version: 66.10
glider: 208
mission: 2
dive: 4
start: 2 7 114 2 19 5
data:
$ID,208
$MISSION,2
$DIVE,4
$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,-2863.5022
$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,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
$GPS1,070214,021413,4744.250,-12223.907,2,1.4,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.4
$GPS2,070214,021824,4744.242,-12223.873,4,1.3,14,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.256,0.026
$KALMAN_X,403.8,358.6,18.7,-671.0,94.7
$KALMAN_Y,696.9,825.9,417.4,255.2,-526.7
$MHEAD_RNG_PITCHd_Wd,259.6,1317,-17.6,-10.000
$D_GRID,172
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-65.62,0.000,6,0.000,0.000,255,2005,3457,0,0,0,0,0,0,28.83,28.83,26.28
$GC,88,-1.16,-146.6,3.2,-6.6,11,102,8.93,2.25,0.00,0.000,4,0.294,0.063,2149,575,3457,0,0,0,0,0,0,25.83,26.07,28.83
$GC,474,-1.16,-146.6,61.6,-12.8,106,481,0.00,2.17,0.00,0.000,6,0.000,0.046,2140,2006,3457,0,0,0,0,0,0,28.83,26.23,28.83
$GC,600,-1.16,-146.6,78.3,-13.4,131,607,0.00,2.15,0.00,0.000,4,0.000,0.063,2129,3399,3457,0,0,0,0,0,0,28.83,26.20,28.83
$GC,667,-1.16,-146.6,88.1,-14.3,147,674,0.00,2.15,0.00,0.000,6,0.000,0.045,2129,1971,3457,0,0,0,0,0,0,28.83,26.25,28.83
$GC,793,-1.16,-146.6,104.9,-13.1,172,800,0.00,2.17,0.00,0.000,4,0.000,0.067,2129,586,3457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,839,-1.16,-146.6,111.8,-15.0,183,847,0.12,2.15,0.00,0.000,6,0.212,0.047,2141,1999,3456,0,0,0,0,0,0,26.05,26.25,28.83
$GC,966,-1.16,-146.6,129.4,-14.1,208,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1998,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1085,-1.16,-146.6,144.4,-12.8,232,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,1998,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1206,-1.16,-146.6,159.1,-11.7,249,1209,0.00,2.15,0.00,0.000,4,0.000,0.062,2135,3404,3457,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1309,-1.16,-146.6,171.4,-12.6,261,1317,0.00,2.15,0.00,0.000,6,0.000,0.045,2135,1998,3457,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1325,-0.28,0.0,173.6,-12.5,263,1444,1.00,0.00,109.10,0.533,6,0.181,0.000,2420,1842,2851,0,0,0,0,0,0,26.08,28.83,24.90
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1446,1.16,146.6,177.6,0.0,277,1563,1.50,0.00,108.00,0.495,6,0.128,0.000,2885,1841,2250,0,0,0,0,0,0,25.34,28.83,24.79
$GC,1860,1.16,146.6,133.3,12.5,335,1867,0.00,2.28,0.00,0.000,4,0.000,0.066,2885,3262,2245,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1874,1.16,146.6,131.3,13.2,338,1882,0.00,2.20,0.00,0.000,6,0.000,0.058,2895,1865,2245,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2001,1.16,146.6,116.2,11.2,363,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1865,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,1.16,146.6,100.8,12.9,387,2127,0.00,2.33,0.00,0.000,4,0.000,0.084,2906,443,2245,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2163,1.16,146.6,95.0,13.7,397,2170,0.00,2.17,0.00,0.000,6,0.000,0.056,2906,1846,2245,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2289,1.16,146.6,77.1,14.7,422,2296,0.00,2.33,0.00,0.000,4,0.000,0.087,2917,436,2245,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2308,1.16,146.6,74.3,15.2,426,2315,0.00,2.20,0.00,0.000,6,0.000,0.057,2917,1852,2245,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2434,1.16,146.6,56.7,13.6,451,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1852,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2554,1.16,146.6,40.1,13.7,475,2561,0.00,2.25,0.00,0.000,4,0.000,0.069,2917,3259,2245,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2593,1.16,146.6,34.5,15.0,484,2600,0.00,2.20,0.00,0.000,6,0.000,0.060,2927,1851,2245,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2619,1.16,146.6,30.9,13.4,489,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1851,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,1.16,146.6,28.1,14.3,493,2646,0.00,2.25,0.00,0.000,4,0.000,0.069,2927,3257,2245,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2698,1.16,146.6,19.2,15.5,507,2705,0.12,2.22,0.00,0.000,6,0.207,0.061,2911,1850,2245,0,0,0,0,0,0,26.08,26.22,28.83
$GC,2724,1.16,146.6,15.8,12.6,512,2731,0.00,2.33,0.00,0.000,4,0.000,0.086,2921,431,2245,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2775,1.16,146.6,9.6,13.5,524,2782,0.00,2.22,0.00,0.000,6,0.000,0.057,2921,1851,2245,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2800,1.16,146.6,6.1,13.4,529,2808,0.00,2.25,0.00,0.000,4,0.000,0.070,2921,3262,2245,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.2,1.022975
$STATE,2843,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2860,26.20,0.133,0,0,1918,230.09
$SM_GC,0.76,7.53,2.05,26.20,0.071,0.060,0.133,249,1991,1918,-7.08,0.54,230.09,0,0,0,0,0,0,26.13,26.22,26.08
$IRIDIUM_FIX,4751.72,-12340.51,070214,020208
$TT8_MAMPS,0.10486,0.10486
$HUMID,25.58
$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,3.3/516052/498798
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.2/436550/426775
$24V_AH,24.8,0.798
$10V_AH,10.4,0.658
$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,19.200,48.850,217.100,26.200,0.000,0.000,0.000,0.000,0.000,2973.700,15.435,0.000,1312.025,342.777,1254.545,22.680,32.213,822.165,0.000,824.370,0.000,0.000,0.000
$DEVICE_MAMPS,293.760,87.210,533.205,133.110,0.000,0.000,0.000,0.000,0.000,44.686,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,362.610,0.000,0.000,0.000,0.000,0.000,2973.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.916,0.000,0.000,0.000
$MEM,323508
$DATA_FILE_SIZE,20101,539
$CAP_FILE_SIZE,138481,0
$CFSIZE,1024409600,1022083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,030740,4744.016,-12224.370,4,1.0,14,16.3