version: 66.10
glider: 207
mission: 1
dive: 4
start: 2 7 114 1 13 4
data:
$ID,207
$MISSION,1
$DIVE,4
$N_DIVES,0
$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,-1028.4391
$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,18
$R_STBD_OVSHOOT,31
$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
$GPS1,070214,010836,4744.105,-12223.998,15,1.2,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.8
$GPS2,070214,011224,4744.103,-12223.979,15,1.7,25,18.2
$SPEED_LIMITS,0.148,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.233,-0.071
$KALMAN_X,195.8,184.5,67.9,-496.6,21.8
$KALMAN_Y,1071.8,465.8,327.3,7.8,-55.0
$MHEAD_RNG_PITCHd_Wd,234.9,1089,-15.2,-8.571
$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,-1.03,-146.6,0.0,0.0,0,75,0.00,0.00,-56.83,0.000,6,0.000,0.000,192,2115,3042,0,0,0,0,0,0,28.83,28.83,25.71
$GC,77,-1.03,-146.6,2.3,-2.4,9,91,9.25,2.30,0.00,0.000,4,0.249,0.078,2418,3501,3043,0,0,0,0,0,0,25.32,25.51,28.83
$GC,449,-1.03,-146.6,49.1,-11.2,83,458,0.00,2.30,0.00,0.000,6,0.000,0.064,2418,2095,3043,0,0,0,0,0,0,28.83,25.72,28.83
$GC,576,-1.03,-146.6,64.8,-11.6,108,584,0.00,2.33,0.00,0.000,4,0.000,0.075,2417,696,3043,0,0,0,0,0,0,28.83,25.71,28.83
$GC,613,-1.03,-146.6,69.4,-12.0,115,621,0.00,2.33,0.00,0.000,6,0.000,0.067,2407,2097,3043,0,0,0,0,0,0,28.83,25.75,28.83
$GC,740,-1.03,-146.6,84.1,-11.7,140,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2097,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-1.03,-146.6,97.8,-11.4,164,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2097,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-1.03,-146.6,110.6,-10.2,188,988,0.00,2.35,0.00,0.000,4,0.000,0.075,2407,696,3043,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1047,-1.03,-146.6,118.3,-11.3,201,1055,0.10,2.30,0.00,0.000,6,0.165,0.066,2427,2094,3043,0,0,0,0,0,0,25.66,25.80,28.83
$GC,1174,-1.03,-146.6,132.3,-10.6,226,1182,0.00,2.35,0.00,0.000,4,0.000,0.075,2426,693,3043,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1226,-1.03,-146.6,137.9,-10.8,236,1234,0.00,2.33,0.00,0.000,6,0.000,0.066,2418,2103,3044,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1352,-1.03,-146.6,149.6,-8.7,261,1360,0.00,2.35,0.00,0.000,4,0.000,0.075,2418,701,3044,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1434,-1.03,-146.6,158.6,-11.5,270,1438,0.00,2.33,0.00,0.000,6,0.000,0.067,2408,2104,3044,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1566,-0.28,0.0,172.7,-10.6,283,1687,0.85,0.00,113.12,0.535,6,0.147,0.000,2670,1895,2435,0,0,0,0,0,0,25.70,28.83,24.47
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1689,1.03,146.6,176.4,0.0,295,1809,1.25,2.45,112.05,0.506,4,0.099,0.077,3087,3307,1837,0,0,0,0,0,0,24.91,24.71,24.31
$GC,1857,1.03,146.6,163.5,11.5,312,1862,0.00,2.38,0.00,0.000,6,0.000,0.064,3095,1903,1824,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2163,1.03,146.6,129.3,11.7,360,2171,0.00,2.40,0.00,0.000,4,0.000,0.079,3107,492,1823,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2214,1.03,146.6,123.1,11.5,370,2222,0.00,2.35,0.00,0.000,6,0.000,0.065,3107,1911,1824,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2341,1.03,146.6,108.8,11.7,395,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1911,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,1.03,146.6,94.2,12.4,419,2469,0.00,2.40,0.00,0.000,4,0.000,0.078,3115,495,1824,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2518,1.03,146.6,86.6,13.6,430,2526,0.00,2.33,0.00,0.000,6,0.000,0.065,3116,1901,1823,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2645,1.03,146.6,70.6,12.0,455,2653,0.00,2.35,0.00,0.000,4,0.000,0.080,3116,3303,1824,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2767,1.03,146.6,55.1,12.6,479,2775,0.08,2.30,0.00,0.000,6,0.164,0.063,3104,1898,1824,0,0,0,0,0,0,25.69,25.80,28.83
$GC,2894,1.03,146.6,41.4,10.6,504,2902,0.00,2.38,0.00,0.000,4,0.000,0.079,3104,3310,1824,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2946,1.03,146.6,35.9,10.5,514,2954,0.00,2.30,0.00,0.000,6,0.000,0.062,3112,1902,1824,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3013,1.03,146.6,29.0,10.3,527,3020,0.00,2.38,0.00,0.000,4,0.000,0.078,3111,3309,1824,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3049,1.03,146.6,25.0,11.2,534,3057,0.00,2.30,0.00,0.000,6,0.000,0.062,3122,1899,1824,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3116,1.03,146.6,18.0,9.3,547,3124,0.00,2.35,0.00,0.000,4,0.000,0.079,3122,3302,1824,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3163,1.03,146.6,13.0,11.3,556,3171,0.10,2.30,0.00,0.000,6,0.156,0.062,3101,1894,1824,0,0,0,0,0,0,25.72,25.84,28.83
$GC,3230,1.03,146.6,6.1,10.0,569,3238,0.00,2.35,0.00,0.000,4,0.000,0.076,3110,483,1823,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3252,1.03,146.6,3.8,10.3,573,3260,0.00,2.33,0.00,0.000,6,0.000,0.063,3110,1897,1824,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,3268,end climb,SURFACE_DEPTH_REACHED
$STATE,3268,begin surface coast
$FINISH,0.3,1.022942
$STATE,3283,end surface coast,CONTROL_FINISHED_OK
$STATE,3283,begin surface
$SM_CCo,3300,20.80,0.135,0,0,1587,210.22
$SM_GC,1.67,7.95,0.35,20.80,0.062,0.083,0.135,200,2106,1587,-7.97,-0.62,210.22,0,0,0,0,0,0,25.82,25.83,25.67
$IRIDIUM_FIX,4751.72,-12340.51,070214,000039
$TT8_MAMPS,0.103362,0.103362
$HUMID,18.49
$INTERNAL_PRESSURE,8.84728
$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,3.3/516052/498825
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.5/436550/425725
$24V_AH,24.3,0.713
$10V_AH,10.4,1.441
$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,19.575,61.575,225.175,20.800,0.000,0.000,0.000,0.000,0.000,3365.400,26.438,0.000,1596.469,371.946,1386.132,21.535,32.218,878.624,0.000,882.307,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,82.620,535.500,135.405,0.000,0.000,0.000,0.000,0.000,36.113,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,390.563,0.000,0.000,0.000,0.000,0.000,3365.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.147,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,23388,579
$CAP_FILE_SIZE,97142,0
$CFSIZE,1024393216,1022148608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,020934,4743.730,-12224.427,34,2.8,53,18.2