version: 66.10
glider: 208
mission: 2
dive: 8
start: 2 7 114 5 56 53
data:
$ID,208
$MISSION,2
$DIVE,8
$N_DIVES,30
$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,-2868.6211
$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,23
$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,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
$GPS1,070214,054747,4742.748,-12224.959,37,1.8,47,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.1
$GPS2,070214,055611,4742.739,-12225.052,35,1.6,45,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.155,0.206
$KALMAN_X,-46.2,145.8,347.5,-1785.0,-492.7
$KALMAN_Y,335.2,356.6,-818.1,-461.5,-275.5
$MHEAD_RNG_PITCHd_Wd,20.8,2173,-17.6,-10.000
$D_GRID,186
$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,-1.16,-146.6,0.0,0.0,0,86,0.00,0.00,-65.12,0.000,6,0.000,0.000,247,2009,3456,0,0,0,0,0,0,28.83,28.83,26.23
$GC,88,-1.16,-146.6,3.1,-5.3,11,102,9.00,2.20,0.00,0.000,4,0.295,0.054,2135,3431,3457,0,0,0,0,0,0,25.82,26.05,28.83
$GC,258,-1.16,-146.6,30.2,-14.7,52,265,0.00,2.17,0.00,0.000,6,0.000,0.041,2135,1980,3457,0,0,0,0,0,0,28.83,26.17,28.83
$GC,284,-1.16,-146.6,33.7,-13.8,57,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,1980,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,304,-1.16,-146.6,36.6,-14.2,61,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,1980,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,324,-1.16,-146.6,39.3,-13.7,65,331,0.00,2.22,0.00,0.000,4,0.000,0.058,2125,3412,3457,0,0,0,0,0,0,28.83,26.15,28.83
$GC,346,-1.16,-146.6,42.2,-12.5,70,354,0.10,2.15,0.00,0.000,6,0.198,0.042,2145,1981,3457,0,0,0,0,0,0,26.03,26.20,28.83
$GC,473,-1.16,-146.6,57.9,-12.9,95,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1980,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,598,-1.16,-146.6,73.6,-13.0,120,605,0.00,2.12,0.00,0.000,4,0.000,0.061,2145,599,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,657,-1.16,-146.6,81.4,-12.6,134,664,0.00,2.15,0.00,0.000,6,0.000,0.044,2136,2011,3457,0,0,0,0,0,0,28.83,26.25,28.83
$GC,783,-1.16,-146.6,97.0,-12.9,159,790,0.00,2.15,0.00,0.000,4,0.000,0.061,2125,3394,3460,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1082,-1.16,-146.6,140.4,-12.9,233,1089,0.10,2.08,0.00,0.000,6,0.200,0.041,2146,1992,3457,0,0,0,0,0,0,26.14,26.32,28.83
$GC,1208,-1.16,-146.6,156.3,-11.4,253,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,1990,3457,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1417,begin apogee
$GC,1420,-0.28,0.0,180.0,-11.0,274,1538,0.98,0.00,109.05,0.538,6,0.181,0.000,2425,1848,2849,0,0,0,0,0,0,26.12,28.83,24.91
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1540,1.16,146.6,184.7,0.0,288,1655,1.48,0.00,107.50,0.525,6,0.125,0.000,2884,1848,2253,0,0,0,0,0,0,25.35,28.83,24.75
$GC,1948,1.16,146.6,138.8,14.4,340,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1848,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,1.16,146.6,122.5,12.7,364,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1848,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2188,1.16,146.6,106.7,14.8,388,2195,0.00,2.22,0.00,0.000,4,0.000,0.063,2883,3260,2243,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2311,1.16,146.6,89.4,12.1,418,2318,0.00,2.15,0.00,0.000,6,0.000,0.053,2893,1867,2244,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2437,1.16,146.6,73.0,12.6,443,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1867,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2557,1.16,146.6,58.7,11.5,467,2564,0.00,2.28,0.00,0.000,4,0.000,0.077,2902,444,2244,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2616,1.16,146.6,50.9,14.0,481,2623,0.00,2.15,0.00,0.000,6,0.000,0.053,2905,1846,2243,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2742,1.16,146.6,34.2,12.8,506,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1846,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,1.16,146.6,31.8,12.1,510,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1846,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2782,1.16,146.6,29.3,12.7,514,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1846,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,1.16,146.6,26.9,12.0,518,2809,0.00,2.20,0.00,0.000,4,0.000,0.065,2905,3253,2244,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2853,1.16,146.6,20.5,12.8,530,2860,0.00,2.17,0.00,0.000,6,0.000,0.055,2915,1846,2243,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2879,1.16,146.6,17.2,12.0,535,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1851,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,1.16,146.6,14.8,12.0,539,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1846,2244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2919,1.16,146.6,12.3,12.4,543,2926,0.00,2.22,0.00,0.000,4,0.000,0.066,2915,3259,2244,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2973,1.16,146.6,4.7,14.6,556,2981,0.00,2.20,0.00,0.000,6,0.000,0.058,2925,1849,2244,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,2994,end climb,SURFACE_DEPTH_REACHED
$STATE,2994,begin surface coast
$FINISH,0.3,1.023044
$STATE,3004,end surface coast,CONTROL_FINISHED_OK
$STATE,3004,begin surface
$SM_CCo,3019,26.08,0.131,0,0,1917,230.09
$SM_GC,0.65,7.47,0.25,26.08,0.071,0.073,0.131,253,2010,1917,-7.06,-0.76,230.09,0,0,0,0,0,0,26.27,26.32,26.13
$IRIDIUM_FIX,4751.72,-12340.51,070214,050546
$TT8_MAMPS,0.103362,0.103362
$HUMID,26.17
$INTERNAL_PRESSURE,9.02104
$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,3.3/516052/498795
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.3/436550/426569
$24V_AH,24.8,1.170
$10V_AH,10.4,0.943
$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,19.125,35.300,216.550,26.075,0.000,23.906,35.762,214.328,0.000,3653.600,46.922,0.000,1461.813,317.982,1634.606,36.340,33.216,808.887,0.000,843.769,0.000,0.000,0.000
$DEVICE_MAMPS,294.525,80.325,537.795,130.815,0.000,12.240,160.000,223.000,0.000,44.971,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,378.595,0.000,0.000,0.000,0.000,0.000,3653.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.811,0.000,0.000,0.000
$MEM,323528
$DATA_FILE_SIZE,20141,562
$CAP_FILE_SIZE,67695,0
$CFSIZE,1024409600,1021820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,064806,4742.860,-12224.917,1,1.5,12,16.3