version: 66.10
glider: 207
mission: 1
dive: 5
start: 2 7 114 2 52 18
data:
$ID,207
$MISSION,1
$DIVE,5
$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,477.10849
$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,-1029.7927
$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
$GPS1,070214,020934,4743.730,-12224.427,34,2.8,53,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.7
$GPS2,070214,025136,4743.591,-12224.348,10,1.3,20,18.2
$SPEED_LIMITS,0.148,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.157,0.187
$KALMAN_X,586.2,204.8,63.4,-1354.0,209.2
$KALMAN_Y,886.5,394.1,32.0,-378.0,-325.3
$MHEAD_RNG_PITCHd_Wd,301.8,803,-15.2,-8.571
$D_GRID,173
$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,-1.03,-146.6,0.0,0.0,0,74,0.00,0.00,-56.60,0.000,6,0.000,0.000,200,2106,3044,0,0,0,0,0,0,28.83,28.83,25.69
$GC,76,-1.03,-146.6,2.4,-2.7,9,90,9.27,2.33,0.00,0.000,4,0.252,0.079,2417,3513,3044,0,0,0,0,0,0,25.29,25.48,28.83
$GC,459,-1.03,-146.6,45.7,-11.0,85,467,0.00,2.33,0.00,0.000,6,0.000,0.063,2417,2089,3044,0,0,0,0,0,0,28.83,25.73,28.83
$GC,586,-1.03,-146.6,59.1,-10.5,110,594,0.00,2.33,0.00,0.000,4,0.000,0.073,2418,694,3044,0,0,0,0,0,0,28.83,25.72,28.83
$GC,642,-1.03,-146.6,65.5,-11.7,121,650,0.00,2.33,0.00,0.000,6,0.000,0.067,2407,2099,3044,0,0,0,0,0,0,28.83,25.75,28.83
$GC,769,-1.03,-146.6,80.8,-12.0,146,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2099,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-1.03,-146.6,93.7,-11.0,170,897,0.00,2.33,0.00,0.000,4,0.000,0.072,2407,698,3048,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1006,-1.03,-146.6,107.3,-11.8,193,1014,0.10,2.30,0.00,0.000,6,0.163,0.065,2427,2094,3044,0,0,0,0,0,0,25.68,25.81,28.83
$GC,1133,-1.03,-146.6,121.1,-10.9,218,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2095,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-1.03,-146.6,134.3,-10.7,242,1261,0.00,2.33,0.00,0.000,4,0.000,0.071,2426,698,3044,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1360,-1.03,-146.6,146.5,-11.4,263,1368,0.00,2.33,0.00,0.000,6,0.000,0.064,2419,2110,3044,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1492,-1.03,-146.6,161.1,-10.4,279,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2110,3044,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1621,begin apogee
$GC,1624,-0.28,0.0,173.7,-10.5,292,1748,0.80,0.00,113.93,1.007,6,0.143,0.000,2667,1884,2447,0,0,0,0,1,0,25.75,28.83,23.63
$STATE,1748,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1749,1.03,146.6,177.5,0.0,304,1876,1.30,2.45,116.97,0.503,4,0.099,0.077,3095,3305,1835,0,0,0,0,0,0,24.47,24.68,24.31
$GC,1919,1.03,146.6,164.2,11.8,321,1928,0.00,2.38,0.00,0.000,6,0.000,0.062,3100,1905,1829,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2225,1.03,146.6,126.2,13.0,371,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1905,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,1.03,146.6,111.5,12.7,395,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1905,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2465,1.03,146.6,96.9,11.9,419,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1905,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,1.03,146.6,83.6,10.7,443,2593,0.00,2.38,0.00,0.000,4,0.000,0.078,3111,493,1829,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2641,1.03,146.6,77.0,12.2,454,2649,0.00,2.33,0.00,0.000,6,0.000,0.066,3111,1902,1829,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2768,1.03,146.6,62.1,12.7,479,2776,0.00,2.35,0.00,0.000,4,0.000,0.081,3111,3299,1829,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2820,1.03,146.6,55.3,14.5,489,2828,0.00,2.30,0.00,0.000,6,0.000,0.064,3121,1895,1829,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2947,1.03,146.6,38.7,12.5,514,2955,0.00,2.38,0.00,0.000,4,0.000,0.081,3121,3306,1829,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2999,1.03,146.6,32.1,12.8,524,3007,0.10,2.30,0.00,0.000,6,0.155,0.063,3101,1897,1829,0,0,0,0,0,0,25.74,25.84,28.83
$GC,3066,1.03,146.6,24.3,11.3,537,3074,0.00,2.38,0.00,0.000,4,0.000,0.081,3100,3303,1829,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3122,1.03,146.6,17.3,12.7,548,3131,0.00,2.30,0.00,0.000,6,0.000,0.063,3109,1900,1829,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3190,1.03,146.6,9.3,12.0,561,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1900,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,1.03,146.6,2.5,11.3,573,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1900,1829,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3259,end climb,SURFACE_DEPTH_REACHED
$STATE,3259,begin surface coast
$FINISH,0.4,1.009745
$STATE,3274,end surface coast,CONTROL_FINISHED_OK
$STATE,3274,begin surface
$SM_CCo,3290,124.15,0.130,0,0,495,477.11
$SM_GC,0.95,7.90,0.35,124.15,0.060,0.080,0.130,201,2102,495,-7.96,-0.76,477.11,0,0,0,0,0,0,25.86,25.86,25.48
$IRIDIUM_FIX,4751.72,-12340.51,070214,020254
$TT8_MAMPS,0.103362,0.103362
$HUMID,18.06
$INTERNAL_PRESSURE,8.73985
$TCM_TEMP,17.30
$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,3.3/516052/498824
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.6/436550/425166
$24V_AH,23.6,0.920
$10V_AH,10.4,1.569
$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,19.475,42.825,230.900,124.150,0.000,123.441,191.505,1337.457,0.000,5939.500,21.779,0.000,1867.703,462.609,3380.212,83.800,33.212,941.135,0.000,856.524,0.000,0.000,0.000
$DEVICE_MAMPS,251.685,81.090,1006.740,130.050,0.000,40.540,160.000,223.000,0.000,36.171,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,390.199,0.000,0.000,0.000,0.000,0.000,5939.500,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.252,0.000,0.000,0.000
$MEM,323592
$DATA_FILE_SIZE,23452,578
$CAP_FILE_SIZE,93593,0
$CFSIZE,1024393216,1021820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070214,034948,4743.530,-12224.941,9,1.0,19,18.2