version: 66.10
glider: 208
mission: 2
dive: 10
start: 2 7 114 8 13 18
data:
$ID,208
$MISSION,2
$DIVE,10
$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,70
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-2871.3506
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,070214,080033,4743.003,-12225.048,42,0.8,52,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.4
$GPS2,070214,081236,4743.043,-12225.081,4,0.9,14,16.3
$SPEED_LIMITS,0.235,0.324
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.171,0.275
$KALMAN_X,-288.0,-117.1,-11.7,-967.4,-489.3
$KALMAN_Y,-318.6,-161.8,-438.9,895.7,-144.8
$MHEAD_RNG_PITCHd_Wd,15.7,1624,-9.7,-8.571
$D_GRID,178
$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,-0.90,-293.3,0.0,0.0,0,90,0.00,0.00,-73.35,0.000,2,0.000,0.000,254,1985,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.90,-293.3,3.8,-7.6,11,112,9.32,2.22,-4.57,0.000,4,0.292,0.071,2217,3409,3960,0,0,0,0,0,0,25.77,26.01,26.15
$GC,220,-0.90,-293.3,27.9,-13.8,41,227,0.00,2.15,0.00,0.000,6,0.000,0.041,2215,1982,3960,0,0,0,0,0,0,28.83,26.06,28.83
$GC,246,-0.90,-293.3,31.3,-13.5,46,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1982,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,266,-0.90,-293.3,34.0,-13.3,50,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1981,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,286,-0.90,-293.3,36.5,-12.9,54,293,0.00,2.22,0.00,0.000,4,0.000,0.060,2205,3405,3960,0,0,0,0,0,0,28.83,26.11,28.83
$GC,340,-0.90,-293.3,44.0,-13.9,67,348,0.10,2.12,0.00,0.000,6,0.176,0.042,2227,1988,3960,0,0,0,0,0,0,26.04,26.17,28.83
$GC,467,-0.90,-293.3,59.7,-12.1,92,474,0.00,2.20,0.00,0.000,4,0.000,0.061,2216,3404,3960,0,0,0,0,0,0,28.83,26.18,28.83
$GC,501,-0.90,-293.3,64.1,-12.9,100,509,0.00,2.12,0.00,0.000,6,0.000,0.042,2217,1990,3960,0,0,0,0,0,0,28.83,26.22,28.83
$GC,627,-0.90,-293.3,80.7,-13.8,125,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1990,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-0.90,-293.3,97.0,-12.9,149,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1988,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,867,-0.90,-293.3,112.8,-13.1,173,874,0.00,2.20,0.00,0.000,4,0.000,0.061,2206,3402,3960,0,0,0,0,0,0,28.83,26.25,28.83
$GC,970,-0.90,-293.3,125.8,-12.2,198,977,0.10,2.10,0.00,0.000,6,0.174,0.042,2229,1994,3960,0,0,0,0,0,0,26.16,26.19,28.83
$GC,1096,-0.90,-293.3,140.2,-11.4,223,1103,0.00,2.20,0.00,0.000,4,0.000,0.062,2219,3406,3960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1135,-0.90,-293.3,144.3,-10.9,232,1142,0.00,2.10,0.00,0.000,6,0.000,0.042,2219,1995,3960,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1266,-0.90,-293.3,159.3,-11.4,250,1269,0.00,2.17,0.00,0.000,4,0.000,0.060,2208,3400,3960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1413,-0.90,-293.3,177.2,-12.7,268,1421,0.05,2.15,0.00,0.000,6,0.151,0.043,2225,1991,3960,0,0,0,0,0,0,26.20,26.32,28.83
$STATE,1427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1427,begin apogee
$GC,1430,-0.28,0.0,179.4,-12.6,270,1635,0.65,0.00,198.43,0.533,6,0.152,0.000,2424,1843,2855,0,0,0,0,0,0,26.17,28.83,24.77
$STATE,1636,end apogee,CONTROL_FINISHED_OK
$STATE,1636,begin climb
$GC,1637,0.90,293.3,185.9,0.0,294,1862,1.23,2.33,217.77,0.486,4,0.125,0.060,2800,3255,1653,0,0,0,0,0,0,25.15,25.15,24.77
$GC,1890,0.90,293.3,165.6,11.4,322,1893,0.00,2.20,0.00,0.000,6,0.000,0.053,2809,1875,1643,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2198,0.90,293.3,128.0,12.4,370,2205,0.00,2.20,0.00,0.000,4,0.000,0.062,2809,3264,1640,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2225,0.90,293.3,124.7,12.1,376,2232,0.00,2.22,0.00,0.000,6,0.000,0.053,2819,1836,1640,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2351,0.90,293.3,108.9,12.5,401,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1837,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,0.90,293.3,94.2,12.0,425,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1837,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,0.90,293.3,79.1,12.4,449,2598,0.00,2.25,0.00,0.000,4,0.000,0.076,2829,444,1640,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2618,0.90,293.3,75.6,12.9,455,2625,0.00,2.15,0.00,0.000,6,0.000,0.050,2830,1853,1639,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2744,0.90,293.3,58.4,13.3,480,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1853,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2864,0.90,293.3,42.4,13.6,504,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1853,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2984,0.90,293.3,25.5,15.6,528,2991,0.00,2.17,0.00,0.000,4,0.000,0.063,2830,3251,1640,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3027,0.90,293.3,20.0,14.5,538,3034,0.00,2.17,0.00,0.000,6,0.000,0.054,2839,1843,1639,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3053,0.90,293.3,16.2,14.0,543,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1844,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,0.90,293.3,14.1,10.9,547,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1850,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3093,0.90,293.3,11.4,13.4,551,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1844,1643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3113,0.90,293.3,8.9,12.6,555,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1844,1640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,0.90,293.3,6.5,12.7,559,3140,0.00,2.22,0.00,0.000,4,0.000,0.063,2840,3260,1640,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,3167,end climb,SURFACE_DEPTH_REACHED
$STATE,3167,begin surface coast
$FINISH,1.0,1.023088
$STATE,3175,end surface coast,CONTROL_FINISHED_OK
$STATE,3175,begin surface
$SM_CCo,3251,0.00,0.000,0,0,1639,299.27
$SM_GC,0.95,7.15,2.00,0.00,0.063,0.049,0.000,256,1982,1639,-7.06,0.65,299.27,0,0,0,0,0,0,26.26,26.28,28.83
$IRIDIUM_FIX,4751.72,-12340.51,070214,080826
$TT8_MAMPS,0.103362,0.103362
$HUMID,26.61
$INTERNAL_PRESSURE,8.98197
$TCM_TEMP,17.90
$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,3.3/516052/498793
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.3/436550/426362
$24V_AH,24.8,1.390
$10V_AH,10.4,1.119
$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,18.600,48.100,416.200,0.000,0.000,49.768,94.754,269.925,0.000,4075.500,15.341,0.000,1519.642,466.409,1812.039,41.775,33.213,1010.499,0.000,887.271,0.000,0.000,0.000
$DEVICE_MAMPS,292.230,81.855,533.205,0.000,0.000,12.240,160.000,223.000,0.000,44.963,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,380.994,0.000,0.000,0.000,0.000,0.000,4075.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.833,0.000,0.000,0.000
$MEM,323504
$DATA_FILE_SIZE,20117,569
$CAP_FILE_SIZE,75016,0
$CFSIZE,1024409600,1021657088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,090834,4743.487,-12224.688,40,1.0,50,16.3