version: 66.10
glider: 208
mission: 2
dive: 15
start: 2 7 114 13 39 0
data:
$ID,208
$MISSION,2
$DIVE,15
$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,120
$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,-2878.0476
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,070214,132909,4742.763,-12225.111,42,1.5,52,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.4
$GPS2,070214,133818,4742.816,-12225.081,4,1.3,14,16.3
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.046,0.216
$KALMAN_X,-460.5,-336.9,159.5,-737.1,-40.8
$KALMAN_Y,-13.9,-1167.5,658.1,79.2,-20.9
$MHEAD_RNG_PITCHd_Wd,355.7,2037,-17.3,-8.571
$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,-1.10,-117.3,0.0,0.0,0,80,0.00,0.00,-59.58,0.000,6,0.000,0.000,252,1986,3336,0,0,0,0,0,0,28.83,28.83,26.20
$GC,82,-1.10,-117.3,2.8,-4.1,10,96,9.05,2.22,0.00,0.000,4,0.293,0.054,2150,3420,3337,0,0,0,0,0,0,25.80,26.02,28.83
$GC,664,-1.10,-117.3,75.4,-12.1,154,671,0.00,2.15,0.00,0.000,6,0.000,0.041,2150,1976,3337,0,0,0,0,0,0,28.83,26.29,28.83
$GC,789,-1.10,-117.3,90.1,-10.3,179,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,1975,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-1.10,-117.3,101.9,-10.2,203,916,0.00,2.12,0.00,0.000,4,0.000,0.057,2150,597,3336,0,0,0,0,0,0,28.83,26.27,28.83
$GC,984,-1.10,-117.3,111.0,-12.8,221,992,0.10,2.12,0.00,0.000,6,0.203,0.044,2161,2006,3337,0,0,0,0,0,0,26.13,26.30,28.83
$GC,1111,-1.10,-117.3,127.8,-10.5,246,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2007,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-1.10,-117.3,141.9,-10.7,271,1243,0.00,2.15,0.00,0.000,4,0.000,0.060,2151,3402,3336,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1562,-1.10,-117.3,179.3,-11.3,320,1570,0.00,2.15,0.00,0.000,6,0.000,0.041,2151,1992,3337,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,1576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1576,begin apogee
$GC,1579,-0.28,0.0,181.5,-11.5,322,1673,0.95,0.00,87.32,0.543,6,0.174,0.000,2424,1841,2851,0,0,0,0,0,0,26.10,28.83,25.01
$STATE,1673,end apogee,CONTROL_FINISHED_OK
$STATE,1674,begin climb
$GC,1675,1.10,117.3,185.1,0.0,333,1768,1.42,0.00,87.18,0.513,6,0.121,0.000,2872,1840,2370,0,0,0,0,0,0,25.44,28.83,24.79
$GC,2065,1.10,117.3,145.4,10.9,377,2072,0.00,2.22,0.00,0.000,4,0.000,0.061,2872,3254,2364,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2152,1.10,117.3,135.5,11.7,398,2159,0.00,2.15,0.00,0.000,6,0.000,0.052,2881,1863,2364,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2278,1.10,117.3,122.6,9.5,423,2285,0.00,2.20,0.00,0.000,4,0.000,0.062,2882,3262,2364,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2333,1.10,117.3,115.8,13.5,436,2340,0.00,2.17,0.00,0.000,6,0.000,0.054,2892,1852,2364,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2459,1.10,117.3,101.4,9.5,461,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1852,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2578,1.10,117.3,89.2,11.5,485,2586,0.00,2.28,0.00,0.000,4,0.000,0.074,2903,431,2364,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2637,1.10,117.3,82.4,11.6,499,2644,0.00,2.17,0.00,0.000,6,0.000,0.050,2903,1851,2364,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2763,1.10,117.3,68.9,10.3,524,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1852,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,1.10,117.3,56.4,10.6,548,2890,0.00,2.20,0.00,0.000,4,0.000,0.064,2903,3259,2364,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2934,1.10,117.3,50.7,11.4,560,2941,0.00,2.20,0.00,0.000,6,0.000,0.054,2915,1840,2364,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3060,1.10,117.3,36.6,11.4,585,3067,0.00,2.25,0.00,0.000,4,0.000,0.076,2924,436,2364,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3127,1.10,117.3,28.6,12.9,601,3134,0.12,2.20,0.00,0.000,6,0.195,0.054,2897,1858,2364,0,0,0,0,0,0,26.12,26.30,28.83
$GC,3153,1.10,117.3,25.4,11.9,606,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1858,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3173,1.10,117.3,23.0,12.6,610,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1858,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,1.10,117.3,20.5,12.0,614,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1858,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,1.10,117.3,18.2,11.6,618,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1858,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,1.10,117.3,16.0,11.1,622,3240,0.00,2.30,0.00,0.000,4,0.000,0.076,2907,443,2362,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3284,1.10,117.3,10.1,11.1,634,3291,0.00,2.15,0.00,0.000,6,0.000,0.052,2908,1852,2364,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3310,1.10,117.3,7.1,11.4,639,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1852,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,1.10,117.3,5.0,10.9,643,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1852,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,1.10,117.3,2.9,10.6,647,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1852,2363,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3359,end climb,SURFACE_DEPTH_REACHED
$STATE,3359,begin surface coast
$FINISH,0.2,1.019145
$STATE,3379,end surface coast,CONTROL_FINISHED_OK
$STATE,3380,begin surface
$SM_CCo,3394,35.83,0.129,0,0,1915,230.34
$SM_GC,1.18,7.43,0.22,35.83,0.068,0.074,0.129,248,2004,1915,-7.09,-0.96,230.34,0,0,0,0,0,0,26.27,26.31,26.10
$IRIDIUM_FIX,4751.72,-12340.51,070214,121225
$TT8_MAMPS,0.101864,0.101864
$HUMID,26.41
$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,3.3/516052/498790
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.4/436550/426055
$24V_AH,24.8,1.872
$10V_AH,10.4,1.538
$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,19.075,39.850,174.500,35.825,0.000,23.681,35.302,257.101,0.000,4086.600,15.259,0.000,1618.928,323.735,1870.523,42.251,33.196,860.166,0.000,996.266,0.000,0.000,0.000
$DEVICE_MAMPS,292.995,79.560,543.150,129.285,0.000,12.240,160.000,223.000,0.000,45.175,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,441.745,0.000,0.000,0.000,0.000,0.000,4086.600,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.599,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,26770,653
$CAP_FILE_SIZE,75328,0
$CFSIZE,1024409600,1021247488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,143715,4742.989,-12225.065,38,0.8,48,16.3