version: 66.10
glider: 207
mission: 1
dive: 10
start: 2 7 114 10 47 17
data:
$ID,207
$MISSION,1
$DIVE,10
$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,-1036.179
$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,23
$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
$GPS1,070214,101617,4742.889,-12224.850,13,1.3,23,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.1
$GPS2,070214,104636,4743.130,-12224.749,11,1.4,21,18.2
$SPEED_LIMITS,0.148,0.221
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.014,-0.221
$KALMAN_X,-105.5,-153.9,-116.8,-618.6,17.6
$KALMAN_Y,-689.9,-298.7,212.1,842.5,395.7
$MHEAD_RNG_PITCHd_Wd,165.4,799,-17.3,-8.571
$D_GRID,178
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.11,-117.3,0.0,0.0,0,76,0.00,0.00,-56.83,0.000,6,0.000,0.000,197,2112,2924,0,0,0,0,0,0,28.83,28.83,25.64
$GC,78,-1.11,-117.3,2.1,-2.2,9,92,9.12,2.35,0.00,0.000,4,0.249,0.068,2400,685,2924,0,0,0,0,0,0,25.31,25.45,28.83
$GC,141,-1.11,-117.3,11.7,-14.2,21,149,0.00,2.35,0.00,0.000,6,0.000,0.064,2391,2094,2925,0,0,0,0,0,0,28.83,25.53,28.83
$GC,208,-1.11,-117.3,21.4,-14.1,34,216,0.00,2.40,0.00,0.000,4,0.000,0.083,2380,3508,2924,0,0,0,0,0,0,28.83,25.57,28.83
$GC,234,-1.11,-117.3,25.2,-14.5,39,242,0.00,2.33,0.00,0.000,6,0.000,0.063,2380,2094,2924,0,0,0,0,0,0,28.83,25.62,28.83
$GC,302,-1.11,-117.3,33.7,-12.6,52,309,0.00,2.28,0.00,0.000,4,0.000,0.071,2380,693,2924,0,0,0,0,0,0,28.83,25.64,28.83
$GC,358,-1.11,-117.3,40.9,-13.2,63,366,0.10,2.33,0.00,0.000,6,0.162,0.065,2400,2096,2924,0,0,0,0,0,0,25.58,25.68,28.83
$GC,485,-1.11,-117.3,54.8,-10.6,88,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2097,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,611,-1.11,-117.3,68.0,-10.8,113,619,0.00,2.35,0.00,0.000,4,0.000,0.073,2400,689,2923,0,0,0,0,0,0,28.83,25.75,28.83
$GC,652,-1.11,-117.3,72.5,-11.3,121,660,0.00,2.33,0.00,0.000,6,0.000,0.067,2391,2098,2924,0,0,0,0,0,0,28.83,25.77,28.83
$GC,779,-1.11,-117.3,85.2,-8.8,146,787,0.00,2.38,0.00,0.000,4,0.000,0.083,2380,3510,2924,0,0,0,0,0,0,28.83,25.77,28.83
$GC,821,-1.11,-117.3,88.9,-8.2,154,829,0.00,2.30,0.00,0.000,6,0.000,0.063,2381,2098,2924,0,0,0,0,0,0,28.83,25.82,28.83
$GC,948,-1.11,-117.3,101.4,-8.6,179,956,0.00,2.33,0.00,0.000,4,0.000,0.083,2369,3508,2924,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1010,-1.11,-117.3,107.3,-9.2,191,1018,0.15,2.25,0.00,0.000,6,0.168,0.063,2407,2091,2924,0,0,0,0,0,0,25.73,25.84,28.83
$GC,1137,-1.11,-117.3,117.2,-8.9,216,1145,0.00,2.38,0.00,0.000,4,0.000,0.083,2398,3503,2924,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1209,-1.11,-117.3,124.4,-10.1,230,1217,0.00,2.28,0.00,0.000,6,0.000,0.063,2399,2106,2925,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1336,-1.11,-117.3,137.9,-10.3,255,1343,0.00,2.33,0.00,0.000,4,0.000,0.072,2398,694,2924,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1377,-1.11,-117.3,142.3,-10.8,263,1385,0.00,2.30,0.00,0.000,6,0.000,0.064,2388,2097,2924,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1504,-1.11,-117.3,154.8,-9.7,283,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2097,2925,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1753,begin apogee
$GC,1756,-0.28,0.0,178.7,-8.7,308,1856,0.90,0.00,90.95,0.543,6,0.148,0.000,2666,1886,2434,0,0,0,0,0,0,25.79,28.83,24.59
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1858,1.11,117.3,181.2,0.0,318,1958,1.33,2.47,89.05,0.516,4,0.093,0.079,3117,3319,1951,0,0,0,0,0,0,25.05,24.73,24.34
$GC,2057,1.11,117.3,160.8,13.8,338,2061,0.00,2.35,0.00,0.000,6,0.000,0.061,3127,1908,1943,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2362,1.11,117.3,121.9,13.0,391,2369,0.00,2.38,0.00,0.000,4,0.000,0.073,3138,492,1943,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2388,1.11,117.3,118.6,12.1,396,2396,0.00,2.33,0.00,0.000,6,0.000,0.062,3138,1907,1943,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2515,1.11,117.3,103.0,11.8,421,2523,0.00,2.35,0.00,0.000,4,0.000,0.080,3138,3303,1943,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2792,1.11,117.3,68.1,12.2,476,2800,0.00,2.30,0.00,0.000,6,0.000,0.061,3148,1893,1943,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2919,1.11,117.3,52.3,12.7,501,2927,0.00,2.35,0.00,0.000,4,0.000,0.075,3159,482,1943,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2955,1.11,117.3,47.8,12.2,508,2964,0.10,2.33,0.00,0.000,6,0.158,0.062,3129,1910,1943,0,0,0,0,0,0,25.72,25.83,28.83
$GC,3083,1.11,117.3,32.9,12.2,533,3091,0.00,2.33,0.00,0.000,4,0.000,0.080,3129,3299,1943,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3289,1.11,117.3,7.0,11.4,574,3297,0.00,2.28,0.00,0.000,6,0.000,0.061,3138,1903,1943,0,0,0,0,0,0,28.83,25.87,28.83
$STATE,3335,end climb,SURFACE_DEPTH_REACHED
$STATE,3335,begin surface coast
$FINISH,0.4,1.021408
$STATE,3351,end surface coast,CONTROL_FINISHED_OK
$STATE,3351,begin surface
$SM_CCo,3367,42.22,0.130,0,0,1464,240.15
$SM_GC,1.53,7.93,0.35,42.22,0.056,0.080,0.130,198,2106,1464,-7.96,-0.68,240.15,0,0,0,0,0,0,25.88,25.89,25.67
$IRIDIUM_FIX,4751.72,-12340.51,070214,080830
$TT8_MAMPS,0.105609,0.105609
$HUMID,19.04
$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,3.3/516052/498820
$MI_ROOT,70.6/190403/56027
$MI_HOME,3.4/436550/421706
$24V_AH,24.3,1.776
$10V_AH,10.4,2.174
$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,19.625,61.375,180.000,42.225,0.000,26.196,35.146,1068.076,0.000,5305.000,22.671,0.000,1676.794,367.266,2855.688,79.536,33.213,869.820,0.000,884.772,0.000,0.000,0.000
$DEVICE_MAMPS,249.390,83.385,543.150,130.050,0.000,40.540,160.000,223.000,0.000,36.164,29.960,0.000,0.390,17.710,43.170,62.650,68.640,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,395.437,0.000,0.000,0.000,0.000,0.000,5304.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,42.290,0.000,0.000,0.000
$MEM,323676
$DATA_FILE_SIZE,23412,586
$CAP_FILE_SIZE,89777,0
$CFSIZE,1024393216,1020559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070214,114452,4742.764,-12224.788,9,2.5,28,18.2