version: 66.10
glider: 207
mission: 1
dive: 8
start: 2 7 114 7 21 15
data:
$ID,207
$MISSION,1
$DIVE,8
$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,60
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,477.10849
$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,-1033.567
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,070214,065330,4743.348,-12225.039,31,1.3,41,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.5
$GPS2,070214,072034,4743.295,-12225.173,14,2.8,33,18.2
$SPEED_LIMITS,0.072,0.160
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.138,-0.081
$KALMAN_X,-57.7,15.8,-49.0,-1429.1,-327.1
$KALMAN_Y,-864.0,4.8,-723.4,1970.1,-266.8
$MHEAD_RNG_PITCHd_Wd,102.1,1197,-25.0,-8.571
$D_GRID,181
$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,14,begin dive
$GC,15,-1.48,-58.7,0.0,0.0,0,63,0.00,0.00,-43.47,0.000,6,0.000,0.000,194,2092,2684,0,0,0,0,0,0,28.83,28.83,25.85
$GC,64,-1.48,-58.7,1.6,-1.9,7,78,8.55,2.33,0.00,0.000,4,0.250,0.067,2286,690,2686,0,0,0,0,0,0,25.52,25.67,28.83
$GC,237,-1.48,-58.7,16.9,-9.9,41,245,0.00,2.33,0.00,0.000,6,0.000,0.063,2277,2103,2686,0,0,0,0,0,0,28.83,25.76,28.83
$GC,304,-1.48,-58.7,23.1,-9.1,54,312,0.00,2.33,0.00,0.000,4,0.000,0.070,2277,696,2686,0,0,0,0,0,0,28.83,25.75,28.83
$GC,355,-1.48,-58.7,28.2,-9.8,64,363,0.00,2.30,0.00,0.000,6,0.000,0.063,2267,2096,2685,0,0,0,0,0,0,28.83,25.78,28.83
$GC,422,-1.48,-58.7,34.4,-8.9,77,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2096,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,483,-1.48,-58.7,39.9,-9.2,89,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2096,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,542,-1.48,-58.7,45.4,-9.9,101,550,0.00,2.33,0.00,0.000,4,0.000,0.070,2267,690,2685,0,0,0,0,0,0,28.83,25.80,28.83
$GC,659,-1.48,-58.7,57.9,-9.5,124,667,0.10,2.33,0.00,0.000,6,0.194,0.064,2284,2103,2685,0,0,0,0,0,0,25.70,25.82,28.83
$GC,787,-1.48,-58.7,68.9,-7.8,149,794,0.00,2.33,0.00,0.000,4,0.000,0.083,2274,3507,2685,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1208,-1.48,-58.7,101.6,-7.2,233,1216,0.00,2.28,0.00,0.000,6,0.000,0.061,2273,2105,2685,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1335,-1.48,-58.7,110.6,-7.0,258,1343,0.00,2.35,0.00,0.000,4,0.000,0.080,2264,3509,2686,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1436,-1.48,-58.7,119.0,-9.3,278,1445,0.00,2.30,0.00,0.000,6,0.000,0.062,2264,2094,2685,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1564,-1.48,-58.7,131.2,-11.0,303,1571,0.00,2.30,0.00,0.000,4,0.000,0.070,2259,694,2689,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1795,-1.48,-58.7,154.5,-9.2,345,1799,0.10,2.30,0.00,0.000,6,0.191,0.063,2288,2098,2688,0,0,0,0,0,0,25.76,25.89,28.83
$STATE,2104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2104,begin apogee
$GC,2107,-0.28,0.0,180.1,-7.4,376,2161,1.27,0.00,45.58,0.946,6,0.165,0.000,2666,1887,2445,0,0,0,0,1,0,25.77,28.83,24.22
$STATE,2162,end apogee,CONTROL_FINISHED_OK
$STATE,2162,begin climb
$GC,2162,1.48,58.7,181.2,0.0,381,2222,1.65,2.40,47.62,0.976,4,0.091,0.073,3253,500,2208,0,0,0,0,1,0,25.03,24.56,23.76
$GC,2295,1.48,58.7,169.3,12.3,394,2304,0.00,2.35,1.60,0.229,6,0.000,0.062,3253,1894,2209,0,0,0,0,0,0,28.83,25.14,24.75
$GC,2601,1.48,58.7,132.2,12.3,440,2609,0.00,2.33,1.52,0.237,4,0.000,0.076,3252,3307,2209,0,0,0,0,0,0,28.83,25.61,25.25
$GC,3208,1.48,58.7,69.7,8.8,561,3216,0.00,2.28,1.30,0.197,6,0.000,0.060,3263,1903,2207,0,0,0,0,0,0,28.83,25.86,25.60
$GC,3335,1.48,58.7,57.7,9.5,586,3344,0.00,2.33,1.25,0.216,4,0.000,0.075,3263,3313,2209,0,0,0,0,0,0,28.83,25.83,25.66
$STATE,3887,end climb,SURFACE_DEPTH_REACHED
$STATE,3887,begin surface coast
$FINISH,0.4,1.023035
$STATE,3902,end surface coast,CONTROL_FINISHED_OK
$STATE,3902,begin surface
$SM_CCo,3921,157.82,0.131,0,0,499,477.11
$SM_GC,1.03,8.40,2.00,157.82,0.065,0.061,0.131,198,2084,499,-7.97,0.45,477.11,0,0,0,0,0,0,25.90,25.91,25.47
$IRIDIUM_FIX,4751.72,-12340.51,070214,070723
$TT8_MAMPS,0.103362,0.103362
$HUMID,18.53
$INTERNAL_PRESSURE,8.73009
$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,3.3/516052/498822
$MI_ROOT,70.6/190403/56027
$MI_HOME,3.1/436550/423092
$24V_AH,23.8,1.408
$10V_AH,10.4,1.921
$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,20.075,41.800,98.875,157.825,0.000,123.986,140.214,534.770,0.000,5657.800,34.879,0.000,2366.109,366.918,2754.032,79.842,33.243,893.039,0.000,1035.863,0.000,0.000,0.000
$DEVICE_MAMPS,250.155,82.620,976.140,130.815,0.000,40.540,160.000,223.000,0.000,36.175,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,475.279,0.000,0.000,0.000,0.000,0.000,5657.800,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.196,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,26726,699
$CAP_FILE_SIZE,82614,0
$CFSIZE,1024393216,1020510208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070214,083001,4743.041,-12224.946,15,1.6,32,18.2