version: 66.10
glider: 207
mission: 1
dive: 14
start: 2 7 114 16 30 39
data:
$ID,207
$MISSION,1
$DIVE,14
$N_DIVES,20
$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,90
$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,250
$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,-1041.2094
$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,25
$R_STBD_OVSHOOT,20
$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,0
$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
$GPS1,070214,160148,4742.954,-12225.368,9,1.2,19,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.0
$GPS2,070214,162958,4742.828,-12225.304,12,2.5,31,18.2
$SPEED_LIMITS,0.148,0.194
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.061,0.184
$KALMAN_X,-304.6,-135.9,199.4,-1437.1,-259.3
$KALMAN_Y,-1391.7,-295.7,207.5,998.2,-782.3
$MHEAD_RNG_PITCHd_Wd,0.1,2083,-20.2,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.24,-88.0,0.0,0.0,0,69,0.00,0.00,-52.40,0.000,6,0.000,0.000,199,2094,2803,0,0,0,0,0,0,28.83,28.83,25.65
$GC,71,-1.24,-88.0,2.2,-2.7,10,88,9.00,2.35,0.00,0.000,4,0.250,0.068,2359,688,2804,0,0,0,0,0,0,25.32,25.48,28.83
$GC,611,-1.24,-88.0,64.6,-12.2,118,619,0.00,2.33,0.00,0.000,6,0.000,0.062,2350,2104,2803,0,0,0,0,0,0,28.83,25.79,28.83
$GC,737,-1.24,-88.0,78.5,-10.6,143,745,0.00,2.33,0.00,0.000,4,0.000,0.069,2351,697,2803,0,0,0,0,0,0,28.83,25.79,28.83
$GC,938,-1.24,-88.0,99.5,-10.5,183,946,0.00,2.30,0.00,0.000,6,0.000,0.063,2340,2101,2803,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1064,-1.24,-88.0,112.6,-9.0,208,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2101,2803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1184,-1.24,-88.0,124.3,-10.3,232,1192,0.00,2.35,0.00,0.000,4,0.000,0.081,2329,3510,2803,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1280,-1.24,-88.0,135.2,-12.0,251,1288,0.10,2.30,0.00,0.000,6,0.177,0.061,2358,2092,2804,0,0,0,0,0,0,25.75,25.88,28.83
$GC,1407,-1.24,-88.0,147.9,-9.7,276,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2090,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-1.24,-88.0,160.6,-10.4,291,1536,0.00,2.38,0.00,0.000,4,0.000,0.080,2348,3508,2804,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1681,-1.24,-88.0,175.4,-9.7,306,1686,0.00,2.28,0.00,0.000,6,0.000,0.062,2348,2103,2804,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,1730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1730,begin apogee
$GC,1733,-0.28,0.0,180.0,-9.1,311,1834,1.05,0.00,96.80,0.508,6,0.155,0.000,2669,1885,2441,0,0,0,0,0,0,25.79,28.83,24.63
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1835,begin climb
$GC,1836,1.24,88.0,182.0,0.0,321,1908,1.45,0.00,68.43,0.524,6,0.093,0.000,3161,1885,2085,0,0,0,0,0,0,25.03,28.83,24.37
$GC,2201,1.24,88.0,146.5,10.4,361,2209,0.00,2.40,0.00,0.000,4,0.000,0.075,3161,3305,2065,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2287,1.24,88.0,136.4,12.3,378,2295,0.00,2.30,0.00,0.000,6,0.000,0.060,3171,1903,2066,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2413,1.24,88.0,122.2,11.6,403,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1903,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2533,1.24,88.0,107.9,11.7,427,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1903,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,1.24,88.0,94.3,11.5,451,2661,0.00,2.35,0.00,0.000,4,0.000,0.078,3171,3303,2065,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2709,1.24,88.0,87.5,11.6,462,2716,0.00,2.28,0.00,0.000,6,0.000,0.060,3181,1903,2065,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2835,1.24,88.0,72.8,11.3,487,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1903,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2955,1.24,88.0,59.5,10.9,511,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1903,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,1.24,88.0,46.0,11.5,535,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1903,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3195,1.24,88.0,32.1,11.6,559,3202,0.00,2.35,0.00,0.000,4,0.000,0.075,3191,488,2065,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3221,1.24,88.0,28.9,12.4,564,3228,0.00,2.30,0.00,0.000,6,0.000,0.063,3192,1897,2065,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3287,1.24,88.0,20.3,13.4,577,3294,0.00,2.35,0.00,0.000,4,0.000,0.080,3192,3303,2066,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3323,1.24,88.0,15.7,12.9,584,3330,0.10,2.28,0.00,0.000,6,0.181,0.061,3174,1906,2065,0,0,0,0,0,0,25.78,25.87,28.83
$GC,3389,1.24,88.0,8.3,11.7,597,3396,0.00,2.35,0.00,0.000,4,0.000,0.079,3174,3306,2065,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,3449,end climb,SURFACE_DEPTH_REACHED
$STATE,3449,begin surface coast
$FINISH,0.4,1.012202
$STATE,3464,end surface coast,CONTROL_FINISHED_OK
$STATE,3464,begin surface
$SM_CCo,3477,56.67,0.131,0,0,1423,250.21
$SM_GC,0.96,8.02,2.00,56.67,0.055,0.063,0.131,201,2089,1423,-7.96,0.42,250.21,0,0,0,0,0,0,25.87,25.87,25.64
$IRIDIUM_FIX,4751.72,-12340.51,070214,151523
$TT8_MAMPS,0.055426,0.055426
$HUMID,18.85
$INTERNAL_PRESSURE,8.82775
$TCM_TEMP,17.10
$24V_AH,24.4,2.367
$10V_AH,10.5,2.574
$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,19.725,41.900,165.225,56.675,0.000,20.354,35.866,1044.752,0.000,1724.000,33.782,0.000,2030.880,328.637,2658.117,75.616,33.214,810.631,0.000,919.869,0.000,0.000,0.000
$DEVICE_MAMPS,250.155,81.090,524.025,130.815,0.000,40.540,160.000,223.000,0.000,35.826,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,414.666,0.000,0.000,0.000,0.000,0.000,1724.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,43.425,0.000,0.000,0.000
$MEM,323652
$DATA_FILE_SIZE,23455,612
$CAP_FILE_SIZE,84051,0
$CFSIZE,1024393216,1019527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,173028,4742.868,-12225.390,19,5.5,38,18.2