version: 66.10
glider: 207
mission: 1
dive: 9
start: 2 7 114 9 17 43
data:
$ID,207
$MISSION,1
$DIVE,9
$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,120
$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,240
$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,-1034.92
$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,27
$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
$GPS1,070214,083001,4743.041,-12224.946,15,1.6,32,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.0
$GPS2,070214,091701,4743.256,-12224.924,14,1.7,31,18.2
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.051,-0.215
$KALMAN_X,-123.6,-100.5,-144.1,-843.6,-110.1
$KALMAN_Y,-837.3,-142.3,-404.3,1681.6,219.2
$MHEAD_RNG_PITCHd_Wd,148.4,1041,-17.3,-8.571
$D_GRID,177
$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,-1.11,-117.3,0.0,0.0,0,114,0.00,0.00,-93.00,0.000,6,0.000,0.000,197,2082,2920,0,0,0,0,0,0,28.83,28.83,25.67
$GC,115,-1.11,-117.3,2.1,-2.1,15,129,9.12,2.28,0.00,0.000,4,0.251,0.067,2399,689,2920,0,0,0,0,0,0,25.34,25.49,28.83
$GC,224,-1.11,-117.3,17.9,-12.6,36,231,0.00,2.35,0.00,0.000,6,0.000,0.063,2389,2135,2920,0,0,0,0,0,0,28.83,25.60,28.83
$GC,290,-1.11,-117.3,25.8,-11.7,49,298,0.00,2.30,0.00,0.000,4,0.000,0.083,2379,3498,2920,0,0,0,0,0,0,28.83,25.62,28.83
$GC,332,-1.11,-117.3,29.8,-9.2,57,340,0.00,2.28,0.00,0.000,6,0.000,0.062,2379,2107,2920,0,0,0,0,0,0,28.83,25.67,28.83
$GC,399,-1.11,-117.3,36.6,-9.7,70,406,0.00,2.35,0.00,0.000,4,0.000,0.070,2380,689,2921,0,0,0,0,0,0,28.83,25.67,28.83
$GC,430,-1.11,-117.3,39.9,-11.1,76,439,0.08,2.33,0.00,0.000,6,0.171,0.063,2392,2095,2920,0,0,0,0,0,0,25.60,25.69,28.83
$GC,498,-1.11,-117.3,46.4,-9.0,89,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2095,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,618,-1.11,-117.3,58.0,-9.9,113,626,0.00,2.38,0.00,0.000,4,0.000,0.083,2383,3507,2920,0,0,0,0,0,0,28.83,25.73,28.83
$GC,669,-1.11,-117.3,63.0,-10.1,123,677,0.00,2.30,0.00,0.000,6,0.000,0.064,2383,2099,2920,0,0,0,0,0,0,28.83,25.78,28.83
$GC,796,-1.11,-117.3,76.8,-10.7,148,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2098,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,916,-1.11,-117.3,89.5,-10.0,172,924,0.00,2.38,0.00,0.000,4,0.000,0.083,2372,3510,2920,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1023,-1.11,-117.3,101.5,-10.8,193,1031,0.08,2.30,0.00,0.000,6,0.161,0.062,2395,2093,2922,0,0,0,0,0,0,25.74,25.85,28.83
$GC,1150,-1.11,-117.3,114.9,-10.9,218,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2090,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-1.11,-117.3,127.7,-9.9,243,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2089,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-1.11,-117.3,139.8,-9.5,267,1404,0.00,2.30,0.00,0.000,4,0.000,0.071,2394,695,2920,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1457,-1.11,-117.3,145.7,-9.9,279,1465,0.00,2.30,0.00,0.000,6,0.000,0.063,2387,2098,2920,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1584,-1.11,-117.3,157.3,-8.8,296,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2099,2920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1783,begin apogee
$GC,1786,-0.28,0.0,177.0,-10.4,316,1880,0.90,0.00,89.72,0.552,6,0.145,0.000,2667,1888,2442,0,0,0,0,0,0,25.79,28.83,24.58
$STATE,1880,end apogee,CONTROL_FINISHED_OK
$STATE,1881,begin climb
$GC,1881,1.11,117.3,180.0,0.0,325,1978,1.33,2.47,89.53,0.519,4,0.096,0.079,3114,3312,1956,0,0,0,0,0,0,25.02,24.73,24.33
$GC,1997,1.11,117.3,170.9,10.0,337,2001,0.00,2.38,0.00,0.000,6,0.000,0.060,3124,1909,1949,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2302,1.11,117.3,134.4,11.3,380,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1909,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,1.11,117.3,120.4,12.1,404,2430,0.00,2.35,0.00,0.000,4,0.000,0.076,3124,3303,1946,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2449,1.11,117.3,117.0,12.0,409,2457,0.00,2.30,0.00,0.000,6,0.000,0.060,3134,1899,1947,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2576,1.11,117.3,102.4,9.7,434,2584,0.00,2.38,0.00,0.000,4,0.000,0.077,3135,3307,1947,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2858,1.11,117.3,68.9,11.3,490,2866,0.00,2.28,0.00,0.000,6,0.000,0.060,3145,1905,1946,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2984,1.11,117.3,53.4,11.6,515,2992,0.00,2.35,0.00,0.000,4,0.000,0.078,3145,3309,1947,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3026,1.11,117.3,48.0,12.9,523,3034,0.08,2.30,0.00,0.000,6,0.171,0.061,3131,1894,1946,0,0,0,0,0,0,25.73,25.86,28.83
$GC,3153,1.11,117.3,33.2,11.9,548,3161,0.00,2.38,0.00,0.000,4,0.000,0.079,3131,3306,1947,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3225,1.11,117.3,24.2,12.5,562,3233,0.00,2.30,0.00,0.000,6,0.000,0.061,3140,1890,1947,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3292,1.11,117.3,16.2,11.7,575,3300,0.00,2.33,0.00,0.000,4,0.000,0.076,3150,494,1946,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3349,1.11,117.3,8.4,15.1,586,3357,0.00,2.30,0.00,0.000,6,0.000,0.063,3150,1900,1947,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,3400,end climb,SURFACE_DEPTH_REACHED
$STATE,3400,begin surface coast
$FINISH,0.3,1.020666
$STATE,3415,end surface coast,CONTROL_FINISHED_OK
$STATE,3415,begin surface
$SM_CCo,3432,42.90,0.131,0,0,1465,240.15
$SM_GC,1.59,7.97,0.35,42.90,0.057,0.081,0.131,197,2108,1465,-7.97,-0.57,240.15,0,0,0,0,0,0,25.86,25.87,25.66
$IRIDIUM_FIX,4751.72,-12056.72,070214,080814
$TT8_MAMPS,0.10486,0.10486
$HUMID,18.53
$INTERNAL_PRESSURE,8.82775
$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,3.3/516052/498821
$MI_ROOT,70.6/190403/56027
$MI_HOME,3.3/436550/422246
$24V_AH,24.3,1.624
$10V_AH,10.3,2.060
$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,19.550,56.625,179.250,42.900,0.000,78.292,115.138,1853.920,0.000,6495.400,32.524,0.000,1836.329,391.249,3831.774,100.825,33.213,891.608,0.000,881.980,0.000,0.000,0.000
$DEVICE_MAMPS,250.920,82.620,551.565,130.815,0.000,40.540,160.000,223.000,0.000,36.280,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,404.080,0.000,0.000,0.000,0.000,0.000,6495.400,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.290,0.000,0.000,0.000
$MEM,323652
$DATA_FILE_SIZE,23435,599
$CAP_FILE_SIZE,103844,0
$CFSIZE,1024393216,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070214,101617,4742.889,-12224.850,13,1.3,23,18.2