version: 66.09
glider: 107
mission: 18
dive: 186
start: 10 7 110 11 42 44
data:
$ID,107
$MISSION,18
$DIVE,186
$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,-69016.141
$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,18
$R_STBD_OVSHOOT,39
$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
$GPS1,071010,113606,3252.667,-11848.005,29,1.0,34,13.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.5
$GPS2,071010,114202,3252.731,-11848.043,12,1.5,12,13.3
$SPEED_LIMITS,0.260,0.341
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.258,-0.223
$KALMAN_X,-9014.3,-144.5,-487.0,18788.1,168.3
$KALMAN_Y,8814.6,186.7,107.8,-11587.7,-24.0
$MHEAD_RNG_PITCHd_Wd,117.5,9861,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.69,-199.5,0.0,0.0,0,83,0.00,0.00,-67.22,0.000,2,0.000,0.000,499,2192,3149,0,0,0,0,0,0
$GC,85,-1.69,-199.5,3.1,-5.7,6,123,9.23,2.50,-21.00,0.000,4,0.170,0.065,2105,3561,3943,0,0,0,0,0,0
$GC,224,-1.69,-199.5,31.4,-18.8,19,231,0.00,2.50,0.00,0.000,6,0.000,0.044,2106,2171,3944,0,0,0,0,0,0
$GC,416,-1.69,-199.5,70.0,-19.3,38,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2170,3945,0,0,0,0,0,0
$GC,611,-1.69,-199.5,106.0,-18.0,55,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2170,3946,0,0,0,0,0,0
$GC,915,-1.69,-199.5,159.9,-17.5,65,919,0.00,2.55,0.00,0.000,4,0.000,0.057,2105,3564,3947,0,0,0,0,0,0
$GC,935,-1.69,-199.5,163.4,-17.1,65,940,0.00,2.50,0.00,0.000,6,0.000,0.047,2106,2179,3947,0,0,0,0,0,0
$GC,1250,-1.69,-199.5,216.8,-17.0,76,1254,0.00,2.53,0.00,0.000,4,0.000,0.060,2105,3568,3948,0,0,0,0,0,0
$GC,1265,-1.69,-199.5,219.5,-17.2,76,1269,0.00,2.53,0.00,0.000,6,0.000,0.050,2109,2177,3948,0,0,0,0,0,0
$GC,1585,-1.69,-199.5,273.0,-16.3,87,1588,0.00,2.55,0.00,0.000,4,0.000,0.062,2105,3556,3948,0,0,0,0,0,0
$GC,1616,-1.69,-199.5,278.1,-16.2,88,1620,0.00,2.53,0.00,0.000,6,0.000,0.053,2109,2175,3948,0,0,0,0,0,0
$GC,1952,-1.69,-199.5,331.9,-16.0,99,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2176,3948,0,0,0,0,0,0
$GC,2255,-1.69,-199.5,379.0,-15.5,109,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2175,3948,0,0,0,0,0,0
$GC,2559,-1.69,-199.5,426.4,-15.8,119,2562,0.00,2.60,0.00,0.000,4,0.000,0.069,2105,3567,3948,0,0,0,0,0,0
$GC,2579,-1.69,-199.5,429.7,-15.7,119,2584,0.00,2.58,0.00,0.000,6,0.000,0.059,2106,2171,3948,0,0,0,0,0,0
$GC,2894,-1.69,-199.5,478.8,-15.5,130,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2171,3948,0,0,0,0,0,0
$GC,3197,-1.69,-199.5,524.3,-14.9,140,3201,0.00,2.60,0.00,0.000,4,0.000,0.071,2106,3571,3948,0,0,0,0,0,0
$GC,3272,-1.69,-199.5,535.3,-14.8,142,3275,0.00,2.60,0.00,0.000,6,0.000,0.063,2107,2175,3948,0,0,0,0,0,0
$STATE,3321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3321,begin apogee
$GC,3326,-0.33,0.0,542.8,14.8,144,3497,1.48,0.00,165.52,0.912,6,0.112,0.000,2400,2054,3125,0,0,0,0,0,0
$STATE,3498,end apogee,CONTROL_FINISHED_OK
$STATE,3498,begin climb
$GC,3500,1.69,199.5,547.9,0.0,149,3671,2.08,2.78,162.65,0.893,4,0.067,0.090,2845,646,2311,0,0,0,0,0,0
$GC,3734,1.69,199.5,522.5,16.0,157,3738,0.00,2.53,0.00,0.000,6,0.000,0.047,2844,2034,2309,0,0,0,0,0,0
$GC,4059,1.69,199.5,472.0,15.3,168,4063,0.00,2.67,0.00,0.000,4,0.000,0.065,2844,3473,2308,0,0,0,0,0,0
$GC,4149,1.70,208.0,458.3,14.6,170,4163,0.00,2.62,8.18,0.713,6,0.000,0.061,2845,2065,2277,0,0,0,0,0,0
$GC,4489,1.73,228.8,410.6,14.0,182,4509,0.00,0.00,18.55,0.784,6,0.000,0.000,2844,2065,2193,0,0,0,0,0,0
$GC,4792,1.73,228.8,364.8,15.1,192,4796,0.00,2.72,0.00,0.000,4,0.000,0.084,2847,641,2190,0,0,0,0,0,0
$GC,4824,1.73,228.8,359.6,15.8,193,4828,0.00,2.53,0.00,0.000,6,0.000,0.043,2844,2066,2189,0,0,0,0,0,0
$GC,5160,1.73,228.8,308.8,15.2,204,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2066,2189,0,0,0,0,0,0
$GC,5463,1.73,230.6,263.5,14.9,214,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2066,2189,0,0,0,0,0,0
$GC,5766,1.75,244.9,219.9,14.3,224,5782,0.00,0.00,14.57,0.647,6,0.000,0.000,2844,2066,2127,0,0,0,0,0,0
$GC,6070,1.75,244.9,174.3,15.1,234,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2066,2125,0,0,0,0,0,0
$GC,6374,1.75,249.2,128.9,14.8,244,6380,0.00,0.00,4.93,0.499,6,0.000,0.000,2844,2066,2109,0,0,0,0,0,0
$GC,6679,1.76,259.4,82.5,14.5,260,6694,0.00,2.72,9.70,0.534,4,0.000,0.073,2844,649,2067,0,0,0,0,0,0
$GC,6711,1.77,266.2,77.9,14.7,263,6723,0.00,2.50,7.38,0.512,6,0.000,0.037,2843,2060,2040,0,0,0,0,0,0
$GC,6908,1.80,289.9,52.0,13.8,282,6931,0.12,0.00,21.00,0.555,6,0.083,0.000,2875,2060,1944,0,0,0,0,0,0
$GC,7115,1.80,289.9,20.0,16.1,302,7119,0.00,2.53,0.00,0.000,4,0.000,0.054,2875,3466,1940,0,0,0,0,0,0
$GC,7205,1.90,370.0,8.1,11.0,310,7252,0.00,2.55,42.85,0.528,2,0.000,0.049,2875,2061,1737,0,0,0,0,0,0
$STATE,7253,end climb,SURFACE_DEPTH_REACHED
$STATE,7253,begin surface coast
$FINISH,0.6,1.024274
$STATE,7272,end surface coast,CONTROL_FINISHED_OK
$STATE,7273,begin surface
$SM_CCo,7351,0.00,0.000,0,0,1726,343.17
$SM_GC,1.63,10.68,0.00,0.00,0.045,0.000,0.000,498,2184,1726,-9.07,0.25,343.17
$IRIDIUM_FIX,3327.96,-11804.20,071010,111124
$TT8_MAMPS,0.055426
$HUMID,64.37
$INTERNAL_PRESSURE,9.01982
$TCM_TEMP,19.30
$24V_AH,23.5,25.276
$10V_AH,10.1,17.394
$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,23.575,57.125,455.325,0.000,0.000,53.182,78.749,110.721,0.000,0.000,12.795,0.000,5940.895,473.221,1164.404,122.022,33.326,936.747,0.000,711.878,0.000,0.000,0.000
$DEVICE_MAMPS,169.830,89.505,911.880,0.000,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,215.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329016
$DATA_FILE_SIZE,10158,316
$CAP_FILE_SIZE,66557,0
$CFSIZE,260034560,251666432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,134604,3252.263,-11847.466,10,4.4,30,13.3