version: 66.10
glider: 207
mission: 1
dive: 6
start: 2 7 114 4 22 23
data:
$ID,207
$MISSION,1
$DIVE,6
$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,80
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$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,51587
$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,210
$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,-1031.047
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3913
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.799999
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,169
$ROLL_MAX,3754
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2445
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.431026
$PRESSURE_SLOPE,0.0001161436
$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,-1.7
$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,0.0043931878
$SEABIRD_T_H,0.00063362246
$SEABIRD_T_I,2.5399169e-05
$SEABIRD_T_J,3.111626e-06
$SEABIRD_C_G,-9.7742777
$SEABIRD_C_H,1.1231992
$SEABIRD_C_I,-0.0011779555
$SEABIRD_C_J,0.00016481297
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,070214,034948,4743.530,-12224.941,9,1.0,19,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.6
$GPS2,070214,042142,4743.453,-12225.115,16,1.5,26,18.2
$SPEED_LIMITS,0.148,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.037,0.241
$KALMAN_X,463.0,120.8,37.6,-2062.5,122.3
$KALMAN_Y,491.6,362.2,-448.5,275.1,-414.8
$MHEAD_RNG_PITCHd_Wd,350.6,917,-15.2,-8.571
$D_GRID,179
$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,-1.03,-146.6,0.0,0.0,0,114,0.00,0.00,-97.53,0.000,6,0.000,0.000,200,2105,3044,0,0,0,0,0,0,28.83,28.83,25.68
$GC,116,-1.03,-146.6,2.1,-1.8,15,130,9.15,2.33,0.00,0.000,4,0.248,0.080,2416,3505,3046,0,0,0,0,0,0,25.34,25.48,28.83
$GC,349,-1.03,-146.6,31.0,-11.3,61,357,0.00,2.30,0.00,0.000,6,0.000,0.060,2416,2092,3044,0,0,0,0,0,0,28.83,25.70,28.83
$GC,415,-1.03,-146.6,37.9,-10.7,74,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2091,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,476,-1.03,-146.6,43.7,-9.1,86,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2091,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-1.03,-146.6,56.2,-10.9,111,609,0.00,2.30,0.00,0.000,4,0.000,0.070,2416,698,3044,0,0,0,0,0,0,28.83,25.75,28.83
$GC,687,-1.03,-146.6,66.8,-12.3,128,696,0.00,2.30,0.00,0.000,6,0.000,0.064,2404,2096,3044,0,0,0,0,0,0,28.83,25.77,28.83
$GC,815,-1.03,-146.6,82.0,-11.0,153,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2097,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-1.03,-146.6,94.0,-8.6,177,943,0.00,2.33,0.00,0.000,4,0.000,0.071,2405,692,3044,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1006,-1.03,-146.6,101.7,-12.0,191,1015,0.10,2.33,0.00,0.000,6,0.158,0.064,2426,2105,3044,0,0,0,0,0,0,25.72,25.82,28.83
$GC,1134,-1.03,-146.6,112.0,-8.3,216,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2106,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-1.03,-146.6,126.2,-14.0,241,1267,0.00,2.35,0.00,0.000,4,0.000,0.084,2417,3505,3044,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1416,-1.03,-146.6,146.7,-12.8,272,1424,0.00,2.28,0.00,0.000,6,0.000,0.061,2417,2097,3043,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1548,-1.03,-146.6,159.9,-9.8,288,1551,0.00,2.30,0.00,0.000,4,0.000,0.070,2417,696,3043,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1612,-1.03,-146.6,167.1,-12.1,294,1621,0.00,2.30,0.00,0.000,6,0.000,0.064,2407,2097,3044,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1719,-0.28,0.0,179.9,-11.4,305,1874,0.82,0.00,144.55,0.568,6,0.145,0.000,2664,1898,2443,0,0,0,0,1,0,25.77,28.83,23.85
$STATE,1874,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1875,1.03,146.6,183.5,0.0,320,2001,1.30,0.00,114.47,1.079,6,0.099,0.000,3092,1898,1852,0,0,0,0,1,0,24.69,28.83,23.55
$GC,2298,1.03,146.6,143.8,10.1,369,2306,0.00,2.35,1.77,0.295,4,0.000,0.076,3092,3313,1852,0,0,0,0,0,0,28.83,25.48,25.13
$GC,2365,1.03,146.6,136.2,11.4,382,2373,0.00,2.33,1.27,0.217,6,0.000,0.062,3102,1903,1852,0,0,0,0,0,0,28.83,25.58,25.22
$GC,2492,1.03,146.6,118.5,10.6,407,2500,0.00,0.00,1.27,0.229,6,0.000,0.000,3102,1900,1851,0,0,0,0,0,0,28.83,28.83,25.37
$GC,2619,1.03,146.6,104.1,12.0,432,2627,0.00,0.00,1.17,0.224,6,0.000,0.000,3102,1900,1852,0,0,0,0,0,0,28.83,28.83,25.51
$GC,2746,1.03,146.6,86.5,12.6,457,2754,0.00,2.33,1.17,0.223,4,0.000,0.081,3102,3306,1850,0,0,0,0,0,0,28.83,25.72,25.54
$GC,2778,1.03,146.6,82.3,11.6,463,2786,0.00,2.30,1.02,0.216,6,0.000,0.062,3113,1895,1849,0,0,0,0,0,0,28.83,25.78,25.51
$GC,2905,1.03,146.6,67.7,13.3,488,2913,0.00,0.00,1.08,0.225,6,0.000,0.000,3113,1895,1849,0,0,0,0,0,0,28.83,28.83,25.62
$GC,3032,1.03,146.6,51.7,11.6,513,3040,0.00,2.30,1.08,0.224,4,0.000,0.075,3123,495,1848,0,0,0,0,0,0,28.83,25.79,25.64
$GC,3064,1.03,146.6,48.0,10.5,519,3072,0.00,2.30,0.00,0.000,6,0.000,0.063,3123,1894,1855,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3191,1.03,146.6,32.7,12.5,544,3198,0.00,0.00,0.90,0.230,6,0.000,0.000,3123,1894,1850,0,0,0,0,0,0,28.83,28.83,25.71
$GC,3257,1.03,146.6,24.8,11.6,557,3265,0.00,0.00,0.68,0.259,6,0.000,0.000,3123,1894,1849,0,0,0,0,0,0,28.83,28.83,25.75
$GC,3323,1.03,146.6,16.8,11.7,570,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1894,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,1.03,146.6,10.0,10.8,582,3392,0.00,2.35,0.88,0.234,4,0.000,0.080,3123,3319,1848,0,0,0,0,0,0,28.83,25.82,25.73
$STATE,3455,end climb,SURFACE_DEPTH_REACHED
$STATE,3455,begin surface coast
$FINISH,0.3,1.017212
$STATE,3470,end surface coast,CONTROL_FINISHED_OK
$STATE,3470,begin surface
$SM_CCo,3489,23.00,0.134,0,0,1585,210.22
$SM_GC,1.17,7.93,2.00,23.00,0.058,0.064,0.134,201,2093,1585,-7.96,0.88,210.22,0,0,0,0,0,0,25.86,25.86,25.70
$IRIDIUM_FIX,4751.72,-12340.51,070214,030348
$TT8_MAMPS,0.105609,0.105609
$HUMID,18.93
$INTERNAL_PRESSURE,8.82775
$TCM_TEMP,17.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,8
$MI_LOG,3.3/516052/498823
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.8/436550/424355
$24V_AH,23.5,1.112
$10V_AH,10.4,1.687
$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,19.300,41.675,271.325,23.000,0.000,44.063,74.937,1152.832,0.000,5596.300,27.268,0.000,1758.915,441.435,3016.836,73.135,33.212,957.835,0.000,891.644,0.000,0.000,0.000
$DEVICE_MAMPS,247.860,84.150,1078.650,133.875,0.000,40.540,160.000,223.000,0.000,36.222,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,403.172,0.000,0.000,0.000,0.000,0.000,5596.300,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.224,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,23457,599
$CAP_FILE_SIZE,93223,0
$CFSIZE,1024393216,1021640704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070214,052215,4743.474,-12225.149,44,2.9,63,18.2