version: 66.10
glider: 208
mission: 2
dive: 13
start: 2 7 114 11 24 17
data:
$ID,208
$MISSION,2
$DIVE,13
$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,-2875.3247
$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,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
$GPS1,070214,111322,4743.537,-12224.676,26,1.9,44,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.3
$GPS2,070214,112335,4743.593,-12224.657,3,2.1,23,16.3
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.069,-0.210
$KALMAN_X,130.0,-452.1,-194.0,-336.1,178.5
$KALMAN_Y,-545.3,-961.1,638.8,1856.2,-104.7
$MHEAD_RNG_PITCHd_Wd,182.0,1663,-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,12,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,-60.53,0.000,6,0.000,0.000,253,2010,3338,0,0,0,0,0,0,28.83,28.83,26.18
$GC,81,-1.10,-117.3,2.2,-1.7,10,95,9.10,2.25,0.00,0.000,4,0.295,0.057,2169,572,3338,0,0,0,0,0,0,25.79,26.01,28.83
$GC,239,-1.10,-117.3,24.6,-14.2,48,246,0.00,2.15,0.00,0.000,6,0.000,0.042,2159,1996,3338,0,0,0,0,0,0,28.83,26.15,28.83
$GC,265,-1.10,-117.3,27.9,-13.1,53,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1996,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,285,-1.10,-117.3,30.4,-12.5,57,292,0.00,2.20,0.00,0.000,4,0.000,0.058,2159,575,3338,0,0,0,0,0,0,28.83,26.13,28.83
$GC,307,-1.10,-117.3,33.1,-12.3,62,315,0.00,2.17,0.00,0.000,6,0.000,0.043,2149,1991,3338,0,0,0,0,0,0,28.83,26.18,28.83
$GC,334,-1.10,-117.3,36.5,-12.8,67,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,1990,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,354,-1.10,-117.3,38.8,-11.6,71,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,1990,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,373,-1.10,-117.3,41.2,-12.3,75,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,1991,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,494,-1.10,-117.3,54.8,-11.0,99,501,0.00,2.15,0.00,0.000,4,0.000,0.058,2138,3397,3338,0,0,0,0,0,0,28.83,26.21,28.83
$GC,516,-1.10,-117.3,57.3,-11.7,104,524,0.05,2.17,0.00,0.000,6,0.175,0.041,2164,1975,3338,0,0,0,0,0,0,26.05,26.23,28.83
$GC,643,-1.10,-117.3,69.6,-9.3,129,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1978,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,763,-1.10,-117.3,81.7,-10.7,153,770,0.00,2.22,0.00,0.000,4,0.000,0.058,2155,3405,3338,0,0,0,0,0,0,28.83,26.25,28.83
$GC,858,-1.10,-117.3,92.3,-11.3,176,865,0.00,2.10,0.00,0.000,6,0.000,0.041,2154,1995,3338,0,0,0,0,0,0,28.83,26.29,28.83
$GC,983,-1.10,-117.3,106.5,-11.1,201,990,0.00,2.17,0.00,0.000,4,0.000,0.059,2145,3400,3338,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1074,-1.10,-117.3,117.1,-11.7,223,1082,0.10,2.10,0.00,0.000,6,0.203,0.042,2165,1986,3338,0,0,0,0,0,0,26.13,26.31,28.83
$GC,1201,-1.10,-117.3,131.2,-11.2,248,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,1985,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-1.10,-117.3,144.3,-10.6,272,1327,0.00,2.15,0.00,0.000,4,0.000,0.059,2165,602,3338,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1371,-1.10,-117.3,149.4,-9.3,284,1378,0.00,2.12,0.00,0.000,6,0.000,0.045,2156,2005,3335,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1502,-1.10,-117.3,163.1,-10.2,298,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2005,3338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1611,begin apogee
$GC,1614,-0.28,0.0,174.3,-10.4,309,1708,0.95,0.00,88.65,0.534,6,0.176,0.000,2430,1844,2854,0,0,0,0,0,0,26.15,28.83,25.02
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1710,1.10,117.3,176.9,0.0,320,1802,1.40,0.00,87.07,0.509,6,0.122,0.000,2871,1843,2375,0,0,0,0,0,0,25.44,28.83,24.81
$GC,2098,1.10,117.3,136.7,11.8,371,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1844,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,1.10,117.3,121.4,12.1,395,2225,0.00,2.25,0.00,0.000,4,0.000,0.074,2881,459,2364,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2257,1.10,117.3,116.6,12.7,404,2264,0.00,2.15,0.00,0.000,6,0.000,0.052,2883,1860,2363,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2384,1.10,117.3,102.4,10.6,429,2390,0.00,2.17,0.00,0.000,4,0.000,0.064,2881,3253,2363,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2446,1.10,117.3,95.2,12.1,444,2453,0.00,2.12,0.00,0.000,6,0.000,0.054,2890,1874,2363,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2572,1.10,117.3,81.0,11.2,469,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1874,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,1.10,117.3,69.3,9.7,493,2699,0.00,2.17,0.00,0.000,4,0.000,0.064,2891,3258,2361,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2787,1.10,117.3,57.8,11.5,516,2794,0.00,2.20,0.00,0.000,6,0.000,0.055,2902,1852,2361,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2914,1.10,117.3,43.8,10.9,541,2920,0.00,2.30,0.00,0.000,4,0.000,0.076,2913,439,2363,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2924,1.10,117.3,42.5,11.2,543,2931,0.00,2.20,0.00,0.000,6,0.000,0.054,2912,1843,2363,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3050,1.10,117.3,28.4,11.5,568,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1843,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,1.10,117.3,26.1,11.6,572,3077,0.00,2.22,0.00,0.000,4,0.000,0.066,2913,3260,2363,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3241,1.10,117.3,4.0,13.0,614,3248,0.12,2.20,0.00,0.000,6,0.221,0.059,2897,1847,2363,0,0,0,0,0,0,26.10,26.27,28.83
$STATE,3256,end climb,SURFACE_DEPTH_REACHED
$STATE,3256,begin surface coast
$FINISH,0.5,1.022984
$STATE,3266,end surface coast,CONTROL_FINISHED_OK
$STATE,3267,begin surface
$SM_CCo,3281,35.78,0.129,0,0,1916,230.09
$SM_GC,0.88,7.32,0.25,35.78,0.064,0.074,0.129,251,2009,1916,-7.07,-0.82,230.09,0,0,0,0,0,0,26.29,26.32,26.12
$IRIDIUM_FIX,4751.72,-12340.51,070214,101049
$TT8_MAMPS,0.103362,0.103362
$HUMID,26.49
$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,3.3/516052/498791
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.4/436550/426259
$24V_AH,24.8,1.676
$10V_AH,10.4,1.364
$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,19.050,48.450,175.725,35.775,0.000,26.623,37.880,286.124,0.000,4028.000,25.857,0.000,1604.202,332.882,1813.797,42.863,33.203,837.874,0.000,904.557,0.000,0.000,0.000
$DEVICE_MAMPS,295.290,76.500,533.970,128.520,0.000,12.240,160.000,223.000,0.000,45.377,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,418.030,0.000,0.000,0.000,0.000,0.000,4028.010,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.444,0.000,0.000,0.000
$MEM,323528
$DATA_FILE_SIZE,23427,619
$CAP_FILE_SIZE,76188,0
$CFSIZE,1024409600,1021411328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,122039,4743.191,-12224.919,39,1.2,49,16.3