version: 66.10
glider: 207
mission: 1
dive: 7
start: 2 7 114 5 54 59
data:
$ID,207
$MISSION,1
$DIVE,7
$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,-1032.3055
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,070214,052215,4743.474,-12225.149,44,2.9,63,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.5
$GPS2,070214,055418,4743.340,-12225.366,16,1.6,26,18.2
$SPEED_LIMITS,0.148,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.133,0.204
$KALMAN_X,108.5,101.2,19.3,-1980.3,-258.6
$KALMAN_Y,-168.3,197.3,-735.1,1181.6,-412.7
$MHEAD_RNG_PITCHd_Wd,15.0,1254,-15.2,-8.571
$D_GRID,184
$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,-56.55,0.000,6,0.000,0.000,201,2092,3043,0,0,0,0,0,0,28.83,28.83,25.65
$GC,77,-1.03,-146.6,2.6,-3.4,9,91,9.25,2.35,0.00,0.000,4,0.252,0.078,2417,3506,3044,0,0,0,0,0,0,25.32,25.46,28.83
$GC,110,-1.03,-146.6,10.3,-16.8,15,118,0.00,2.30,0.00,0.000,6,0.000,0.061,2417,2111,3044,0,0,0,0,0,0,28.83,25.53,28.83
$GC,177,-1.03,-146.6,18.0,-11.7,28,184,0.00,2.38,0.00,0.000,4,0.000,0.082,2405,3505,3043,0,0,0,0,0,0,28.83,25.55,28.83
$GC,233,-1.03,-146.6,24.8,-11.3,39,241,0.00,2.30,0.00,0.000,6,0.000,0.062,2405,2102,3044,0,0,0,0,0,0,28.83,25.63,28.83
$GC,300,-1.03,-146.6,32.2,-11.2,52,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2102,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,360,-1.03,-146.6,39.1,-12.0,64,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2102,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,420,-1.03,-146.6,46.1,-11.8,76,428,0.00,2.33,0.00,0.000,4,0.000,0.070,2406,696,3044,0,0,0,0,0,0,28.83,25.70,28.83
$GC,512,-1.03,-146.6,57.4,-12.6,94,520,0.10,2.30,0.00,0.000,6,0.159,0.064,2426,2091,3044,0,0,0,0,0,0,25.65,25.75,28.83
$GC,639,-1.03,-146.6,73.2,-10.6,119,647,0.00,2.38,0.00,0.000,4,0.000,0.082,2417,3507,3044,0,0,0,0,0,0,28.83,25.75,28.83
$GC,691,-1.03,-146.6,78.6,-10.1,129,699,0.00,2.30,0.00,0.000,6,0.000,0.062,2418,2093,3044,0,0,0,0,0,0,28.83,25.80,28.83
$GC,818,-1.03,-146.6,92.3,-11.2,154,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2092,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,937,-1.03,-146.6,105.2,-10.7,178,945,0.00,2.38,0.00,0.000,4,0.000,0.083,2406,3505,3044,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1149,-1.03,-146.6,126.7,-12.4,220,1157,0.00,2.28,0.00,0.000,6,0.000,0.062,2406,2104,3044,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1276,-1.03,-146.6,140.2,-10.8,245,1284,0.00,2.33,0.00,0.000,4,0.000,0.072,2406,692,3044,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1368,-1.03,-146.6,150.7,-11.6,263,1372,0.10,2.30,0.00,0.000,6,0.160,0.064,2426,2097,3044,0,0,0,0,0,0,25.77,25.90,28.83
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1650,-0.28,0.0,180.6,-11.8,291,1771,0.75,0.00,112.75,0.555,6,0.141,0.000,2664,1891,2434,0,0,0,0,0,0,25.79,28.83,24.46
$STATE,1772,end apogee,CONTROL_FINISHED_OK
$STATE,1772,begin climb
$GC,1773,1.03,146.6,185.8,0.0,303,1892,1.27,0.00,112.78,0.526,6,0.096,0.000,3093,1891,1840,0,0,0,0,0,0,24.91,28.83,24.30
$GC,2188,1.03,146.6,145.3,10.1,349,2196,0.00,2.40,0.00,0.000,4,0.000,0.077,3093,3304,1827,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2295,1.03,146.6,132.6,11.5,370,2303,0.00,2.30,0.00,0.000,6,0.000,0.062,3103,1900,1826,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2421,1.03,146.6,119.7,10.0,395,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1903,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2542,1.03,146.6,106.7,11.0,419,2549,0.00,2.38,0.00,0.000,4,0.000,0.079,3103,3309,1826,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2608,1.03,146.6,98.8,12.1,432,2616,0.00,2.30,0.00,0.000,6,0.000,0.062,3112,1899,1826,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2735,1.03,146.6,82.5,13.2,457,2743,0.00,2.38,0.00,0.000,4,0.000,0.080,3112,3307,1826,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2787,1.03,146.6,75.3,14.1,467,2795,0.00,2.30,0.00,0.000,6,0.000,0.062,3123,1895,1826,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2914,1.03,146.6,58.9,12.8,492,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1894,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,1.03,146.6,44.5,12.1,516,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1895,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,1.03,146.6,30.6,10.8,540,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1894,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,1.03,146.6,24.1,10.7,552,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1895,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,1.03,146.6,17.0,11.5,564,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1895,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3334,1.03,146.6,10.2,11.2,576,3342,0.00,2.35,0.00,0.000,4,0.000,0.077,3124,3303,1826,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,3400,end climb,SURFACE_DEPTH_REACHED
$STATE,3400,begin surface coast
$FINISH,0.3,1.010534
$STATE,3415,end surface coast,CONTROL_FINISHED_OK
$STATE,3415,begin surface
$SM_CCo,3433,21.38,0.136,0,0,1586,210.22
$SM_GC,1.47,7.90,1.98,21.38,0.056,0.063,0.136,194,2095,1586,-7.98,0.74,210.22,0,0,0,0,0,0,25.89,25.89,25.72
$IRIDIUM_FIX,4751.72,-12340.51,070214,050525
$TT8_MAMPS,0.106358,0.106358
$HUMID,19.04
$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,3.3/516052/498823
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.9/436550/423801
$24V_AH,24.3,1.278
$10V_AH,10.4,1.804
$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,19.375,46.625,225.525,21.375,0.000,49.875,71.091,1136.407,0.000,5495.700,27.770,0.000,1809.135,345.940,3012.515,72.020,33.211,847.663,0.000,882.940,0.000,0.000,0.000
$DEVICE_MAMPS,251.685,82.620,554.625,136.170,0.000,40.540,160.000,223.000,0.000,36.184,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,400.037,0.000,0.000,0.000,0.000,0.000,5495.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.219,0.000,0.000,0.000
$MEM,323676
$DATA_FILE_SIZE,23442,592
$CAP_FILE_SIZE,89341,0
$CFSIZE,1024393216,1021378560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,065330,4743.348,-12225.039,31,1.3,41,18.2