version: 66.10
glider: 208
mission: 2
dive: 16
start: 2 7 114 14 47 29
data:
$ID,208
$MISSION,2
$DIVE,16
$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,-2879.3071
$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,22
$R_STBD_OVSHOOT,39
$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
$GPS1,070214,143715,4742.989,-12225.065,38,0.8,48,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.5
$GPS2,070214,144646,4742.973,-12225.020,3,0.8,13,16.3
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.060,0.213
$KALMAN_X,-716.4,-280.9,235.1,-540.0,-170.2
$KALMAN_Y,-722.1,-893.3,456.6,1013.8,-376.5
$MHEAD_RNG_PITCHd_Wd,359.5,1738,-17.3,-8.571
$D_GRID,181
$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,-60.03,0.000,6,0.000,0.000,247,2007,3338,0,0,0,0,0,0,28.83,28.83,26.04
$GC,81,-1.10,-117.3,2.4,-2.6,10,95,9.00,2.17,0.00,0.000,4,0.291,0.053,2150,3393,3339,0,0,0,0,0,0,25.72,26.05,28.83
$GC,695,-1.10,-117.3,82.0,-11.8,162,702,0.00,2.10,0.00,0.000,6,0.000,0.040,2150,1977,3337,0,0,0,0,0,0,28.83,26.27,28.83
$GC,821,-1.10,-117.3,95.0,-10.7,187,828,0.00,2.17,0.00,0.000,4,0.000,0.057,2140,3393,3338,0,0,0,0,0,0,28.83,26.26,28.83
$GC,864,-1.10,-117.3,100.0,-12.2,197,871,0.10,2.08,0.00,0.000,6,0.196,0.041,2156,1989,3338,0,0,0,0,0,0,26.13,26.29,28.83
$GC,990,-1.10,-117.3,114.4,-12.4,222,997,0.00,2.17,0.00,0.000,4,0.000,0.060,2150,3394,3338,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1229,-1.10,-117.3,140.6,-10.6,281,1236,0.00,2.08,0.00,0.000,6,0.000,0.041,2150,1999,3338,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1360,-1.10,-117.3,155.7,-11.4,302,1363,0.00,2.15,0.00,0.000,4,0.000,0.058,2140,3397,3338,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1479,-1.10,-117.3,168.7,-10.9,316,1487,0.08,2.12,0.00,0.000,6,0.178,0.041,2161,1995,3338,0,0,0,0,0,0,26.16,26.33,28.83
$STATE,1583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1583,begin apogee
$GC,1586,-0.28,0.0,180.3,-11.1,327,1680,0.90,0.00,87.62,0.546,6,0.174,0.000,2423,1835,2852,0,0,0,0,0,0,26.15,28.83,25.00
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1681,1.10,117.3,183.8,0.0,338,1775,1.42,2.33,86.47,0.519,4,0.124,0.073,2878,455,2372,0,0,0,0,0,0,25.41,25.20,24.79
$GC,1803,1.10,117.3,175.8,9.7,352,1811,0.00,2.22,0.00,0.000,6,0.000,0.048,2877,1843,2365,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2108,1.10,117.3,141.8,11.2,390,2115,0.00,2.22,0.00,0.000,4,0.000,0.063,2878,3257,2364,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2174,1.10,117.3,133.0,13.1,406,2182,0.00,2.15,0.00,0.000,6,0.000,0.054,2888,1872,2364,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2301,1.10,117.3,117.7,12.4,431,2307,0.00,2.17,0.00,0.000,4,0.000,0.064,2888,3253,2364,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2343,1.10,117.3,111.9,12.4,441,2350,0.00,2.20,0.00,0.000,6,0.000,0.054,2898,1839,2364,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2469,1.10,117.3,96.1,11.4,466,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1839,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,1.10,117.3,82.6,12.3,490,2596,0.00,2.28,0.00,0.000,4,0.000,0.076,2908,431,2364,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2620,1.10,117.3,78.6,12.9,497,2627,0.00,2.17,0.00,0.000,6,0.000,0.051,2909,1854,2364,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2746,1.10,117.3,63.7,11.3,522,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,1.10,117.3,50.7,10.8,546,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,1.10,117.3,36.9,11.8,570,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3006,1.10,117.3,34.6,11.7,574,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3026,1.10,117.3,32.4,11.3,578,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,1.10,117.3,29.9,12.3,582,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3066,1.10,117.3,27.3,12.7,586,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,1.10,117.3,24.8,12.6,590,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3106,1.10,117.3,22.4,12.1,594,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1854,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3126,1.10,117.3,20.0,11.7,598,3133,0.00,2.28,0.00,0.000,4,0.000,0.076,2920,437,2364,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3165,1.10,117.3,15.3,12.6,607,3172,0.12,2.17,0.00,0.000,6,0.201,0.053,2892,1855,2364,0,0,0,0,0,0,26.13,26.32,28.83
$GC,3191,1.10,117.3,12.5,10.8,612,3198,0.00,2.20,0.00,0.000,4,0.000,0.063,2892,3263,2364,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3238,1.10,117.3,7.6,10.7,623,3245,0.00,2.20,0.00,0.000,6,0.000,0.054,2902,1844,2363,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3264,1.10,117.3,4.9,9.9,628,3271,0.00,2.25,0.00,0.000,4,0.000,0.076,2913,439,2364,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,3298,end climb,SURFACE_DEPTH_REACHED
$STATE,3298,begin surface coast
$FINISH,0.2,1.012279
$STATE,3314,end surface coast,CONTROL_FINISHED_OK
$STATE,3314,begin surface
$SM_CCo,3331,35.85,0.129,0,0,1916,230.09
$SM_GC,1.19,7.47,2.45,35.85,0.070,0.048,0.129,253,2002,1916,-7.07,-0.85,230.09,0,0,0,0,0,0,26.17,26.32,26.10
$IRIDIUM_FIX,4751.72,-12340.51,070214,131347
$TT8_MAMPS,0.102613,0.102613
$HUMID,26.68
$INTERNAL_PRESSURE,9.01127
$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,3.3/516052/498789
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.4/436550/426078
$24V_AH,24.8,1.970
$10V_AH,10.4,1.624
$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,19.100,48.575,174.100,35.850,0.000,23.583,33.770,269.163,0.000,4038.900,15.905,0.000,1596.740,307.706,1863.257,43.334,33.198,848.842,0.000,976.335,0.000,0.000,0.000
$DEVICE_MAMPS,290.700,76.500,546.210,129.285,0.000,12.240,160.000,223.000,0.000,44.999,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,432.823,0.000,0.000,0.000,0.000,0.000,4038.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.602,0.000,0.000,0.000
$MEM,323528
$DATA_FILE_SIZE,23448,640
$CAP_FILE_SIZE,76534,0
$CFSIZE,1024409600,1021165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,154445,4743.043,-12224.934,43,1.6,53,16.3