version: 66.09
glider: 107
mission: 18
dive: 179
start: 10 6 110 6 23 11
data:
$ID,107
$MISSION,18
$DIVE,179
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,130
$T_MISSION,150
$T_ABORT,1440
$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,-68853.172
$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,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3960
$C_VBD,3126
$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
$GPS1,061010,061606,3253.463,-11851.672,37,1.0,42,13.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.3
$GPS2,061010,062232,3253.447,-11851.694,17,1.3,17,13.3
$SPEED_LIMITS,0.293,0.388
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.337,-0.192
$KALMAN_X,-229.6,-229.6,-229.6,4161.7,-43.2
$KALMAN_Y,272.4,272.4,272.4,-1982.0,51.2
$MHEAD_RNG_PITCHd_Wd,106.4,15332,-21.6,-16.923
$D_GRID,660
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.74,-243.3,0.0,0.0,0,104,0.00,0.00,-89.03,0.000,2,0.000,0.000,497,2190,3375,0,0,0,0,0,0
$GC,107,-1.74,-243.3,4.1,-10.1,8,135,9.18,2.47,-13.57,0.000,4,0.170,0.060,2094,3568,3962,0,0,0,0,0,0
$GC,375,-1.74,-243.3,64.3,-19.8,33,381,0.00,2.50,0.00,0.000,6,0.000,0.044,2094,2171,3964,0,0,0,0,0,0
$GC,566,-1.74,-243.3,101.3,-19.3,52,570,0.00,2.53,0.00,0.000,4,0.000,0.052,2094,3561,3965,0,0,0,0,0,0
$GC,635,-1.74,-243.3,114.4,-18.0,54,639,0.00,2.50,0.00,0.000,6,0.000,0.045,2094,2170,3966,0,0,0,0,0,0
$GC,965,-1.74,-243.3,174.4,-17.6,65,969,0.00,2.55,0.00,0.000,4,0.000,0.056,2094,3565,3967,0,0,0,0,0,0
$GC,991,-1.74,-243.3,179.0,-17.3,65,998,0.00,2.50,0.00,0.000,6,0.000,0.048,2097,2180,3967,0,0,0,0,0,0
$GC,1300,-1.74,-243.3,232.0,-17.2,76,1304,0.00,2.55,0.00,0.000,4,0.000,0.059,2094,3568,3967,0,0,0,0,0,0
$GC,1332,-1.74,-243.3,237.3,-17.4,77,1336,0.00,2.53,0.00,0.000,6,0.000,0.050,2097,2178,3967,0,0,0,0,0,0
$GC,1667,-1.74,-243.3,293.1,-16.7,88,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2178,3967,0,0,0,0,0,0
$GC,1971,-1.74,-243.3,343.8,-16.8,98,1975,0.00,2.55,0.00,0.000,4,0.000,0.064,2094,3566,3967,0,0,0,0,0,0
$GC,2034,-1.74,-243.3,354.6,-16.5,100,2038,0.00,2.55,0.00,0.000,6,0.000,0.057,2094,2177,3967,0,0,0,0,0,0
$GC,2364,-1.74,-243.3,409.9,-16.7,111,2368,0.00,2.58,0.00,0.000,4,0.000,0.067,2095,3571,3967,0,0,0,0,0,0
$GC,2391,-1.74,-243.3,414.4,-17.7,111,2398,0.00,2.55,0.00,0.000,6,0.000,0.058,2095,2169,3967,0,0,0,0,0,0
$GC,2699,-1.74,-243.3,465.8,-16.4,122,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2169,3967,0,0,0,0,0,0
$GC,3003,-1.74,-243.3,516.2,-16.5,132,3007,0.00,2.62,0.00,0.000,4,0.000,0.070,2095,3568,3967,0,0,0,0,0,0
$GC,3029,-1.74,-243.3,520.7,-17.7,132,3036,0.00,2.58,0.00,0.000,6,0.000,0.062,2094,2181,3968,0,0,0,0,0,0
$GC,3338,-1.74,-243.3,570.8,-15.9,143,3341,0.00,2.58,0.00,0.000,4,0.000,0.070,2094,3567,3967,0,0,0,0,0,0
$GC,3369,-1.74,-243.3,576.0,-16.1,144,3373,0.00,2.60,0.00,0.000,6,0.000,0.063,2095,2175,3967,0,0,0,0,0,0
$GC,3705,-1.74,-243.3,628.2,-15.3,155,3708,0.00,2.60,0.00,0.000,4,0.000,0.073,2094,3569,3967,0,0,0,0,0,0
$GC,3763,-1.74,-243.3,637.2,-15.2,156,3770,0.00,2.60,0.00,0.000,6,0.000,0.064,2094,2176,3967,0,0,0,0,0,0
$STATE,3918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3918,begin apogee
$GC,3922,-0.33,0.0,660.5,14.8,162,4100,1.52,0.00,171.48,0.987,6,0.112,0.000,2398,2054,3126,0,0,0,0,0,0
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4100,begin climb
$GC,4102,1.74,243.3,666.5,0.0,167,4315,2.10,2.78,202.25,0.970,4,0.067,0.090,2860,651,2131,0,0,0,0,0,0
$GC,4395,1.74,243.3,628.6,19.2,177,4400,0.00,2.53,0.00,0.000,6,0.000,0.048,2858,2034,2127,0,0,0,0,0,0
$GC,4721,1.74,243.3,570.9,17.6,188,4724,0.00,2.62,0.00,0.000,4,0.000,0.064,2857,3472,2126,0,0,0,0,0,0
$GC,4757,1.74,243.3,564.3,18.0,189,4762,0.00,2.62,0.00,0.000,6,0.000,0.060,2858,2067,2127,0,0,0,0,0,0
$GC,5087,1.74,243.3,506.4,17.7,200,5091,0.00,2.72,0.00,0.000,4,0.000,0.083,2860,645,2125,0,0,0,0,0,0
$GC,5113,1.74,243.3,501.5,18.9,200,5121,0.00,2.55,0.00,0.000,6,0.000,0.044,2857,2061,2124,0,0,0,0,0,0
$GC,5422,1.74,243.3,447.0,17.4,211,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2062,2124,0,0,0,0,0,0
$GC,5726,1.74,243.3,393.6,17.4,221,5729,0.00,2.70,0.00,0.000,4,0.000,0.080,2858,646,2124,0,0,0,0,0,0
$GC,5768,1.74,243.3,385.7,17.5,222,5772,0.00,2.53,0.00,0.000,6,0.000,0.041,2858,2058,2123,0,0,0,0,0,0
$GC,6093,1.76,258.2,332.0,16.2,233,6107,0.00,0.00,12.23,0.708,6,0.000,0.000,2858,2058,2073,0,0,0,0,0,0
$GC,6427,1.76,258.2,275.7,17.1,244,6431,0.00,2.70,0.00,0.000,4,0.000,0.076,2858,642,2071,0,0,0,0,0,0
$GC,6454,1.76,258.2,270.9,18.4,244,6461,0.00,2.53,0.00,0.000,6,0.000,0.039,2858,2061,2069,0,0,0,0,0,0
$GC,6762,1.76,258.2,218.3,17.1,255,6766,0.00,2.55,0.00,0.000,4,0.000,0.053,2857,3464,2069,0,0,0,0,0,0
$GC,6794,1.76,258.2,212.7,17.7,256,6798,0.00,2.58,0.00,0.000,6,0.000,0.050,2858,2062,2070,0,0,0,0,0,0
$GC,7129,1.79,282.6,157.6,15.8,267,7156,0.00,2.70,21.88,0.612,4,0.000,0.075,2857,645,1972,0,0,0,0,0,0
$GC,7202,1.79,282.6,145.8,17.1,268,7206,0.00,2.50,0.00,0.000,6,0.000,0.037,2858,2054,1969,0,0,0,0,0,0
$GC,7512,1.80,289.0,94.8,16.6,280,7525,0.00,2.67,5.93,0.470,4,0.000,0.073,2858,647,1947,0,0,0,0,0,0
$GC,7534,1.80,289.0,91.1,17.3,282,7538,0.00,2.50,0.00,0.000,6,0.000,0.036,2857,2063,1947,0,0,0,0,0,0
$GC,7731,1.81,299.4,58.6,16.4,301,7743,0.00,0.00,10.95,0.509,6,0.000,0.000,2858,2063,1905,0,0,0,0,0,0
$GC,7927,1.86,344.8,28.5,14.8,320,7972,0.12,2.78,39.28,0.550,4,0.080,0.074,2889,648,1718,0,0,0,0,0,0
$GC,8046,1.91,380.1,11.2,15.3,331,8082,0.00,2.50,30.75,0.530,6,0.000,0.035,2889,2065,1575,0,0,0,0,0,0
$STATE,8107,end climb,SURFACE_DEPTH_REACHED
$STATE,8107,begin surface coast
$FINISH,0.6,1.013534
$STATE,8118,end surface coast,CONTROL_FINISHED_OK
$STATE,8118,begin surface
$SM_CCo,8195,0.00,0.000,0,0,1567,382.42
$SM_GC,1.47,10.55,0.00,0.00,0.037,0.000,0.000,499,2183,1567,-9.06,0.25,382.42
$IRIDIUM_FIX,3327.96,-11804.20,061010,020202
$TT8_MAMPS,0.055426
$HUMID,64.25
$INTERNAL_PRESSURE,8.99052
$TCM_TEMP,19.40
$24V_AH,23.0,24.405
$10V_AH,10.1,17.101
$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,23.475,93.375,494.725,0.000,0.000,29.886,33.264,191.539,0.000,0.000,18.284,0.000,6494.366,537.301,1371.599,156.977,30.176,1105.227,0.000,866.147,0.000,0.000,0.000
$DEVICE_MAMPS,169.830,90.270,986.850,0.000,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,230.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329004
$DATA_FILE_SIZE,10143,338
$CAP_FILE_SIZE,80410,0
$CFSIZE,260034560,251965440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,084014,3252.776,-11850.497,10,1.7,11,13.3