version: 66.10
glider: 208
mission: 2
dive: 12
start: 2 7 114 10 13 33
data:
$ID,208
$MISSION,2
$DIVE,12
$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,-2874.0659
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,070214,100426,4743.854,-12224.560,14,1.5,24,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.9
$GPS2,070214,101250,4743.917,-12224.545,4,1.6,14,16.3
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.044,-0.217
$KALMAN_X,62.6,-380.1,-240.9,-157.9,26.7
$KALMAN_Y,-862.8,-678.9,367.5,2768.9,-203.1
$MHEAD_RNG_PITCHd_Wd,175.1,2276,-17.3,-8.571
$D_GRID,174
$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,-60.72,0.000,6,0.000,0.000,250,1978,3338,0,0,0,0,0,0,28.83,28.83,26.21
$GC,82,-1.10,-117.3,2.0,-1.8,10,96,9.07,2.17,0.00,0.000,4,0.295,0.058,2172,582,3338,0,0,0,0,0,0,25.81,26.03,28.83
$GC,112,-1.10,-117.3,7.7,-13.7,16,119,0.00,2.15,0.00,0.000,6,0.000,0.042,2163,2005,3336,0,0,0,0,0,0,28.83,26.06,28.83
$GC,137,-1.10,-117.3,10.8,-11.6,21,145,0.00,2.22,0.00,0.000,4,0.000,0.058,2163,583,3338,0,0,0,0,0,0,28.83,26.05,28.83
$GC,260,-1.10,-117.3,26.4,-13.4,51,267,0.00,2.15,0.00,0.000,6,0.000,0.043,2152,2006,3338,0,0,0,0,0,0,28.83,26.15,28.83
$GC,286,-1.10,-117.3,29.5,-12.5,56,293,0.00,2.15,0.00,0.000,4,0.000,0.058,2142,3399,3338,0,0,0,0,0,0,28.83,26.13,28.83
$GC,337,-1.10,-117.3,34.9,-9.6,68,344,0.10,2.12,0.00,0.000,6,0.200,0.042,2161,1976,3339,0,0,0,0,0,0,26.01,26.19,28.83
$GC,363,-1.10,-117.3,37.7,-10.4,73,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,1974,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,383,-1.10,-117.3,39.8,-10.3,77,390,0.00,2.12,0.00,0.000,4,0.000,0.060,2162,602,3338,0,0,0,0,0,0,28.83,26.17,28.83
$GC,418,-1.10,-117.3,43.6,-11.2,85,425,0.00,2.12,0.00,0.000,6,0.000,0.044,2152,1996,3338,0,0,0,0,0,0,28.83,26.21,28.83
$GC,544,-1.10,-117.3,56.7,-10.5,110,551,0.00,2.17,0.00,0.000,4,0.000,0.060,2142,3406,3338,0,0,0,0,0,0,28.83,26.22,28.83
$GC,711,-1.10,-117.3,75.7,-11.4,151,718,0.10,2.12,0.00,0.000,6,0.200,0.042,2161,1982,3338,0,0,0,0,0,0,26.09,26.27,28.83
$GC,838,-1.10,-117.3,87.5,-9.2,176,845,0.00,2.20,0.00,0.000,4,0.000,0.059,2151,3404,3338,0,0,0,0,0,0,28.83,26.26,28.83
$GC,944,-1.10,-117.3,97.7,-8.8,202,951,0.00,2.10,0.00,0.000,6,0.000,0.041,2151,1996,3338,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1070,-1.10,-117.3,110.2,-10.3,227,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1996,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-1.10,-117.3,122.3,-9.8,251,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1996,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-1.10,-117.3,134.8,-10.5,275,1317,0.00,2.15,0.00,0.000,4,0.000,0.060,2151,602,3338,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1345,-1.10,-117.3,138.5,-10.7,283,1352,0.10,2.10,0.00,0.000,6,0.207,0.044,2161,1996,3338,0,0,0,0,0,0,26.13,26.22,28.83
$GC,1471,-1.10,-117.3,151.4,-11.1,307,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,1996,3338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1683,-0.28,0.0,174.1,-10.7,328,1820,0.90,0.00,127.28,0.490,6,0.177,0.000,2423,1838,2856,0,0,0,0,0,0,26.16,28.83,24.95
$STATE,1820,end apogee,CONTROL_FINISHED_OK
$STATE,1820,begin climb
$GC,1821,1.10,117.3,178.9,0.0,344,1913,1.40,0.00,88.03,0.499,6,0.122,0.000,2861,1839,2377,0,0,0,0,0,0,25.33,28.83,24.79
$GC,2209,1.10,117.3,143.7,11.3,389,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1838,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,1.10,117.3,130.0,11.3,413,2336,0.00,2.20,0.00,0.000,4,0.000,0.072,2871,465,2361,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2368,1.10,117.3,125.6,11.2,422,2375,0.00,2.12,0.00,0.000,6,0.000,0.051,2871,1850,2361,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2494,1.10,117.3,111.9,10.4,447,2501,0.00,2.20,0.00,0.000,4,0.000,0.065,2871,3254,2361,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2521,1.10,117.3,108.8,12.6,453,2528,0.00,2.12,0.00,0.000,6,0.000,0.054,2881,1874,2361,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2647,1.10,117.3,95.2,10.0,478,2654,0.00,2.17,0.00,0.000,4,0.000,0.064,2881,3256,2364,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2694,1.10,117.3,90.0,11.2,489,2701,0.00,2.17,0.00,0.000,6,0.000,0.054,2891,1851,2361,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2820,1.10,117.3,77.0,10.0,514,2827,0.00,2.22,0.00,0.000,4,0.000,0.064,2891,3257,2361,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2975,1.10,117.3,57.5,13.5,552,2982,0.00,2.17,0.00,0.000,6,0.000,0.055,2902,1850,2361,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3101,1.10,117.3,42.4,11.5,577,3108,0.00,2.22,0.00,0.000,4,0.000,0.067,2902,3259,2360,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3171,1.10,117.3,33.3,12.7,594,3179,0.00,2.17,0.00,0.000,6,0.000,0.056,2918,1851,2361,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3197,1.10,117.3,30.2,11.6,599,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1851,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3217,1.10,117.3,27.9,11.5,603,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1851,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,1.10,117.3,25.6,11.1,607,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1851,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,1.10,117.3,23.3,11.3,611,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1851,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3277,1.10,117.3,21.2,10.9,615,3284,0.00,2.28,0.00,0.000,4,0.000,0.079,2923,437,2361,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3320,1.10,117.3,16.5,11.3,625,3328,0.12,2.17,0.00,0.000,6,0.199,0.054,2896,1851,2361,0,0,0,0,0,0,26.13,26.31,28.83
$GC,3347,1.10,117.3,13.7,10.3,630,3354,0.00,2.20,0.00,0.000,4,0.000,0.066,2895,3253,2361,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3373,1.10,117.3,10.9,9.9,636,3380,0.00,2.17,0.00,0.000,6,0.000,0.057,2905,1848,2361,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3399,1.10,117.3,8.1,10.3,641,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1848,2361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,1.10,117.3,6.2,9.3,645,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1848,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,1.10,117.3,3.9,11.5,649,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1848,2361,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3459,end climb,SURFACE_DEPTH_REACHED
$STATE,3459,begin surface coast
$FINISH,0.3,1.021295
$STATE,3479,end surface coast,CONTROL_FINISHED_OK
$STATE,3479,begin surface
$SM_CCo,3494,35.65,0.129,0,0,1919,230.09
$SM_GC,1.28,7.45,0.25,35.65,0.072,0.070,0.129,253,2008,1919,-7.06,-0.76,230.09,0,0,0,0,0,0,26.28,26.33,26.10
$IRIDIUM_FIX,4751.72,-12340.51,070214,090910
$TT8_MAMPS,0.104111,0.104111
$HUMID,26.45
$INTERNAL_PRESSURE,9.00151
$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,3.3/516052/498792
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.4/436550/426223
$24V_AH,24.8,1.577
$10V_AH,10.4,1.278
$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,19.250,61.175,215.300,35.650,0.000,26.797,34.696,226.376,0.000,4115.100,15.059,0.000,1660.956,389.312,1830.749,43.379,33.216,942.071,0.000,963.944,0.000,0.000,0.000
$DEVICE_MAMPS,294.525,78.795,498.780,128.520,0.000,12.240,160.000,223.000,0.000,44.852,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,442.804,0.000,0.000,0.000,0.000,0.000,4115.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.863,0.000,0.000,0.000
$MEM,323548
$DATA_FILE_SIZE,26752,657
$CAP_FILE_SIZE,83230,0
$CFSIZE,1024409600,1021476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,111322,4743.537,-12224.676,26,1.9,44,16.3