version: 66.09
glider: 107
mission: 18
dive: 177
start: 10 5 110 22 27 20
data:
$ID,107
$MISSION,18
$DIVE,177
$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,220
$T_MISSION,275
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$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,-68850.656
$T_RSLEEP,8
$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,17
$R_STBD_OVSHOOT,45
$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,0
$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
$GPS1,051010,222207,3253.258,-11850.749,10,1.1,15,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-60.2
$GPS2,051010,222713,3253.265,-11850.746,13,1.1,13,13.3
$SPEED_LIMITS,0.260,0.374
$TGT_NAME,HEADING
$TGT_LATLONG,3253.265,-11903.606
$TGT_RADIUS,1852.000
$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,256.7,20000,-19.7,-15.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.61,-243.3,0.0,0.0,0,112,0.00,0.00,-95.43,0.000,2,0.000,0.000,497,2195,3447,0,0,0,0,0,0
$GC,114,-1.61,-243.3,3.1,-5.9,17,143,9.20,2.65,-11.95,0.000,4,0.163,0.073,2124,766,3963,0,0,0,0,0,0
$GC,197,-1.61,-243.3,23.4,-21.3,32,203,0.00,2.40,0.00,0.000,6,0.000,0.033,2126,2159,3963,0,0,0,0,0,0
$GC,266,-1.61,-243.3,36.6,-18.3,45,273,0.00,2.53,0.00,0.000,4,0.000,0.048,2124,3575,3963,0,0,0,0,0,0
$GC,304,-1.61,-243.3,43.4,-17.5,52,311,0.00,2.47,0.00,0.000,6,0.000,0.041,2124,2178,3963,0,0,0,0,0,0
$GC,373,-1.61,-243.3,56.0,-18.7,62,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2178,3964,0,0,0,0,0,0
$GC,559,-1.61,-243.3,88.8,-16.9,80,563,0.00,2.53,0.00,0.000,4,0.000,0.050,2124,3573,3965,0,0,0,0,0,0
$GC,574,-1.61,-243.3,91.7,-18.3,81,581,0.00,2.50,0.00,0.000,6,0.000,0.043,2124,2175,3965,0,0,0,0,0,0
$GC,766,-1.61,-243.3,122.7,-15.8,100,770,0.00,2.55,0.00,0.000,4,0.000,0.054,2124,3577,3965,0,0,0,0,0,0
$GC,797,-1.61,-243.3,128.0,-16.6,103,801,0.00,2.53,0.00,0.000,6,0.000,0.045,2124,2171,3965,0,0,0,0,0,0
$GC,1133,-1.61,-243.3,178.9,-14.9,114,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2171,3966,0,0,0,0,0,0
$GC,1436,-1.61,-243.3,224.0,-15.0,124,1440,0.00,2.58,0.00,0.000,4,0.000,0.059,2124,3583,3965,0,0,0,0,0,0
$GC,1489,-1.61,-243.3,232.2,-15.2,125,1493,0.00,2.55,0.00,0.000,6,0.000,0.050,2125,2178,3965,0,0,0,0,0,0
$GC,1803,-1.61,-243.3,280.0,-15.3,136,1807,0.00,2.67,0.00,0.000,4,0.000,0.079,2127,762,3965,0,0,0,0,0,0
$GC,1819,-1.61,-243.3,282.3,-15.1,136,1823,0.00,2.50,0.00,0.000,6,0.000,0.045,2128,2159,3965,0,0,0,0,0,0
$GC,2138,-1.61,-243.3,329.9,-14.8,147,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2159,3965,0,0,0,0,0,0
$GC,2442,-1.61,-243.3,374.3,-14.5,157,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2159,3965,0,0,0,0,0,0
$GC,2746,-1.61,-243.3,418.4,-14.7,167,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2159,3964,0,0,0,0,0,0
$GC,3049,-1.61,-243.3,461.3,-14.1,177,3052,0.00,2.62,0.00,0.000,4,0.000,0.070,2126,3583,3963,0,0,0,0,0,0
$GC,3086,-1.61,-243.3,466.6,-13.8,178,3090,0.00,2.60,0.00,0.000,6,0.000,0.060,2125,2177,3962,0,0,0,0,0,0
$GC,3416,-1.61,-243.3,512.2,-13.9,189,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2177,3961,0,0,0,0,0,0
$GC,3719,-1.61,-243.3,554.2,-13.7,199,3723,0.00,2.62,0.00,0.000,4,0.000,0.072,2126,3582,3960,0,0,0,0,0,0
$GC,3735,-1.61,-243.3,556.4,-13.7,199,3739,0.00,2.58,0.00,0.000,6,0.000,0.062,2125,2169,3960,0,0,0,0,0,0
$GC,4054,-1.61,-243.3,600.6,-13.9,210,4058,0.00,2.65,0.00,0.000,4,0.000,0.073,2125,3583,3958,0,0,0,0,0,0
$GC,4086,-1.61,-243.3,605.0,-13.7,211,4090,0.00,2.62,0.00,0.000,6,0.000,0.063,2128,2172,3958,0,0,0,0,0,0
$GC,4421,-1.61,-243.3,652.2,-14.0,222,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2172,3958,0,0,0,0,0,0
$GC,4725,-1.61,-243.3,692.1,-13.1,232,4728,0.00,2.65,0.00,0.000,4,0.000,0.073,2126,3586,3956,0,0,0,0,0,0
$GC,4756,-1.61,-243.3,696.4,-13.8,233,4760,0.00,2.62,0.00,0.000,6,0.000,0.063,2125,2166,3956,0,0,0,0,0,0
$GC,5092,-1.61,-243.3,740.0,-13.1,244,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2166,3955,0,0,0,0,0,0
$GC,5395,-1.61,-243.3,779.1,-12.7,254,5399,0.00,2.67,0.00,0.000,4,0.000,0.077,2124,3586,3954,0,0,0,0,0,0
$GC,5480,-1.61,-243.3,790.2,-13.1,256,5487,0.00,2.65,0.00,0.000,6,0.000,0.065,2124,2171,3953,0,0,0,0,0,0
$GC,5789,-1.61,-243.3,829.1,-12.5,267,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2171,3952,0,0,0,0,0,0
$GC,6092,-1.61,-243.3,866.3,-12.1,277,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2171,3952,0,0,0,0,0,0
$GC,6396,-1.61,-243.3,903.6,-12.4,287,6399,0.00,2.70,0.00,0.000,4,0.000,0.082,2124,3586,3951,0,0,0,0,0,0
$GC,6417,-1.61,-243.3,906.3,-12.6,287,6421,0.00,2.65,0.00,0.000,6,0.000,0.068,2125,2182,3951,0,0,0,0,0,0
$GC,6731,-1.61,-243.3,946.2,-13.0,298,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2182,3950,0,0,0,0,0,0
$GC,7034,-1.61,-243.3,984.6,-12.8,308,7038,0.00,2.65,0.00,0.000,4,0.000,0.076,2127,3586,3949,0,0,0,0,0,0
$STATE,7074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7074,begin apogee
$GC,7082,-0.33,0.0,990.2,13.0,309,7270,1.38,0.00,183.02,1.225,6,0.109,0.000,2400,2056,3084,0,0,0,0,0,0
$STATE,7270,end apogee,CONTROL_FINISHED_OK
$STATE,7270,begin climb
$GC,7272,1.61,243.3,996.9,0.0,315,7492,2.00,2.80,210.60,1.196,4,0.067,0.093,2828,649,2092,0,0,0,0,0,0
$GC,7599,1.61,243.3,955.0,18.0,325,7603,0.00,2.58,0.00,0.000,6,0.000,0.050,2827,2056,2085,0,0,0,0,0,0
$GC,7923,1.61,243.3,900.0,17.0,336,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2085,0,0,0,0,0,0
$GC,8227,1.61,243.3,848.7,16.6,346,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2084,0,0,0,0,0,0
$GC,8531,1.61,243.3,798.1,16.8,356,8535,0.00,2.78,0.00,0.000,4,0.000,0.088,2827,645,2083,0,0,0,0,0,0
$GC,8551,1.61,243.3,794.4,18.1,356,8555,0.00,2.58,0.00,0.000,6,0.000,0.047,2827,2067,2082,0,0,0,0,0,0
$GC,8866,1.61,243.3,740.6,17.4,367,8870,0.00,2.60,0.00,0.000,4,0.000,0.067,2827,3475,2082,0,0,0,0,0,0
$GC,8897,1.61,243.3,734.9,18.9,368,8901,0.00,2.60,0.00,0.000,6,0.000,0.058,2827,2057,2082,0,0,0,0,0,0
$GC,9227,1.61,243.3,679.7,16.3,379,9231,0.00,2.62,0.00,0.000,4,0.000,0.062,2827,3466,2082,0,0,0,0,0,0
$GC,9248,1.61,243.3,676.1,17.1,379,9252,0.00,2.58,0.00,0.000,6,0.000,0.055,2828,2067,2082,0,0,0,0,0,0
$GC,9562,1.61,243.3,626.1,16.1,390,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2067,2082,0,0,0,0,0,0
$GC,9865,1.61,243.3,578.9,15.4,400,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2067,2082,0,0,0,0,0,0
$GC,10169,1.63,257.2,534.4,14.4,410,10182,0.00,0.00,11.65,0.845,6,0.000,0.000,2828,2067,2035,0,0,0,0,0,0
$GC,10472,1.63,257.2,488.3,15.4,420,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2067,2033,0,0,0,0,0,0
$GC,10776,1.63,257.2,440.3,16.0,430,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2067,2033,0,0,0,0,0,0
$GC,11079,1.63,257.2,392.1,15.9,440,11083,0.00,2.58,0.00,0.000,4,0.000,0.054,2827,3472,2033,0,0,0,0,0,0
$GC,11100,1.63,257.2,388.7,16.6,440,11104,0.00,2.58,0.00,0.000,6,0.000,0.050,2827,2058,2033,0,0,0,0,0,0
$GC,11414,1.63,257.2,338.6,15.9,451,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2033,0,0,0,0,0,0
$GC,11718,1.63,257.2,291.3,15.4,461,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,2033,0,0,0,0,0,0
$GC,12021,1.63,257.2,244.2,15.7,471,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2033,0,0,0,0,0,0
$GC,12325,1.63,257.2,196.0,15.4,481,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2058,2033,0,0,0,0,0,0
$GC,12628,1.64,269.9,151.2,14.5,491,12647,0.00,2.62,12.60,0.578,4,0.000,0.049,2828,3476,1982,0,0,0,0,0,0
$GC,12679,1.64,269.9,143.4,15.6,492,12683,0.00,2.58,0.00,0.000,6,0.000,0.047,2827,2065,1982,0,0,0,0,0,0
$GC,12998,1.64,269.9,97.0,15.4,515,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2065,1981,0,0,0,0,0,0
$GC,13184,1.66,280.5,70.0,14.6,533,13199,0.00,2.58,10.02,0.524,4,0.000,0.048,2827,3472,1940,0,0,0,0,0,0
$GC,13227,1.66,280.5,63.8,15.3,537,13230,0.00,2.55,0.00,0.000,6,0.000,0.047,2830,2054,1939,0,0,0,0,0,0
$GC,13422,1.74,346.8,38.3,12.3,564,13485,0.12,2.67,56.38,0.561,4,0.080,0.075,2860,652,1669,0,0,0,0,0,0
$GC,13502,1.74,346.8,27.2,15.3,578,13508,0.00,2.50,0.00,0.000,6,0.000,0.035,2859,2081,1666,0,0,0,0,0,0
$GC,13571,1.75,359.5,16.5,14.5,591,13589,0.00,2.50,11.27,0.496,4,0.000,0.050,2859,3459,1617,0,0,0,0,0,0
$GC,13658,1.77,375.5,4.0,14.3,607,13671,0.00,2.53,9.32,0.487,2,0.000,0.047,2859,2059,1575,0,0,0,0,0,0
$STATE,13672,end climb,SURFACE_DEPTH_REACHED
$STATE,13672,begin surface coast
$FINISH,0.6,1.023553
$STATE,13685,end surface coast,CONTROL_FINISHED_OK
$STATE,13685,begin surface
$SM_CCo,13762,0.00,0.000,0,0,1568,371.87
$SM_GC,1.45,10.57,0.00,0.00,0.045,0.000,0.000,501,2187,1568,-9.06,0.34,371.87
$IRIDIUM_FIX,3327.96,-11804.20,051010,222218
$TT8_MAMPS,0.055426
$HUMID,65.67
$INTERNAL_PRESSURE,9.00029
$TCM_TEMP,19.40
$24V_AH,23.3,24.102
$10V_AH,10.1,16.996
$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,23.275,114.625,504.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,14.632,0.000,11549.584,577.114,1526.895,151.257,0.000,1301.903,0.000,1177.321,0.000,0.000,0.000
$DEVICE_MAMPS,162.945,92.565,1224.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,418.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328656
$DATA_FILE_SIZE,20079,612
$CAP_FILE_SIZE,137969,0
$CFSIZE,260034560,252014592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,021737,3254.055,-11853.931,36,1.9,36,13.3