version: 66.09
glider: 106
mission: 9
dive: 186
start: 10 7 110 11 2 54
data:
$ID,106
$MISSION,9
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52196
$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,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14372.376
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3483
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,4003
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,272
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2788
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-7.6861606
$PRESSURE_SLOPE,0.0001162509
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043544411
$SEABIRD_T_H,0.00064594648
$SEABIRD_T_I,2.5694355e-05
$SEABIRD_T_J,2.7212752e-06
$SEABIRD_C_G,-9.9712534
$SEABIRD_C_H,1.1236986
$SEABIRD_C_I,-0.0012384581
$SEABIRD_C_J,0.00017801338
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,071010,105804,3250.070,-11847.647,9,2.2,28,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-67.6
$GPS2,071010,110213,3250.107,-11847.679,13,1.8,18,13.3
$SPEED_LIMITS,0.260,0.374
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.374,-0.016
$KALMAN_X,-9271.9,22.2,-568.6,20919.2,456.2
$KALMAN_Y,4303.2,448.0,34.8,1825.3,-465.3
$MHEAD_RNG_PITCHd_Wd,79.1,7246,-19.7,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.61,-243.3,0.0,0.0,0,103,0.00,0.00,-88.50,0.000,2,0.000,0.000,168,2558,3138,0,0,0,0,0,0
$GC,105,-1.61,-243.3,3.4,-9.8,8,133,12.73,2.12,-11.23,0.000,4,0.194,0.053,2208,1389,3783,0,0,0,0,0,0
$GC,373,-1.61,-243.3,60.8,-16.0,33,380,0.00,2.03,0.00,0.000,6,0.000,0.027,2208,2546,3786,0,0,0,0,0,0
$GC,564,-1.61,-243.3,91.9,-15.5,52,568,0.00,2.08,0.00,0.000,4,0.000,0.039,2208,1387,3786,0,0,0,0,0,0
$GC,628,-1.61,-243.3,101.3,-14.4,58,633,0.00,2.03,0.00,0.000,6,0.000,0.027,2208,2546,3786,0,0,0,0,0,0
$GC,963,-1.61,-243.3,150.6,-15.0,69,967,0.00,2.58,0.00,0.000,4,0.000,0.054,2208,3945,3786,0,0,0,0,0,0
$GC,995,-1.61,-243.3,155.7,-16.6,70,999,0.00,2.03,0.00,0.000,6,0.000,0.027,2208,2775,3786,0,0,0,0,0,0
$GC,1330,-1.61,-243.3,208.4,-15.7,81,1334,0.00,2.47,0.00,0.000,4,0.000,0.041,2208,1390,3786,0,0,0,0,0,0
$GC,1442,-1.61,-243.3,224.9,-14.5,84,1446,0.00,2.05,0.00,0.000,6,0.000,0.031,2208,2551,3786,0,0,0,0,0,0
$GC,1762,-1.61,-243.3,273.4,-15.0,95,1766,0.00,2.60,0.00,0.000,4,0.000,0.060,2208,3948,3784,0,0,0,0,0,0
$GC,1809,-1.61,-243.3,280.8,-15.6,96,1813,0.00,2.03,0.00,0.000,6,0.000,0.028,2208,2783,3784,0,0,0,0,0,0
$GC,2129,-1.61,-243.3,327.4,-14.5,107,2133,0.00,2.50,0.00,0.000,4,0.000,0.044,2208,1394,3782,0,0,0,0,0,0
$GC,2263,-1.61,-243.3,345.7,-13.4,111,2266,0.00,2.00,0.00,0.000,6,0.000,0.034,2208,2548,3781,0,0,0,0,0,0
$GC,2592,-1.61,-243.3,389.8,-13.1,122,2596,0.00,2.65,0.00,0.000,4,0.000,0.068,2208,3951,3780,0,0,0,0,0,0
$GC,2618,-1.61,-243.3,393.4,-13.3,122,2625,0.00,2.03,0.00,0.000,6,0.000,0.031,2208,2797,3780,0,0,0,0,0,0
$GC,2927,-1.61,-243.3,433.0,-12.8,133,2931,0.00,2.60,0.00,0.000,4,0.000,0.057,2208,1393,3779,0,0,0,0,0,0
$GC,3034,-1.61,-243.3,445.8,-11.5,136,3038,0.00,2.08,0.00,0.000,6,0.000,0.037,2208,2549,3779,0,0,0,0,0,0
$GC,3358,-1.61,-243.3,485.4,-12.1,147,3362,0.00,2.75,0.00,0.000,4,0.000,0.082,2208,3953,3777,0,0,0,0,0,0
$GC,3390,-1.61,-243.3,489.5,-12.4,148,3394,0.00,2.08,0.00,0.000,6,0.000,0.036,2208,2794,3777,0,0,0,0,0,0
$GC,3725,-1.61,-243.3,532.9,-13.3,159,3729,0.00,2.67,0.00,0.000,4,0.000,0.074,2208,1396,3775,0,0,0,0,0,0
$STATE,3782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3782,begin apogee
$GC,3788,-0.33,0.0,540.5,12.9,160,3991,1.40,0.00,198.25,0.952,6,0.104,0.000,2486,2495,2788,0,0,0,0,0,0
$STATE,3991,end apogee,CONTROL_FINISHED_OK
$STATE,3992,begin climb
$GC,3993,1.61,243.3,550.0,0.0,167,4204,1.95,2.78,201.93,0.916,4,0.049,0.076,2925,3906,1793,0,0,0,0,0,0
$GC,4241,1.61,243.3,519.2,21.3,175,4247,0.00,2.10,0.00,0.000,6,0.000,0.043,2925,2755,1791,0,0,0,0,0,0
$GC,4548,1.61,243.3,455.5,20.6,186,4552,0.00,2.62,0.00,0.000,4,0.000,0.056,2925,1342,1788,0,0,0,0,0,0
$GC,4655,1.61,243.3,433.6,20.7,189,4659,0.00,2.10,0.00,0.000,6,0.000,0.037,2925,2504,1787,0,0,0,0,0,0
$GC,4980,1.61,243.3,365.8,20.9,200,4984,0.00,2.15,0.00,0.000,4,0.000,0.049,2925,1340,1787,0,0,0,0,0,0
$GC,5016,1.61,243.3,358.1,20.1,201,5021,0.00,2.10,0.00,0.000,6,0.000,0.034,2925,2509,1786,0,0,0,0,0,0
$GC,5346,1.61,243.3,291.4,20.0,212,5351,0.00,2.15,0.00,0.000,4,0.000,0.048,2925,1345,1785,0,0,0,0,0,0
$GC,5373,1.61,243.3,286.2,19.5,212,5380,0.00,2.05,0.00,0.000,6,0.000,0.032,2925,2498,1784,0,0,0,0,0,0
$GC,5681,1.61,243.3,227.4,18.6,223,5685,0.00,2.12,0.00,0.000,4,0.000,0.047,2925,1345,1784,0,0,0,0,0,0
$GC,5697,1.61,243.3,224.5,18.5,223,5701,0.00,2.05,0.00,0.000,6,0.000,0.031,2925,2504,1784,0,0,0,0,0,0
$GC,6016,1.61,243.3,163.9,19.1,234,6020,0.00,2.12,0.00,0.000,4,0.000,0.047,2925,1347,1783,0,0,0,0,0,0
$GC,6053,1.61,243.3,157.0,18.5,235,6058,0.00,2.05,0.00,0.000,6,0.000,0.031,2925,2506,1783,0,0,0,0,0,0
$GC,6383,1.61,243.3,98.0,17.6,246,6387,0.00,2.15,0.00,0.000,4,0.000,0.048,2925,1340,1783,0,0,0,0,0,0
$GC,6431,1.61,243.3,89.6,17.8,250,6438,0.00,2.05,0.00,0.000,6,0.000,0.031,2925,2500,1783,0,0,0,0,0,0
$GC,6622,1.61,243.3,58.4,16.7,269,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2500,1782,0,0,0,0,0,0
$GC,6809,1.66,283.7,31.1,13.3,287,6845,0.00,2.15,33.08,0.643,4,0.000,0.047,2925,1341,1630,0,0,0,0,0,0
$GC,6855,1.66,283.7,23.9,16.5,291,6859,0.00,2.08,0.00,0.000,6,0.000,0.030,2925,2499,1629,0,0,0,0,0,0
$STATE,7008,end climb,SURFACE_DEPTH_REACHED
$STATE,7008,begin surface coast
$FINISH,0.2,1.010601
$STATE,7029,end surface coast,CONTROL_FINISHED_OK
$STATE,7030,begin surface
$SM_CCo,7049,24.10,0.596,0,0,1462,325.02
$SM_GC,1.31,0.00,0.00,24.10,0.000,0.000,0.596,167,2574,1462,-11.03,0.68,325.02
$IRIDIUM_FIX,3327.96,-11804.20,071010,101048
$TT8_MAMPS,0.051681
$HUMID,53.89
$INTERNAL_PRESSURE,7.15848
$TCM_TEMP,19.10
$24V_AH,23.5,34.476
$10V_AH,10.1,20.235
$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,28.725,80.300,433.250,24.100,0.000,0.000,0.000,0.000,0.000,0.000,19.172,0.000,5452.649,522.130,1077.973,70.655,33.341,1053.561,0.000,846.169,0.000,0.000,0.000
$DEVICE_MAMPS,194.310,106.335,951.660,595.935,0.000,0.000,0.000,0.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,209.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355032
$DATA_FILE_SIZE,10116,308
$CAP_FILE_SIZE,90615,0
$CFSIZE,260034560,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,130146,3250.434,-11846.818,18,2.8,37,13.3