version: 66.10
glider: 208
mission: 2
dive: 6
start: 2 7 114 4 11 13
data:
$ID,208
$MISSION,2
$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,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,-2866.0105
$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
$GPS1,070214,040018,4743.753,-12224.835,3,1.0,13,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.5
$GPS2,070214,041031,4743.744,-12224.875,4,1.2,14,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.033,-0.256
$KALMAN_X,629.2,286.2,236.8,-2273.8,171.3
$KALMAN_Y,626.9,662.2,-449.9,439.6,-294.1
$MHEAD_RNG_PITCHd_Wd,171.0,1935,-17.6,-10.000
$D_GRID,175
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-64.62,0.000,6,0.000,0.000,255,2005,3456,0,0,0,0,0,0,28.83,28.83,26.20
$GC,87,-1.16,-146.6,3.2,-6.1,11,101,8.90,2.25,0.00,0.000,4,0.292,0.063,2151,580,3457,0,0,0,0,0,0,25.79,25.91,28.83
$GC,261,-1.16,-146.6,30.7,-15.0,53,268,0.00,2.15,0.00,0.000,6,0.000,0.045,2142,1998,3456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,287,-1.16,-146.6,34.4,-14.6,58,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1998,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,306,-1.16,-146.6,37.2,-13.9,62,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1998,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,327,-1.16,-146.6,39.8,-13.2,66,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,1998,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-1.16,-146.6,42.7,-14.4,70,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,1997,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,467,-1.16,-146.6,59.8,-14.1,94,474,0.00,2.17,0.00,0.000,4,0.000,0.062,2131,3400,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,553,-1.16,-146.6,72.9,-15.0,115,560,0.00,2.15,0.00,0.000,6,0.000,0.044,2131,1974,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,679,-1.16,-146.6,90.8,-13.7,140,686,0.00,2.22,0.00,0.000,4,0.000,0.060,2121,3397,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,702,-1.16,-146.6,94.1,-13.8,145,710,0.12,2.12,0.00,0.000,6,0.191,0.045,2148,1987,3456,0,0,0,0,0,0,26.07,26.25,28.83
$GC,829,-1.16,-146.6,109.1,-11.3,170,836,0.00,2.20,0.00,0.000,4,0.000,0.061,2134,3400,3456,0,0,0,0,0,0,28.83,26.23,28.83
$GC,847,-1.16,-146.6,111.4,-12.2,174,855,0.00,2.17,0.00,0.000,6,0.000,0.044,2138,1996,3455,0,0,0,0,0,0,28.83,26.25,28.83
$GC,974,-1.16,-146.6,128.1,-11.2,199,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,1996,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1094,-1.16,-146.6,142.9,-14.9,223,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,1995,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-1.16,-146.6,158.6,-12.3,240,1217,0.00,2.17,0.00,0.000,4,0.000,0.064,2138,595,3457,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1229,-1.16,-146.6,160.6,-12.4,242,1233,0.00,2.12,0.00,0.000,6,0.000,0.046,2128,1998,3456,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1339,-0.28,0.0,175.3,-13.5,253,1453,1.02,0.00,108.80,0.534,6,0.177,0.000,2423,1845,2859,0,0,0,0,0,0,26.11,28.83,24.91
$STATE,1453,end apogee,CONTROL_FINISHED_OK
$STATE,1454,begin climb
$GC,1454,1.16,146.6,179.7,0.0,266,1572,1.50,2.42,107.47,0.493,4,0.126,0.081,2896,461,2249,0,0,0,0,0,0,25.30,25.18,24.79
$GC,1599,1.16,146.6,168.9,11.3,283,1607,0.00,2.28,0.00,0.000,6,0.000,0.054,2897,1852,2244,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1904,1.16,146.6,126.5,13.8,330,1911,0.00,2.25,0.00,0.000,4,0.000,0.067,2896,3265,2243,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1958,1.16,146.6,118.5,14.9,343,1966,0.00,2.20,0.00,0.000,6,0.000,0.058,2907,1864,2243,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2085,1.16,146.6,100.8,14.2,368,2091,0.00,2.33,0.00,0.000,4,0.000,0.082,2918,440,2243,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2119,1.16,146.6,95.8,15.2,376,2126,0.00,2.20,0.00,0.000,6,0.000,0.056,2918,1860,2243,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2245,1.16,146.6,78.1,14.6,401,2252,0.00,2.20,0.00,0.000,4,0.000,0.068,2918,3258,2243,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2304,1.16,146.6,69.2,15.0,415,2311,0.00,2.20,0.00,0.000,6,0.000,0.060,2928,1851,2243,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2430,1.16,146.6,51.2,14.0,440,2437,0.00,2.22,0.00,0.000,4,0.000,0.068,2928,3253,2243,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2521,1.16,146.6,38.0,14.4,462,2528,0.12,2.20,0.00,0.000,6,0.207,0.060,2912,1850,2243,0,0,0,0,0,0,26.07,26.22,28.83
$GC,2547,1.16,146.6,34.4,13.4,467,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1847,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,1.16,146.6,31.7,13.4,471,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1847,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2587,1.16,146.6,29.2,12.5,475,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1850,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2607,1.16,146.6,26.7,12.8,479,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1850,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,1.16,146.6,24.1,12.6,483,2634,0.00,2.30,0.00,0.000,4,0.000,0.084,2922,438,2243,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2654,1.16,146.6,20.4,13.5,489,2661,0.00,2.22,0.00,0.000,6,0.000,0.056,2922,1862,2243,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2680,1.16,146.6,16.7,14.7,494,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1862,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2700,1.16,146.6,13.9,14.4,498,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1862,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,1.16,146.6,11.1,13.9,502,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1862,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,1.16,146.6,8.5,13.5,506,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1862,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,1.16,146.6,5.6,14.4,510,2767,0.00,2.33,0.00,0.000,4,0.000,0.084,2931,442,2243,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2783,1.16,146.6,2.4,14.1,515,2790,0.00,2.17,0.00,0.000,6,0.000,0.057,2932,1850,2243,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,2793,end climb,SURFACE_DEPTH_REACHED
$STATE,2793,begin surface coast
$FINISH,0.4,1.011036
$STATE,2808,end surface coast,CONTROL_FINISHED_OK
$STATE,2808,begin surface
$SM_CCo,2823,26.08,0.130,0,0,1916,230.09
$SM_GC,0.69,7.47,0.22,26.08,0.067,0.077,0.130,251,1997,1916,-7.07,-1.07,230.09,0,0,0,0,0,0,26.25,26.28,26.08
$IRIDIUM_FIX,4751.72,-12340.51,070214,030329
$TT8_MAMPS,0.09737,0.09737
$HUMID,25.82
$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,3.3/516052/498797
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.3/436550/426546
$24V_AH,24.8,0.984
$10V_AH,10.3,0.802
$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,19.150,53.725,216.275,26.075,0.000,43.094,58.895,234.546,0.000,3531.000,15.078,0.000,1362.120,338.315,1616.539,39.320,33.216,823.194,0.000,795.718,0.000,0.000,0.000
$DEVICE_MAMPS,292.230,84.150,533.970,130.050,0.000,12.240,160.000,223.000,0.000,44.739,33.710,0.000,0.390,14.710,44.670,64.140,67.140,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,349.590,0.000,0.000,0.000,0.000,0.000,3531.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,41.820,0.000,0.000,0.000
$MEM,323584
$DATA_FILE_SIZE,20111,520
$CAP_FILE_SIZE,75695,0
$CFSIZE,1024409600,1021984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,050014,4743.018,-12225.146,65,1.5,75,16.3