version: 66.09
glider: 107
mission: 18
dive: 174
start: 10 5 110 5 6 45
data:
$ID,107
$MISSION,18
$DIVE,174
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52089
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.75
$TGT_DEFAULT_LON,-118.6667
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-68817.445
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3724
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3960
$C_VBD,3084
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.244058
$PRESSURE_SLOPE,0.0001156423
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043463423
$SEABIRD_T_H,0.00064514292
$SEABIRD_T_I,2.5540507e-05
$SEABIRD_T_J,2.7081812e-06
$SEABIRD_C_G,-10.058743
$SEABIRD_C_H,1.136763
$SEABIRD_C_I,-0.0017889598
$SEABIRD_C_J,0.00021392011
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,051010,050104,3247.899,-11842.186,10,2.6,29,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,2
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.3
$GPS2,051010,050602,3247.828,-11842.206,13,1.6,13,13.3
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,T1
$TGT_LATLONG,3257.500,-11842.700
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.019,0.325
$KALMAN_X,-19805.6,-384.4,94.3,16960.4,-582.4
$KALMAN_Y,7207.4,-26.1,-339.7,-13368.1,-1477.1
$MHEAD_RNG_PITCHd_Wd,350.0,17929,-13.9,-10.000
$D_GRID,990
$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
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.23,-243.3,0.0,0.0,0,121,0.00,0.00,-90.97,0.000,2,0.000,0.000,494,2205,3708,0,0,0,0,0,0
$GC,123,-1.23,-243.3,4.2,-6.0,9,153,9.57,2.62,-4.20,0.000,4,0.161,0.069,2207,771,3963,0,0,0,0,0,0
$GC,182,-1.23,-243.3,25.6,-19.6,15,201,0.00,2.35,0.00,0.000,6,0.000,0.031,2207,2152,3963,0,0,0,0,0,0
$GC,280,-1.23,-243.3,38.2,-13.4,28,299,0.00,2.50,0.00,0.000,4,0.000,0.049,2207,3580,3964,0,0,0,0,0,0
$GC,358,-1.23,-243.3,48.7,-13.0,38,377,0.00,2.47,0.00,0.000,6,0.000,0.041,2207,2169,3964,0,0,0,0,0,0
$GC,437,-1.23,-243.3,58.6,-12.4,45,449,0.00,2.58,0.00,0.000,4,0.000,0.065,2207,761,3964,0,0,0,0,0,0
$GC,524,-1.23,-243.3,69.7,-11.9,51,543,0.00,2.42,0.00,0.000,6,0.000,0.034,2207,2173,3965,0,0,0,0,0,0
$GC,727,-1.23,-243.3,93.3,-12.1,70,739,0.00,2.47,0.00,0.000,4,0.000,0.054,2207,3579,3965,0,0,0,0,0,0
$GC,824,-1.23,-243.3,104.3,-11.3,77,836,0.00,2.45,0.00,0.000,6,0.000,0.044,2207,2177,3964,0,0,0,0,0,0
$GC,1022,-1.23,-243.3,124.9,-10.6,95,1034,0.00,2.60,0.00,0.000,4,0.000,0.070,2207,756,3965,0,0,0,0,0,0
$GC,1082,-1.23,-243.3,132.1,-10.6,96,1101,0.00,2.47,0.00,0.000,6,0.000,0.037,2207,2175,3965,0,0,0,0,0,0
$GC,1398,-1.23,-243.3,164.0,-10.2,107,1410,0.00,2.53,0.00,0.000,4,0.000,0.058,2207,3579,3965,0,0,0,0,0,0
$GC,1471,-1.23,-243.3,172.2,-10.7,109,1483,0.00,2.47,0.00,0.000,6,0.000,0.048,2207,2176,3965,0,0,0,0,0,0
$GC,1806,-1.23,-243.3,206.6,-10.3,120,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2176,3965,0,0,0,0,0,0
$GC,2109,-1.23,-243.3,236.8,-9.8,130,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2176,3965,0,0,0,0,0,0
$GC,2413,-1.23,-243.3,269.0,-11.0,140,2425,0.00,2.55,0.00,0.000,4,0.000,0.062,2207,3587,3965,0,0,0,0,0,0
$GC,2527,-1.23,-243.3,282.2,-11.4,143,2539,0.00,2.53,0.00,0.000,6,0.000,0.052,2212,2177,3964,0,0,0,0,0,0
$GC,2857,-1.23,-243.3,318.1,-11.1,154,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2178,3962,0,0,0,0,0,0
$GC,3160,-1.23,-243.3,351.0,-11.0,164,3172,0.00,2.67,0.00,0.000,4,0.000,0.081,2211,757,3961,0,0,0,0,0,0
$GC,3199,-1.23,-243.3,355.7,-11.1,165,3211,0.00,2.53,0.00,0.000,6,0.000,0.047,2210,2173,3961,0,0,0,0,0,0
$GC,3534,-1.23,-243.3,389.9,-10.0,176,3547,0.00,2.60,0.00,0.000,4,0.000,0.068,2207,3590,3960,0,0,0,0,0,0
$GC,3623,-1.23,-243.3,399.3,-10.3,178,3635,0.00,2.55,0.00,0.000,6,0.000,0.056,2210,2173,3960,0,0,0,0,0,0
$GC,3939,-1.23,-243.3,428.7,-9.3,188,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2173,3959,0,0,0,0,0,0
$GC,4242,-1.23,-243.3,456.1,-9.3,198,4254,0.00,2.62,0.00,0.000,4,0.000,0.070,2207,3590,3958,0,0,0,0,0,0
$GC,4286,-1.23,-243.3,460.8,-9.6,199,4298,0.00,2.58,0.00,0.000,6,0.000,0.059,2210,2176,3958,0,0,0,0,0,0
$GC,4616,-1.23,-243.3,491.7,-9.4,210,4628,0.00,2.60,0.00,0.000,4,0.000,0.070,2207,3585,3956,0,0,0,0,0,0
$GC,4655,-1.23,-243.3,495.6,-9.3,211,4667,0.00,2.55,0.00,0.000,6,0.000,0.060,2209,2177,3956,0,0,0,0,0,0
$GC,4990,-1.23,-243.3,524.4,-8.3,222,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2177,3955,0,0,0,0,0,0
$GC,5294,-1.23,-243.3,550.3,-8.7,232,5306,0.00,2.60,0.00,0.000,4,0.000,0.073,2207,3584,3954,0,0,0,0,0,0
$GC,5398,-1.23,-243.3,560.2,-8.9,235,5410,0.00,2.60,0.00,0.000,6,0.000,0.063,2208,2169,3955,0,0,0,0,0,0
$GC,5733,-1.23,-243.3,589.6,-9.0,246,5745,0.00,2.70,0.00,0.000,4,0.000,0.088,2215,760,3953,0,0,0,0,0,0
$GC,5788,-1.23,-243.3,595.1,-9.9,247,5800,0.00,2.55,0.00,0.000,6,0.000,0.051,2207,2181,3953,0,0,0,0,0,0
$GC,6104,-1.23,-243.3,623.0,-9.0,257,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2181,3952,0,0,0,0,0,0
$GC,6408,-1.23,-243.3,650.8,-9.4,267,6420,0.00,2.62,0.00,0.000,4,0.000,0.075,2207,3590,3952,0,0,0,0,0,0
$GC,6485,-1.23,-243.3,658.6,-9.8,269,6498,0.00,2.60,0.00,0.000,6,0.000,0.063,2209,2168,3951,0,0,0,0,0,0
$GC,6815,-1.23,-243.3,688.3,-9.2,280,6827,0.00,2.65,0.00,0.000,4,0.000,0.076,2207,3585,3950,0,0,0,0,0,0
$GC,6854,-1.23,-243.3,692.2,-9.6,281,6866,0.00,2.58,0.00,0.000,6,0.000,0.063,2288,2177,3950,0,0,0,0,0,0
$GC,7189,-1.23,-243.3,722.2,-9.0,292,7202,0.82,2.70,0.00,0.000,4,0.042,0.087,2084,761,3948,1,0,0,0,0,0
$GC,7250,-1.23,-243.3,733.0,-19.4,293,7270,1.05,2.55,0.00,0.000,6,0.119,0.054,2209,2174,3947,0,0,0,0,0,0
$GC,7567,-1.23,-243.3,761.5,-8.5,304,7579,0.00,2.65,0.00,0.000,4,0.000,0.077,2210,3589,3947,0,0,0,0,0,0
$GC,7682,-1.23,-243.3,772.4,-9.2,307,7694,0.00,2.60,0.00,0.000,6,0.000,0.063,2213,2174,3947,0,0,0,0,0,0
$GC,8006,-1.23,-243.3,800.2,-8.7,318,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2174,3946,0,0,0,0,0,0
$GC,8309,-1.23,-243.3,826.1,-8.4,328,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2175,3946,0,0,0,0,0,0
$GC,8613,-1.23,-243.3,851.3,-8.0,338,8625,0.00,2.67,0.00,0.000,4,0.000,0.085,2208,3583,3946,0,0,0,0,0,0
$GC,8686,-1.23,-243.3,857.6,-8.9,340,8698,0.00,2.62,0.00,0.000,6,0.000,0.070,2210,2168,3946,0,0,0,0,0,0
$GC,9022,-1.23,-243.3,883.7,-7.8,351,9034,0.00,2.75,0.00,0.000,4,0.000,0.096,2210,755,3945,0,0,0,0,0,0
$GC,9060,-1.23,-243.3,887.3,-8.3,352,9073,0.00,2.58,0.00,0.000,6,0.000,0.055,2209,2172,3946,0,0,0,0,0,0
$GC,9396,-1.23,-243.3,913.7,-8.3,363,9408,0.00,2.65,0.00,0.000,4,0.000,0.083,2209,3586,3944,0,0,0,0,0,0
$GC,9485,-1.23,-243.3,921.7,-8.4,365,9497,0.00,2.62,0.00,0.000,6,0.000,0.067,2213,2172,3944,0,0,0,0,0,0
$GC,9801,-1.23,-243.3,945.8,-7.5,375,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2172,3943,0,0,0,0,0,0
$GC,10105,-1.23,-243.3,970.3,-8.2,385,10117,0.00,2.70,0.00,0.000,4,0.000,0.090,2209,758,3943,0,0,0,0,0,0
$GC,10143,-1.23,-243.3,974.1,-8.7,386,10156,0.00,2.55,0.00,0.000,6,0.000,0.054,2214,2178,3943,0,0,0,0,0,0
$STATE,10355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10355,begin apogee
$GC,10360,-0.33,0.0,991.4,8.3,393,10558,0.85,0.00,183.50,1.233,6,0.101,0.000,2393,2049,3084,0,0,0,0,0,0
$STATE,10564,end apogee,CONTROL_FINISHED_OK
$STATE,10564,begin climb
$GC,10566,1.23,243.3,996.9,0.0,398,10806,1.65,2.78,213.90,1.203,4,0.074,0.091,2738,647,2088,0,0,0,0,0,0
$GC,10911,1.23,243.3,963.3,12.9,408,10923,0.00,2.55,0.00,0.000,6,0.000,0.049,2737,2066,2085,0,0,0,0,0,0
$GC,11246,1.23,243.3,923.0,12.2,419,11258,0.00,2.75,0.00,0.000,4,0.000,0.091,2743,650,2084,0,0,0,0,0,0
$GC,11267,1.23,243.3,919.6,12.5,419,11280,0.00,2.53,0.00,0.000,6,0.000,0.048,2738,2060,2082,0,0,0,0,0,0
$GC,11584,1.23,243.3,880.4,12.5,429,11596,0.00,2.62,0.00,0.000,4,0.000,0.072,2737,3469,2083,0,0,0,0,0,0
$GC,11621,1.23,243.3,875.9,11.9,430,11633,0.00,2.60,0.00,0.000,6,0.000,0.064,2737,2061,2084,0,0,0,0,0,0
$GC,11962,1.23,243.3,835.3,11.3,441,11974,0.00,2.75,0.00,0.000,4,0.000,0.092,2737,649,2082,0,0,0,0,0,0
$GC,12000,1.23,243.3,830.0,12.2,442,12012,0.00,2.53,0.00,0.000,6,0.000,0.047,2738,2061,2081,0,0,0,0,0,0
$GC,12335,1.23,243.3,790.8,11.8,453,12345,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2061,2082,0,0,0,0,0,0
$GC,12639,1.23,243.3,756.4,11.2,463,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2061,2081,0,0,0,0,0,0
$GC,12942,1.23,243.3,722.4,11.3,473,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2061,2081,0,0,0,0,0,0
$GC,13246,1.23,243.3,688.4,10.8,483,13258,0.00,2.70,0.00,0.000,4,0.000,0.084,2739,647,2081,0,0,0,0,0,0
$GC,13283,1.23,243.3,684.2,10.9,484,13295,0.00,2.53,0.00,0.000,6,0.000,0.044,2737,2068,2080,0,0,0,0,0,0
$GC,13624,1.23,243.3,648.6,10.3,495,13636,0.00,2.55,0.00,0.000,4,0.000,0.062,2737,3472,2081,0,0,0,0,0,0
$GC,13640,1.23,243.3,646.4,10.4,495,13652,0.00,2.55,0.00,0.000,6,0.000,0.054,2738,2057,2081,0,0,0,0,0,0
$GC,13964,1.23,243.3,613.3,10.4,506,13976,0.00,2.67,0.00,0.000,4,0.000,0.084,2738,650,2081,0,0,0,0,0,0
$GC,13985,1.23,243.3,610.4,10.5,506,13998,0.00,2.50,0.00,0.000,6,0.000,0.043,2737,2061,2080,0,0,0,0,0,0
$GC,14301,1.23,243.3,578.8,10.0,516,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2061,2080,0,0,0,0,0,0
$GC,14605,1.23,243.3,546.9,10.5,526,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2061,2080,0,0,0,0,0,0
$GC,14908,1.23,243.3,516.0,10.2,536,14921,0.00,2.67,0.00,0.000,4,0.000,0.080,2747,648,2080,0,0,0,0,0,0
$GC,14930,1.23,243.3,513.2,10.5,536,14942,0.00,2.50,0.00,0.000,6,0.000,0.041,2739,2063,2080,0,0,0,0,0,0
$GC,15246,1.23,243.3,480.2,10.8,546,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2065,2081,0,0,0,0,0,0
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$STATE,19838,end climb,SURFACE_DEPTH_REACHED
$STATE,19838,begin surface coast
$FINISH,0.5,1.024070
$STATE,19882,end surface coast,CONTROL_FINISHED_OK
$STATE,19882,begin surface
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$IRIDIUM_FIX,3327.96,-11804.20,051010,040413
$TT8_MAMPS,0.096621
$HUMID,63.82
$INTERNAL_PRESSURE,9.02959
$TCM_TEMP,19.60
$24V_AH,23.0,23.522
$10V_AH,10.0,16.747
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.150,191.125,495.450,0.000,0.000,41.030,40.025,93.679,0.000,0.000,13.901,0.000,12757.803,525.259,6701.107,377.317,33.327,2502.738,0.000,1625.055,0.000,0.000,0.000
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$SENSOR_SECS,539.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328592
$DATA_FILE_SIZE,26712,784
$CAP_FILE_SIZE,333815,0
$CFSIZE,260034560,252055552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,051010,104320,3251.065,-11842.357,86,2.8,105,13.3