version: 66.10
glider: 207
mission: 1
dive: 3
start: 2 6 114 23 55 20
data:
$ID,207
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$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,-993.78748
$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,2780
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,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
$GPS1,060214,234843,4744.261,-12224.060,15,1.1,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.4
$GPS2,060214,235440,4744.300,-12224.055,43,0.9,53,18.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.178,-0.187
$KALMAN_X,-35.4,4.0,4.2,-95.7,-15.6
$KALMAN_Y,878.3,391.2,386.6,550.0,143.7
$MHEAD_RNG_PITCHd_Wd,205.4,1188,-17.6,-10.000
$D_GRID,174
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.17,-146.6,0.0,0.0,0,119,0.00,0.00,-99.03,0.000,6,0.000,0.000,201,1848,3044,0,0,0,0,0,0,28.83,28.83,25.84
$GC,120,-1.17,-146.6,2.2,-2.3,16,135,9.15,2.33,0.00,0.000,4,0.253,0.078,2397,438,3045,0,0,0,0,0,0,25.38,25.58,28.83
$GC,413,-1.17,-146.6,48.5,-14.7,74,421,0.00,2.33,0.00,0.000,6,0.000,0.065,2389,1845,3046,0,0,0,0,0,0,28.83,25.69,28.83
$GC,540,-1.17,-146.6,62.5,-10.3,99,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1845,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,660,-1.17,-146.6,75.6,-11.0,123,668,0.00,2.38,0.00,0.000,4,0.000,0.080,2378,3260,3045,0,0,0,0,0,0,28.83,25.69,28.83
$GC,727,-1.17,-146.6,82.7,-11.6,136,735,0.00,2.33,0.00,0.000,6,0.000,0.065,2378,1853,3045,0,0,0,0,0,0,28.83,25.75,28.83
$GC,854,-1.17,-146.6,99.3,-14.9,161,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1853,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-1.17,-146.6,117.1,-14.3,185,982,0.00,2.35,0.00,0.000,4,0.000,0.079,2377,451,3045,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1005,-1.17,-146.6,121.8,-15.5,191,1014,0.10,2.30,0.00,0.000,6,0.177,0.065,2397,1850,3045,0,0,0,0,0,0,25.59,25.75,28.83
$GC,1133,-1.17,-146.6,137.1,-10.6,216,1141,0.00,2.35,0.00,0.000,4,0.000,0.080,2388,3253,3045,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1179,-1.17,-146.6,142.5,-10.9,225,1187,0.00,2.30,0.00,0.000,6,0.000,0.065,2388,1853,3045,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,1250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1250,begin apogee
$GC,1253,-0.28,0.0,150.5,-11.0,239,1374,0.95,0.00,111.30,0.521,6,0.150,0.000,2679,1850,2437,0,0,0,0,0,0,25.62,28.83,24.49
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1376,1.17,146.6,152.5,0.0,251,1506,1.40,2.50,112.95,0.513,4,0.099,0.080,3158,443,1856,0,0,0,0,1,0,24.94,24.69,23.87
$GC,1515,1.17,146.6,140.6,11.5,270,1523,0.00,2.40,1.38,0.214,6,0.000,0.064,3157,1846,1852,0,0,0,0,0,0,28.83,24.86,24.53
$GC,1642,1.17,146.6,123.9,12.5,295,1651,0.00,2.35,1.95,0.219,4,0.000,0.076,3157,3258,1852,0,0,0,0,0,0,28.83,25.29,24.94
$GC,1810,1.17,146.6,98.5,15.5,328,1818,0.00,2.33,1.65,0.187,6,0.000,0.064,3166,1855,1851,0,0,0,0,0,0,28.83,25.55,25.29
$GC,1937,1.17,146.6,81.7,12.9,353,1945,0.00,0.00,1.62,0.202,6,0.000,0.000,3168,1856,1853,0,0,0,0,0,0,28.83,28.83,25.40
$GC,2064,1.17,146.6,65.3,12.3,378,2072,0.00,2.33,1.62,0.200,4,0.000,0.077,3167,3259,1855,0,0,0,0,0,0,28.83,25.65,25.46
$GC,2121,1.17,146.6,57.5,13.9,389,2129,0.00,2.33,1.70,0.187,6,0.000,0.065,3178,1850,1849,0,0,0,0,0,0,28.83,25.71,25.41
$GC,2248,1.17,146.6,38.3,16.0,414,2256,0.00,0.00,1.58,0.200,6,0.000,0.000,3178,1851,1851,0,0,0,0,0,0,28.83,28.83,25.52
$GC,2315,1.17,146.6,27.9,15.1,427,2323,0.00,2.35,1.40,0.200,4,0.000,0.079,3178,3264,1849,0,0,0,0,0,0,28.83,25.71,25.59
$GC,2407,1.17,146.6,14.2,14.3,445,2416,0.10,2.33,1.23,0.181,6,0.177,0.065,3160,1848,1848,0,0,0,0,0,0,25.62,25.77,25.60
$GC,2475,1.17,146.6,5.6,12.2,458,2483,0.00,2.35,1.12,0.209,4,0.000,0.080,3160,3262,1845,0,0,0,0,0,0,28.83,25.72,25.64
$STATE,2506,end climb,SURFACE_DEPTH_REACHED
$STATE,2506,begin surface coast
$FINISH,0.3,0.999921
$STATE,2521,end surface coast,CONTROL_FINISHED_OK
$STATE,2521,begin surface
$SM_CCo,2540,23.05,0.132,0,0,1585,210.22
$SM_GC,1.02,8.12,2.35,23.05,0.062,0.067,0.132,194,1851,1585,-8.03,0.68,210.22,0,0,0,0,0,0,25.75,25.77,25.60
$IRIDIUM_FIX,4751.72,-12340.51,060214,232344
$TT8_MAMPS,0.105609,0.105609
$HUMID,18.73
$INTERNAL_PRESSURE,8.83751
$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,3.3/516052/498826
$MI_ROOT,70.6/190403/56027
$MI_HOME,2.2/436550/426756
$24V_AH,23.9,0.553
$10V_AH,10.4,1.323
$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,19.825,42.250,239.500,23.050,0.000,0.000,0.000,0.000,0.000,2693.100,54.115,0.000,1108.687,388.802,1133.358,16.786,31.303,809.188,0.000,695.544,0.000,0.000,0.000
$DEVICE_MAMPS,253.215,80.325,520.965,132.345,0.000,0.000,0.000,0.000,0.000,36.152,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,313.086,0.000,0.000,0.000,0.000,0.000,2693.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.210,0.000,0.000,0.000
$MEM,323736
$DATA_FILE_SIZE,16804,467
$CAP_FILE_SIZE,110348,0
$CFSIZE,1024393216,1022345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,070214,003906,4744.085,-12224.158,31,1.2,47,18.2