version: 66.10
glider: 207
mission: 1
dive: 13
start: 2 7 114 15 3 35
data:
$ID,207
$MISSION,1
$DIVE,13
$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,-1039.953
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,070214,143030,4742.854,-12225.122,34,0.9,44,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.0
$GPS2,070214,150254,4742.839,-12225.034,15,1.3,25,18.2
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.000,0.221
$KALMAN_X,29.2,-175.2,206.3,-1401.3,51.4
$KALMAN_Y,-994.9,-351.2,783.7,102.9,-579.5
$MHEAD_RNG_PITCHd_Wd,341.8,1987,-17.3,-8.571
$D_GRID,186
$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,-1.11,-117.3,0.0,0.0,0,75,0.00,0.00,-56.10,0.000,6,0.000,0.000,199,2114,2925,0,0,0,0,0,0,28.83,28.83,25.70
$GC,77,-1.11,-117.3,2.3,-3.2,9,91,9.10,2.33,0.00,0.000,4,0.251,0.067,2399,681,2925,0,0,0,0,0,0,25.37,25.53,28.83
$GC,535,-1.11,-117.3,57.8,-11.4,100,543,0.00,2.33,0.00,0.000,6,0.000,0.063,2390,2097,2929,0,0,0,0,0,0,28.83,25.77,28.83
$GC,662,-1.11,-117.3,72.6,-12.4,125,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2096,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,782,-1.11,-117.3,86.9,-10.7,149,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2095,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,902,-1.11,-117.3,98.4,-10.0,173,910,0.00,2.33,0.00,0.000,4,0.000,0.070,2391,687,2925,0,0,0,0,0,0,28.83,25.82,28.83
$GC,993,-1.11,-117.3,108.4,-11.8,191,1001,0.00,2.33,0.00,0.000,6,0.000,0.063,2380,2106,2925,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1120,-1.11,-117.3,123.1,-10.7,216,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2106,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1240,-1.11,-117.3,137.4,-12.3,240,1248,0.00,2.35,0.00,0.000,4,0.000,0.070,2380,685,2925,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1297,-1.11,-117.3,145.5,-12.5,251,1305,0.10,2.33,0.00,0.000,6,0.165,0.063,2400,2101,2926,0,0,0,0,0,0,25.77,25.86,28.83
$GC,1429,-1.11,-117.3,158.6,-9.5,268,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2101,2925,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1658,begin apogee
$GC,1661,-0.28,0.0,180.3,-9.5,291,1755,0.85,0.00,90.55,0.559,6,0.144,0.000,2667,1891,2443,0,0,0,0,0,0,25.80,28.83,24.58
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1757,1.11,117.3,182.5,0.0,300,1858,1.33,2.47,89.45,0.522,4,0.094,0.079,3116,3307,1951,0,0,0,0,0,0,24.94,24.72,24.33
$GC,1981,1.11,117.3,160.3,11.8,322,1989,0.00,2.33,0.00,0.000,6,0.000,0.060,3126,1903,1945,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2287,1.11,117.3,125.7,10.9,374,2294,0.00,2.38,0.00,0.000,4,0.000,0.077,3126,3309,1945,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2343,1.11,117.3,118.1,15.0,385,2351,0.00,2.30,0.00,0.000,6,0.000,0.060,3137,1902,1945,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2470,1.11,117.3,103.6,10.1,410,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,1.11,117.3,89.3,12.5,434,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,1.11,117.3,75.0,10.9,458,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1902,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,1.11,117.3,61.5,11.5,482,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,1.11,117.3,48.5,11.1,506,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,1.11,117.3,35.9,10.0,530,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,1.11,117.3,30.0,9.7,542,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,1.11,117.3,23.7,10.6,554,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,1.11,117.3,17.1,10.9,566,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1902,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,1.11,117.3,9.9,12.2,578,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1901,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,1.11,117.3,3.2,11.4,590,3378,0.00,2.35,0.00,0.000,4,0.000,0.078,3137,3304,1944,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,3381,end climb,SURFACE_DEPTH_REACHED
$STATE,3381,begin surface coast
$FINISH,0.6,1.023002
$STATE,3396,end surface coast,CONTROL_FINISHED_OK
$STATE,3396,begin surface
$SM_CCo,3415,42.58,0.132,0,0,1462,240.15
$SM_GC,1.70,7.97,1.98,42.58,0.060,0.063,0.132,200,2096,1462,-7.96,0.79,240.15,0,0,0,0,0,0,25.88,25.88,25.67
$IRIDIUM_FIX,4751.72,-12340.51,070214,141451
$TT8_MAMPS,0.107856,0.107856
$HUMID,19.20
$INTERNAL_PRESSURE,8.82775
$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,3.3/516052/498818
$MI_ROOT,70.6/190403/56027
$MI_HOME,3.9/436550/419674
$24V_AH,24.3,2.256
$10V_AH,10.3,2.505
$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,19.350,28.125,180.000,42.575,0.000,47.900,71.363,1153.648,0.000,5497.700,26.218,0.000,1843.835,292.289,3049.019,84.221,33.212,777.976,0.000,900.109,0.000,0.000,0.000
$DEVICE_MAMPS,250.920,78.795,559.215,131.580,0.000,40.540,160.000,223.000,0.000,36.230,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,403.479,0.000,0.000,0.000,0.000,0.000,5497.710,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,43.134,0.000,0.000,0.000
$MEM,323624
$DATA_FILE_SIZE,23468,595
$CAP_FILE_SIZE,89198,0
$CFSIZE,1024393216,1019805696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,160148,4742.954,-12225.368,9,1.2,19,18.2