_Y,-1235.6,-171.8,-38.3,1318.1,-640.1
$MHEAD_RNG_PITCHd_Wd,358.5,1330,-18.1,-10.000
$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,-1.14,-146.6,0.0,0.0,0,75,0.00,0.00,-57.97,0.000,6,0.000,0.000,185,2011,3104,0,0,0,0,0,0,28.83,28.83,26.00
$GC,76,-1.14,-146.6,2.1,-2.0,9,91,8.98,2.33,0.00,0.000,4,0.261,0.069,2298,567,3101,0,0,0,0,0,0,25.65,25.82,28.83
$GC,244,-1.14,-146.6,25.2,-13.3,42,252,0.00,2.30,0.00,0.000,6,0.000,0.055,2290,2001,3102,0,0,0,0,0,0,28.83,25.95,28.83
$GC,311,-1.14,-146.6,32.7,-10.7,55,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2001,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,371,-1.14,-146.6,38.8,-9.5,67,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2001,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,431,-1.14,-146.6,44.3,-9.0,79,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2003,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,551,-1.14,-146.6,55.6,-9.7,103,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2001,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-1.14,-146.6,66.1,-9.5,127,679,0.00,2.30,0.00,0.000,4,0.000,0.068,2280,3401,3102,0,0,0,0,0,0,28.83,26.03,28.83
$GC,858,-1.14,-146.6,85.6,-9.9,164,866,0.00,2.25,0.00,0.000,6,0.000,0.055,2280,1994,3102,0,0,0,0,0,0,28.83,26.06,28.83
$GC,985,-1.14,-146.6,98.4,-10.2,189,993,0.00,2.33,0.00,0.000,4,0.000,0.070,2280,586,3102,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1051,-1.14,-146.6,106.0,-11.8,202,1060,0.10,2.25,0.00,0.000,6,0.164,0.055,2300,1989,3103,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1179,-1.14,-146.6,119.0,-10.4,227,1187,0.00,2.33,0.00,0.000,4,0.000,0.069,2292,3406,3102,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1215,-1.14,-146.6,122.6,-9.7,234,1223,0.00,2.25,0.00,0.000,6,0.000,0.056,2291,2002,3103,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1342,-1.14,-146.6,135.2,-10.5,259,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2002,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1462,-1.14,-146.6,147.1,-10.6,283,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2001,3103,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1494,-0.26,0.0,150.1,-10.4,289,1608,0.93,0.00,109.35,0.495,6,0.149,0.000,2576,1997,2500,0,0,0,0,0,0,25.95,28.83,24.84
$STATE,1609,end apogee,CONTROL_FINISHED_OK
$STATE,1609,begin climb
$GC,1610,1.14,146.6,152.1,0.0,300,1728,1.33,2.47,108.78,0.464,4,0.086,0.073,3038,591,1894,0,0,0,0,0,0,25.22,25.01,24.66
$GC,1747,1.14,146.6,138.5,14.0,320,1755,0.00,2.35,0.00,0.000,6,0.000,0.056,3044,2004,1889,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1874,1.14,146.6,119.2,14.3,345,1881,0.00,2.35,0.00,0.000,4,0.000,0.070,3039,3402,1888,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1935,1.14,146.6,108.9,17.6,357,1943,0.00,2.33,0.00,0.000,6,0.000,0.059,3041,2006,1888,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2062,1.14,146.6,88.0,15.0,382,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2007,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2182,1.14,146.6,68.9,15.7,406,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2007,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,1.14,146.6,50.0,15.8,430,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2007,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,1.14,146.6,31.3,15.2,454,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2007,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,1.14,146.6,23.2,12.8,466,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2007,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,1.14,146.6,14.8,14.3,478,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2007,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2602,1.14,146.6,6.4,13.7,490,2610,0.00,2.33,0.00,0.000,4,0.000,0.073,3051,589,1888,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,2638,end climb,SURFACE_DEPTH_REACHED
$STATE,2638,begin surface coast
$FINISH,0.4,1.020910
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2670,30.50,0.144,0,0,1521,240.15
$SM_GC,1.29,7.95,2.30,30.50,0.066,0.056,0.144,189,2009,1521,-7.72,-0.54,240.15,0,0,0,0,0,0,26.00,26.06,25.84
$IRIDIUM_FIX,4751.72,-12340.51,050314,020238
$TT8_MAMPS,0.107107,0.107107
$HUMID,30.98
$INTERNAL_PRESSURE,8.86254
$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,3.4/516052/498564
$MI_ROOT,70.7/190403/55839
$MI_HOME,2.3/436550/426440
$24V_AH,24.7,1.331
$10V_AH,10.3,1.344
$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,19.275,32.450,218.125,30.500,0.000,47.343,65.092,284.997,0.000,3527.500,42.709,0.000,1311.991,326.161,1654.265,40.736,33.200,744.544,0.000,736.125,0.000,0.000,0.000
$DEVICE_MAMPS,260.865,73.440,494.955,143.820,0.000,13.010,160.000,223.000,0.000,51.407,31.460,0.000,0.390,18.450,48.410,68.640,71.630,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,337.209,0.000,0.000,0.000,0.000,0.000,3527.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,43.322,0.000,0.000,0.000
$MEM,200376
$DATA_FILE_SIZE,20107,500
$CAP_FILE_SIZE,67637,0
$CFSIZE,1024409600,1021362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,032233,4743.459,-12224.356,2,0.9,36,16.3