version: 66.10
glider: 207
mission: 1
dive: 11
start: 2 7 114 12 13 58
data:
$ID,207
$MISSION,1
$DIVE,11
$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,-1037.4341
$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,26
$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
$GPS1,070214,114452,4742.764,-12224.788,9,2.5,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.9
$GPS2,070214,121317,4742.914,-12224.553,43,1.0,53,18.2
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.105,-0.158
$KALMAN_X,58.8,-172.1,6.3,-645.9,137.2
$KALMAN_Y,-633.2,-355.2,718.7,-60.8,267.3
$MHEAD_RNG_PITCHd_Wd,195.5,501,-20.7,-8.571
$D_GRID,179
$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,15,-1.27,-83.9,0.0,0.0,0,69,0.00,0.00,-51.53,0.000,6,0.000,0.000,198,2109,2787,0,0,0,0,0,0,28.83,28.83,25.66
$GC,70,-1.31,-117.3,1.7,-1.4,8,91,8.85,2.35,-4.22,0.000,4,0.249,0.083,2340,683,2925,0,0,0,0,0,0,25.32,25.48,25.63
$GC,160,-1.31,-117.3,11.8,-12.4,25,168,0.00,2.35,0.00,0.000,6,0.000,0.063,2332,2097,2925,0,0,0,0,0,0,28.83,25.58,28.83
$GC,227,-1.31,-117.3,20.0,-13.5,38,235,0.00,2.38,0.00,0.000,4,0.000,0.081,2320,3505,2925,0,0,0,0,0,0,28.83,25.60,28.83
$GC,354,-1.31,-117.3,37.9,-14.9,63,361,0.00,2.30,0.00,0.000,6,0.000,0.062,2320,2095,2925,0,0,0,0,0,0,28.83,25.71,28.83
$GC,420,-1.31,-117.3,46.8,-12.5,76,428,0.00,2.33,0.00,0.000,4,0.000,0.071,2320,689,2925,0,0,0,0,0,0,28.83,25.70,28.83
$GC,462,-1.31,-117.3,52.4,-14.1,84,471,0.10,2.33,0.00,0.000,6,0.181,0.064,2338,2099,2925,0,0,0,0,0,0,25.60,25.72,28.83
$GC,590,-1.31,-117.3,68.1,-12.3,109,597,0.00,2.33,0.00,0.000,4,0.000,0.072,2338,699,2925,0,0,0,0,0,0,28.83,25.75,28.83
$GC,661,-1.31,-117.3,77.5,-13.3,123,669,0.00,2.33,0.00,0.000,6,0.000,0.065,2329,2106,2925,0,0,0,0,0,0,28.83,25.79,28.83
$GC,788,-1.31,-117.3,94.2,-13.7,148,796,0.00,2.33,0.00,0.000,4,0.000,0.070,2329,699,2925,0,0,0,0,0,0,28.83,25.78,28.83
$GC,805,-1.31,-117.3,96.4,-13.2,151,813,0.00,2.30,0.00,0.000,6,0.000,0.064,2318,2099,2925,0,0,0,0,0,0,28.83,25.79,28.83
$GC,931,-1.31,-117.3,113.0,-12.5,176,939,0.00,2.35,0.00,0.000,4,0.000,0.083,2307,3504,2925,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1063,-1.31,-117.3,131.7,-14.2,202,1072,0.10,2.28,0.00,0.000,6,0.179,0.063,2336,2102,2925,0,0,0,0,0,0,25.71,25.84,28.83
$GC,1191,-1.31,-117.3,147.8,-12.2,227,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2101,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-1.31,-117.3,163.3,-11.2,242,1325,0.00,2.30,0.00,0.000,4,0.000,0.071,2336,700,2926,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1351,-1.31,-117.3,166.7,-11.6,245,1355,0.00,2.30,0.00,0.000,6,0.000,0.064,2327,2106,2925,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,1470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1470,begin apogee
$GC,1473,-0.28,0.0,180.1,-11.7,257,1575,1.10,0.00,92.05,0.981,6,0.156,0.000,2662,1896,2447,0,0,0,0,1,0,25.76,28.83,23.70
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1577,1.31,117.3,183.7,0.0,267,1684,1.55,2.42,94.75,0.517,4,0.091,0.076,3178,3305,1952,0,0,0,0,0,0,24.55,24.68,24.30
$GC,1724,1.31,117.3,169.0,15.3,282,1728,0.00,2.38,0.00,0.000,6,0.000,0.061,3189,1898,1949,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2029,1.31,117.3,123.2,13.8,331,2037,0.00,2.38,0.00,0.000,4,0.000,0.078,3189,3300,1948,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2200,1.31,117.3,98.5,13.9,365,2208,0.00,2.30,0.00,0.000,6,0.000,0.060,3199,1900,1947,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2327,1.31,117.3,81.2,13.4,390,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1900,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2447,1.31,117.3,65.7,12.7,414,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1900,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2573,1.31,117.3,48.2,14.7,439,2581,0.00,2.35,0.00,0.000,4,0.000,0.078,3199,3305,1948,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2624,1.31,117.3,40.6,15.0,449,2632,0.00,2.30,0.00,0.000,6,0.000,0.061,3210,1896,1948,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2751,1.31,117.3,22.9,13.9,474,2759,0.00,2.35,0.00,0.000,4,0.000,0.077,3210,3302,1948,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2878,1.31,117.3,4.8,15.3,499,2886,0.10,2.28,0.00,0.000,6,0.182,0.061,3191,1901,1948,0,0,0,0,0,0,25.73,25.86,28.83
$STATE,2899,end climb,SURFACE_DEPTH_REACHED
$STATE,2899,begin surface coast
$FINISH,0.4,1.006817
$STATE,2910,end surface coast,CONTROL_FINISHED_OK
$STATE,2910,begin surface
$SM_CCo,2927,42.80,0.132,0,0,1462,240.15
$SM_GC,1.65,8.07,0.35,42.80,0.054,0.075,0.132,196,2104,1462,-7.97,-0.68,240.15,0,0,0,0,0,0,25.86,25.86,25.65
$IRIDIUM_FIX,4751.72,-12340.51,070214,101025
$TT8_MAMPS,0.10486,0.10486
$HUMID,18.85
$INTERNAL_PRESSURE,8.83751
$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,3.3/516052/498820
$MI_ROOT,70.6/190403/56027
$MI_HOME,3.5/436550/421053
$24V_AH,23.7,1.933
$10V_AH,10.4,2.278
$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,19.875,51.975,186.800,42.800,0.000,22.681,37.553,1048.180,0.000,4756.100,54.439,0.000,1432.786,351.969,2680.288,74.515,33.210,800.352,0.000,768.879,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,83.385,980.730,131.580,0.000,40.540,160.000,223.000,0.000,36.332,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,340.344,0.000,0.000,0.000,0.000,0.000,4756.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.310,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,20162,505
$CAP_FILE_SIZE,80472,0
$CFSIZE,1024393216,1020313600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070214,130406,4742.539,-12224.729,12,1.0,22,18.2