version: 66.10
glider: 208
mission: 2
dive: 3
start: 2 7 114 0 9 38
data:
$ID,208
$MISSION,2
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$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,60
$T_MISSION,85
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$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,1.023
$MASS,51476
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$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,-2667.7622
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,249
$PITCH_MAX,3894
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.059999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,196
$ROLL_MAX,3778
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2859
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.040756
$PRESSURE_SLOPE,0.0001164818
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$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,0.0043976754
$SEABIRD_T_H,0.00063337648
$SEABIRD_T_I,2.4533158e-05
$SEABIRD_T_J,2.8976478e-06
$SEABIRD_C_G,-9.7807083
$SEABIRD_C_H,1.1372483
$SEABIRD_C_I,-0.0015743772
$SEABIRD_C_J,0.00019512554
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,060214,235732,4744.553,-12224.051,4,1.7,16,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-52.6
$GPS2,070214,000857,4744.595,-12224.081,4,1.2,14,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.147,-0.212
$KALMAN_X,64.5,61.9,63.6,-321.6,-11.3
$KALMAN_Y,534.4,705.4,614.1,969.5,3.5
$MHEAD_RNG_PITCHd_Wd,198.5,1567,-17.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.16,-146.6,0.0,0.0,0,144,0.00,0.00,-123.32,0.000,6,0.000,0.000,248,2019,3456,0,0,0,0,0,0,28.83,28.83,26.25
$GC,145,-1.16,-146.6,2.8,-4.7,20,160,9.00,2.17,0.00,0.000,4,0.294,0.059,2134,3393,3457,0,0,0,0,0,0,25.79,26.04,28.83
$GC,195,-1.16,-146.6,14.0,-17.1,31,203,0.00,2.12,0.00,0.000,6,0.000,0.045,2135,1993,3457,0,0,0,0,0,0,28.83,26.08,28.83
$GC,222,-1.16,-146.6,17.9,-15.2,36,228,0.00,2.20,0.00,0.000,4,0.000,0.061,2125,3397,3456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,612,-1.16,-146.6,76.7,-11.6,133,620,0.10,2.12,0.00,0.000,6,0.197,0.046,2145,1991,3456,0,0,0,0,0,0,26.01,26.20,28.83
$GC,739,-1.16,-146.6,91.7,-12.8,158,746,0.00,2.20,0.00,0.000,4,0.000,0.063,2136,3397,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,785,-1.16,-146.6,98.5,-15.3,169,793,0.00,2.12,0.00,0.000,6,0.000,0.047,2136,1997,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,911,-1.16,-146.6,116.8,-13.7,194,918,0.00,2.20,0.00,0.000,4,0.000,0.068,2136,592,3456,0,0,0,0,0,0,28.83,26.18,28.83
$GC,966,-1.16,-146.6,124.8,-14.8,207,974,0.10,2.12,0.00,0.000,6,0.203,0.048,2145,1984,3456,0,0,0,0,0,0,26.03,26.22,28.83
$GC,1093,-1.16,-146.6,142.0,-14.2,232,1100,0.00,2.22,0.00,0.000,4,0.000,0.067,2146,598,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1112,-1.16,-146.6,144.7,-14.6,236,1119,0.00,2.12,0.00,0.000,6,0.000,0.048,2136,1998,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1243,-1.16,-146.6,162.3,-12.7,253,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,1998,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1342,begin apogee
$GC,1344,-0.28,0.0,174.9,-13.0,263,1458,1.00,0.00,108.93,0.533,6,0.181,0.000,2421,1847,2857,0,0,0,0,0,0,26.04,28.83,24.91
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1459,1.16,146.6,179.2,0.0,276,1577,1.50,2.45,107.62,0.496,4,0.124,0.086,2898,463,2252,0,0,0,0,0,0,25.29,25.16,24.77
$GC,1596,1.16,146.6,169.5,10.7,292,1604,0.00,2.25,0.00,0.000,6,0.000,0.057,2898,1838,2249,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1901,1.16,146.6,133.8,10.5,336,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1839,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2021,1.16,146.6,121.5,11.6,360,2028,0.00,2.30,0.00,0.000,4,0.000,0.087,2908,453,2251,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2084,1.16,146.6,113.6,12.4,375,2091,0.00,2.17,0.00,0.000,6,0.000,0.057,2908,1854,2248,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2210,1.16,146.6,97.4,13.2,400,2217,0.00,2.30,0.00,0.000,4,0.000,0.087,2918,456,2248,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2233,1.16,146.6,94.3,13.2,405,2240,0.00,2.20,0.00,0.000,6,0.000,0.058,2918,1853,2249,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2359,1.16,146.6,77.6,13.4,430,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1853,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,1.16,146.6,62.3,11.8,454,2486,0.00,2.22,0.00,0.000,4,0.000,0.070,2918,3259,2248,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2561,1.16,146.6,51.6,12.9,474,2569,0.00,2.17,0.00,0.000,6,0.000,0.061,2928,1872,2248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2688,1.16,146.6,36.4,12.0,499,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1872,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2707,1.16,146.6,34.1,12.0,503,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1872,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,1.16,146.6,32.0,10.8,507,2735,0.00,2.20,0.00,0.000,4,0.000,0.069,2928,3253,2248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2750,1.16,146.6,29.4,10.4,512,2758,0.12,2.22,0.00,0.000,6,0.210,0.063,2912,1843,2248,0,0,0,0,0,0,26.05,26.21,28.83
$GC,2777,1.16,146.6,26.6,10.8,517,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1843,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2797,1.16,146.6,24.1,12.3,521,2804,0.00,2.25,0.00,0.000,4,0.000,0.068,2912,3261,2248,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2815,1.16,146.6,21.3,14.6,525,2823,0.00,2.22,0.00,0.000,6,0.000,0.060,2923,1840,2248,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2841,1.16,146.6,17.4,15.6,530,2849,0.00,2.25,0.00,0.000,4,0.000,0.069,2921,3253,2248,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2908,1.16,146.6,6.1,17.4,546,2916,0.00,2.22,0.00,0.000,6,0.000,0.062,2931,1849,2248,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2934,1.16,146.6,2.6,12.8,551,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1848,2249,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2938,end climb,SURFACE_DEPTH_REACHED
$STATE,2938,begin surface coast
$FINISH,0.3,1.022982
$STATE,2954,end surface coast,CONTROL_FINISHED_OK
$STATE,2954,begin surface
$SM_CCo,2969,26.52,0.131,0,0,1916,230.09
$SM_GC,0.63,7.55,0.25,26.52,0.073,0.077,0.131,255,2003,1916,-7.06,-0.79,230.09,0,0,0,0,0,0,26.22,26.27,26.08
$IRIDIUM_FIX,4751.72,-12340.51,070214,000027
$TT8_MAMPS,0.103362,0.103362
$HUMID,25.66
$INTERNAL_PRESSURE,9.00151
$TCM_TEMP,18.00
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,13
$MI_LOG,3.3/516052/498801
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.2/436550/426991
$24V_AH,24.8,0.588
$10V_AH,10.3,0.503
$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,19.375,53.550,216.550,26.525,0.000,0.000,0.000,0.000,0.000,3092.600,15.280,0.000,1353.902,387.734,1274.999,24.363,31.297,893.331,0.000,838.671,0.000,0.000,0.000
$DEVICE_MAMPS,293.760,87.210,533.205,130.815,0.000,0.000,0.000,0.000,0.000,46.001,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,372.241,0.000,0.000,0.000,0.000,0.000,3092.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.777,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,20155,555
$CAP_FILE_SIZE,151846,0
$CFSIZE,1024409600,1022181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,010150,4744.282,-12224.394,100,2.5,119,16.3