version: 66.09
glider: 107
mission: 18
dive: 185
start: 10 7 110 9 31 42
data:
$ID,107
$MISSION,18
$DIVE,185
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,1100
$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,120
$T_MISSION,140
$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,205
$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,-69014.891
$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,35
$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
$GPS1,071010,092702,3253.041,-11848.830,8,1.6,8,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.9
$GPS2,071010,093102,3253.049,-11848.856,15,2.0,15,13.3
$SPEED_LIMITS,0.260,0.341
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.293,-0.174
$KALMAN_X,-8099.5,-216.0,-573.9,16767.0,142.3
$KALMAN_Y,7790.1,317.9,446.5,-10440.3,-452.3
$MHEAD_RNG_PITCHd_Wd,107.3,11222,-21.7,-15.000
$D_GRID,540
$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,-1.69,-199.5,0.0,0.0,0,108,0.00,0.00,-91.72,0.000,2,0.000,0.000,499,2186,3468,0,0,0,0,0,0
$GC,110,-1.69,-199.5,3.7,-8.6,9,135,9.20,2.53,-10.52,0.000,4,0.168,0.063,2105,3571,3941,0,0,0,0,0,0
$GC,227,-1.69,-199.5,32.7,-18.6,20,231,0.00,2.50,0.00,0.000,6,0.000,0.042,2105,2168,3943,0,0,0,0,0,0
$GC,423,-1.69,-199.5,72.3,-18.7,39,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2168,3944,0,0,0,0,0,0
$GC,609,-1.69,-199.5,106.2,-17.9,55,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2167,3946,0,0,0,0,0,0
$GC,912,-1.69,-199.5,159.6,-17.3,65,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2167,3947,0,0,0,0,0,0
$GC,1216,-1.69,-199.5,209.1,-15.9,75,1220,0.00,2.55,0.00,0.000,4,0.000,0.057,2105,3562,3946,0,0,0,0,0,0
$GC,1263,-1.69,-199.5,217.0,-15.9,76,1268,0.00,2.50,0.00,0.000,6,0.000,0.049,2105,2181,3947,0,0,0,0,0,0
$GC,1583,-1.69,-199.5,267.8,-15.7,87,1587,0.00,2.53,0.00,0.000,4,0.000,0.060,2105,3569,3947,0,0,0,0,0,0
$GC,1609,-1.69,-199.5,272.1,-16.7,87,1616,0.00,2.55,0.00,0.000,6,0.000,0.052,2110,2173,3947,0,0,0,0,0,0
$GC,1918,-1.69,-199.5,320.2,-15.4,98,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2173,3946,0,0,0,0,0,0
$GC,2221,-1.69,-199.5,367.1,-15.6,108,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2173,3946,0,0,0,0,0,0
$GC,2525,-1.69,-199.5,414.7,-15.6,118,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2173,3947,0,0,0,0,0,0
$GC,2828,-1.69,-199.5,460.8,-15.3,128,2832,0.00,2.62,0.00,0.000,4,0.000,0.070,2105,3571,3947,0,0,0,0,0,0
$GC,2855,-1.69,-199.5,464.8,-16.5,128,2862,0.00,2.58,0.00,0.000,6,0.000,0.060,2105,2171,3946,0,0,0,0,0,0
$GC,3163,-1.69,-199.5,511.4,-15.1,139,3167,0.00,2.62,0.00,0.000,4,0.000,0.070,2105,3568,3946,0,0,0,0,0,0
$GC,3200,-1.69,-199.5,517.2,-15.4,140,3204,0.00,2.58,0.00,0.000,6,0.000,0.061,2106,2182,3946,0,0,0,0,0,0
$STATE,3377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3377,begin apogee
$GC,3381,-0.33,0.0,543.7,14.9,146,3552,1.45,0.00,164.60,0.907,6,0.108,0.000,2397,2049,3126,0,0,0,0,0,0
$STATE,3553,end apogee,CONTROL_FINISHED_OK
$STATE,3553,begin climb
$GC,3555,1.69,199.5,550.6,0.0,151,3729,2.05,2.75,163.43,0.892,4,0.067,0.090,2846,653,2311,0,0,0,0,0,0
$GC,3847,1.69,199.5,518.0,16.1,161,3851,0.00,2.53,0.00,0.000,6,0.000,0.047,2845,2041,2308,0,0,0,0,0,0
$GC,4182,1.69,201.2,467.8,14.9,172,4186,0.00,2.65,0.00,0.000,4,0.000,0.064,2846,3480,2307,0,0,0,0,0,0
$GC,4262,1.70,208.3,455.6,14.6,174,4279,0.00,2.65,8.30,0.717,6,0.000,0.061,2846,2062,2275,0,0,0,0,0,0
$GC,4580,1.70,208.3,407.0,15.5,185,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2062,2274,0,0,0,0,0,0
$GC,4884,1.70,209.1,361.3,15.0,195,4888,0.00,2.70,0.00,0.000,4,0.000,0.083,2846,648,2273,0,0,0,0,0,0
$GC,4916,1.70,209.1,356.2,16.5,196,4919,0.00,2.53,0.00,0.000,6,0.000,0.042,2846,2062,2272,0,0,0,0,0,0
$GC,5251,1.70,209.1,304.8,15.5,207,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2062,2272,0,0,0,0,0,0
$GC,5554,1.70,209.1,258.8,15.2,217,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2062,2271,0,0,0,0,0,0
$GC,5858,1.72,223.2,215.4,14.3,227,5877,0.00,2.60,12.90,0.630,4,0.000,0.053,2846,3467,2216,0,0,0,0,0,0
$GC,5915,1.73,234.4,207.3,14.4,228,5930,0.00,2.58,10.95,0.642,6,0.000,0.052,2846,2059,2169,0,0,0,0,0,0
$GC,6255,1.73,234.4,157.1,15.0,240,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2059,2166,0,0,0,0,0,0
$GC,6559,1.77,264.2,114.6,13.5,250,6591,0.00,2.58,24.98,0.614,4,0.000,0.050,2846,3467,2048,0,0,0,0,0,0
$GC,6606,1.77,268.6,107.9,14.8,251,6615,0.00,2.60,5.25,0.496,6,0.000,0.050,2846,2052,2031,0,0,0,0,0,0
$GC,6931,1.78,275.9,61.3,14.6,278,6943,0.10,0.00,7.53,0.507,6,0.093,0.000,2871,2053,2001,0,0,0,0,0,0
$GC,7127,1.80,291.0,32.1,14.2,297,7150,0.00,2.72,13.90,0.520,4,0.000,0.076,2870,652,1938,0,0,0,0,0,0
$GC,7175,1.80,291.0,24.5,16.7,301,7182,0.00,2.47,0.00,0.000,6,0.000,0.036,2871,2060,1937,0,0,0,0,0,0
$STATE,7344,end climb,SURFACE_DEPTH_REACHED
$STATE,7344,begin surface coast
$FINISH,0.5,1.000302
$STATE,7366,end surface coast,CONTROL_FINISHED_OK
$STATE,7366,begin surface
$SM_CCo,7383,26.45,0.528,0,0,1801,325.02
$SM_GC,1.65,0.00,0.00,26.45,0.000,0.000,0.528,499,2192,1801,-9.11,0.48,325.02
$IRIDIUM_FIX,3327.96,-11804.20,071010,090921
$TT8_MAMPS,0.056175
$HUMID,64.37
$INTERNAL_PRESSURE,9.01982
$TCM_TEMP,19.30
$24V_AH,23.5,25.160
$10V_AH,10.1,17.368
$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,23.375,57.350,411.825,26.450,0.000,0.000,0.000,0.000,0.000,0.000,15.939,0.000,5949.767,480.999,938.226,86.750,33.338,952.545,0.000,726.047,0.000,0.000,0.000
$DEVICE_MAMPS,168.300,89.505,906.525,527.850,0.000,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,218.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329088
$DATA_FILE_SIZE,10125,320
$CAP_FILE_SIZE,77642,0
$CFSIZE,260034560,251691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,113606,3252.667,-11848.005,29,1.0,34,13.3