version: 66.09
glider: 107
mission: 18
dive: 178
start: 10 6 110 2 24 16
data:
$ID,107
$MISSION,18
$DIVE,178
$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,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,-68851.914
$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,19
$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,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,1
$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
$GPS1,061010,021737,3254.055,-11853.931,36,1.9,36,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.0
$GPS2,061010,022336,3254.061,-11853.913,33,1.0,33,13.3
$SPEED_LIMITS,0.260,0.374
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.333,-0.171
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,103.9,18914,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.61,-243.3,0.0,0.0,0,127,0.00,0.00,-97.90,0.000,2,0.000,0.000,500,2190,3670,0,0,0,0,0,0
$GC,130,-1.61,-243.3,4.6,-6.9,10,159,9.35,2.50,-4.75,0.000,4,0.173,0.063,2125,3560,3962,0,0,0,0,0,0
$GC,427,-1.61,-243.3,72.6,-16.4,46,439,0.00,2.47,0.00,0.000,6,0.000,0.044,2124,2169,3965,0,0,0,0,0,0
$GC,626,-1.61,-243.3,105.5,-16.8,64,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2169,3967,0,0,0,0,0,0
$GC,836,-1.61,-243.3,140.1,-16.1,78,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2169,3968,0,0,0,0,0,0
$GC,1141,-1.61,-243.3,187.2,-15.3,88,1153,0.00,2.53,0.00,0.000,4,0.000,0.058,2123,3571,3968,0,0,0,0,0,0
$GC,1184,-1.61,-243.3,194.9,-15.8,89,1196,0.00,2.47,0.00,0.000,6,0.000,0.049,2123,2177,3969,0,0,0,0,0,0
$GC,1513,-1.61,-243.3,244.5,-14.8,100,1525,0.00,2.53,0.00,0.000,4,0.000,0.061,2123,3569,3969,0,0,0,0,0,0
$GC,1552,-1.61,-243.3,251.0,-15.3,101,1564,0.00,2.50,0.00,0.000,6,0.000,0.052,2123,2173,3969,0,0,0,0,0,0
$GC,1886,-1.61,-243.3,299.5,-14.4,112,1898,0.00,2.53,0.00,0.000,4,0.000,0.063,2124,3564,3969,0,0,0,0,0,0
$GC,1913,-1.61,-243.3,303.9,-14.2,112,1932,0.00,2.50,0.00,0.000,6,0.000,0.054,2124,2174,3969,0,0,0,0,0,0
$GC,2229,-1.61,-243.3,348.9,-14.5,123,2241,0.00,2.58,0.00,0.000,4,0.000,0.066,2123,3569,3969,0,0,0,0,0,0
$GC,2267,-1.61,-243.3,355.1,-14.8,124,2279,0.00,2.55,0.00,0.000,6,0.000,0.056,2123,2172,3969,0,0,0,0,0,0
$GC,2602,-1.61,-243.3,402.9,-14.5,135,2613,0.00,2.55,0.00,0.000,4,0.000,0.067,2122,3564,3969,0,0,0,0,0,0
$GC,2640,-1.61,-243.3,408.9,-14.4,136,2652,0.00,2.55,0.00,0.000,6,0.000,0.059,2123,2173,3968,0,0,0,0,0,0
$GC,2975,-1.61,-243.3,455.8,-14.3,147,2987,0.00,2.58,0.00,0.000,4,0.000,0.070,2122,3568,3969,0,0,0,0,0,0
$GC,3012,-1.61,-243.3,461.2,-15.2,148,3024,0.00,2.55,0.00,0.000,6,0.000,0.060,2123,2171,3969,0,0,0,0,0,0
$GC,3352,-1.61,-243.3,511.4,-14.6,159,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2171,3969,0,0,0,0,0,0
$GC,3656,-1.61,-243.3,555.0,-14.2,169,3668,0.00,2.60,0.00,0.000,4,0.000,0.071,2122,3565,3969,0,0,0,0,0,0
$GC,3700,-1.61,-243.3,561.8,-13.8,170,3712,0.00,2.55,0.00,0.000,6,0.000,0.062,2123,2174,3969,0,0,0,0,0,0
$GC,4029,-1.61,-243.3,605.7,-13.3,181,4041,0.00,2.58,0.00,0.000,4,0.000,0.073,2122,3563,3968,0,0,0,0,0,0
$GC,4066,-1.61,-243.3,610.8,-14.4,182,4078,0.00,2.55,0.00,0.000,6,0.000,0.063,2122,2174,3969,0,0,0,0,0,0
$GC,4407,-1.61,-243.3,657.8,-14.0,193,4419,0.00,2.60,0.00,0.000,4,0.000,0.073,2122,3569,3969,0,0,0,0,0,0
$GC,4450,-1.61,-243.3,664.9,-15.0,194,4463,0.00,2.60,0.00,0.000,6,0.000,0.063,2123,2169,3969,0,0,0,0,0,0
$GC,4780,-1.61,-243.3,712.3,-14.4,205,4792,0.00,2.62,0.00,0.000,4,0.000,0.073,2122,3570,3968,0,0,0,0,0,0
$GC,4817,-1.61,-243.3,717.7,-15.2,206,4830,0.00,2.60,0.00,0.000,6,0.000,0.063,2122,2166,3968,0,0,0,0,0,0
$GC,5158,-1.61,-243.3,766.6,-14.2,217,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2167,3967,0,0,0,0,0,0
$GC,5461,-1.61,-243.3,807.6,-13.1,227,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2167,3967,0,0,0,0,0,0
$GC,5765,-1.61,-243.3,846.0,-12.5,237,5777,0.00,2.62,0.00,0.000,4,0.000,0.080,2122,3561,3966,0,0,0,0,0,0
$GC,5843,-1.61,-243.3,856.0,-12.3,239,5855,0.00,2.60,0.00,0.000,6,0.000,0.068,2122,2173,3966,0,0,0,0,0,0
$GC,6173,-1.61,-243.3,896.5,-12.4,250,6185,0.00,2.62,0.00,0.000,4,0.000,0.078,2122,3568,3965,0,0,0,0,0,0
$GC,6210,-1.61,-243.3,901.2,-13.5,251,6222,0.00,2.58,0.00,0.000,6,0.000,0.068,2123,2177,3965,0,0,0,0,0,0
$GC,6551,-1.61,-243.3,942.6,-12.2,262,6563,0.00,2.62,0.00,0.000,4,0.000,0.076,2122,3568,3965,0,0,0,0,0,0
$GC,6588,-1.61,-243.3,947.2,-13.0,263,6600,0.00,2.58,0.00,0.000,6,0.000,0.067,2122,2173,3965,0,0,0,0,0,0
$GC,6929,-1.61,-243.3,988.5,-12.2,274,6941,0.00,2.60,0.00,0.000,4,0.000,0.073,2123,3561,3964,0,0,0,0,0,0
$STATE,6943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6943,begin apogee
$GC,6951,-0.33,0.0,991.0,12.2,274,7159,1.38,0.00,186.27,1.227,6,0.109,0.000,2398,2062,3084,0,0,0,0,0,0
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7167,1.61,243.3,997.8,0.0,280,7398,1.98,2.90,211.05,1.199,4,0.067,0.093,2824,645,2091,0,0,0,0,0,0
$GC,7490,1.61,243.3,955.7,18.2,289,7502,0.00,2.53,0.00,0.000,6,0.000,0.049,2823,2044,2085,0,0,0,0,0,0
$GC,7825,1.61,243.3,899.8,16.8,300,7837,0.00,2.67,0.00,0.000,4,0.000,0.070,2823,3474,2084,0,0,0,0,0,0
$GC,7864,1.61,243.3,892.4,17.6,301,7876,0.00,2.65,0.00,0.000,6,0.000,0.064,2824,2054,2085,0,0,0,0,0,0
$GC,8199,1.61,243.3,837.6,16.5,312,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2054,2084,0,0,0,0,0,0
$GC,8503,1.61,243.3,786.3,17.3,322,8515,0.00,2.72,0.00,0.000,4,0.000,0.090,2823,648,2083,0,0,0,0,0,0
$GC,8530,1.61,243.3,780.7,17.3,322,8549,0.00,2.55,0.00,0.000,6,0.000,0.047,2824,2069,2082,0,0,0,0,0,0
$GC,8845,1.61,243.3,728.8,16.8,333,8858,0.00,2.58,0.00,0.000,4,0.000,0.063,2824,3473,2082,0,0,0,0,0,0
$GC,8867,1.61,243.3,724.3,17.1,333,8879,0.00,2.60,0.00,0.000,6,0.000,0.056,2823,2056,2083,0,0,0,0,0,0
$GC,9183,1.61,243.3,672.3,16.7,343,9196,0.00,2.70,0.00,0.000,4,0.000,0.084,2824,648,2082,0,0,0,0,0,0
$GC,9205,1.61,243.3,667.9,16.6,343,9217,0.00,2.53,0.00,0.000,6,0.000,0.044,2822,2066,2081,0,0,0,0,0,0
$GC,9521,1.61,243.3,617.7,16.0,353,9533,0.00,2.55,0.00,0.000,4,0.000,0.062,2823,3466,2081,0,0,0,0,0,0
$GC,9559,1.61,243.3,610.8,16.5,354,9572,0.00,2.58,0.00,0.000,6,0.000,0.057,2824,2059,2082,0,0,0,0,0,0
$GC,9895,1.61,243.3,558.7,15.7,365,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2060,2082,0,0,0,0,0,0
$GC,10198,1.61,243.3,511.4,15.8,375,10210,0.00,2.58,0.00,0.000,4,0.000,0.057,2823,3465,2082,0,0,0,0,0,0
$GC,10220,1.61,243.3,507.2,15.8,375,10232,0.00,2.58,0.00,0.000,6,0.000,0.054,2822,2053,2082,0,0,0,0,0,0
$GC,10536,1.61,243.3,460.2,15.1,385,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2053,2082,0,0,0,0,0,0
$GC,10840,1.61,243.3,414.6,15.0,395,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2053,2081,0,0,0,0,0,0
$GC,11143,1.61,243.3,369.6,15.1,405,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2053,2082,0,0,0,0,0,0
$GC,11447,1.62,249.3,324.5,14.8,415,11461,0.00,0.00,4.90,0.591,6,0.000,0.000,2823,2053,2067,0,0,0,0,0,0
$GC,11750,1.62,249.3,278.0,15.4,425,11762,0.00,2.55,0.00,0.000,4,0.000,0.052,2824,3472,2067,0,0,0,0,0,0
$GC,11799,1.62,249.3,269.8,15.1,426,11811,0.00,2.55,0.00,0.000,6,0.000,0.050,2823,2055,2066,0,0,0,0,0,0
$GC,12124,1.62,254.2,221.6,14.8,437,12139,0.00,0.00,6.07,0.545,6,0.000,0.000,2823,2054,2047,0,0,0,0,0,0
$GC,12427,1.64,265.3,177.5,14.5,447,12451,0.00,2.55,11.00,0.594,4,0.000,0.049,2824,3470,2001,0,0,0,0,0,0
$GC,12478,1.64,269.9,169.3,14.8,448,12496,0.00,2.58,5.80,0.515,6,0.000,0.050,2824,2052,1983,0,0,0,0,0,0
$GC,12799,1.66,281.3,123.4,14.5,458,12828,0.00,0.00,10.98,0.557,6,0.000,0.000,2824,2053,1936,0,0,0,0,0,0
$GC,13013,1.68,298.7,92.2,14.3,478,13052,0.10,2.67,16.12,0.558,4,0.090,0.076,2849,646,1864,0,0,0,0,0,0
$GC,13058,1.70,313.2,85.3,14.4,480,13092,0.00,2.50,14.05,0.562,6,0.000,0.037,2849,2072,1806,0,0,0,0,0,0
$GC,13277,1.70,313.2,52.7,15.3,500,13289,0.00,2.47,0.00,0.000,4,0.000,0.051,2850,3461,1803,0,0,0,0,0,0
$GC,13315,1.70,313.2,46.7,15.3,503,13334,0.00,2.55,0.00,0.000,6,0.000,0.051,2849,2057,1803,0,0,0,0,0,0
$GC,13413,1.70,313.2,31.2,15.8,516,13432,0.00,2.65,0.00,0.000,4,0.000,0.076,2849,648,1801,0,0,0,0,0,0
$GC,13486,1.77,374.7,20.9,12.5,525,13557,0.00,2.47,51.90,0.532,6,0.000,0.036,2849,2069,1554,0,0,0,0,0,0
$STATE,13634,end climb,SURFACE_DEPTH_REACHED
$STATE,13634,begin surface coast
$FINISH,0.6,1.011374
$STATE,13661,end surface coast,CONTROL_FINISHED_OK
$STATE,13661,begin surface
$SM_CCo,13755,0.00,0.000,0,0,1544,377.52
$SM_GC,1.38,10.43,0.00,0.00,0.041,0.000,0.000,497,2187,1544,-9.07,0.34,377.52
$IRIDIUM_FIX,3327.96,-11804.20,051010,222257
$TT8_MAMPS,0.09737
$HUMID,64.21
$INTERNAL_PRESSURE,9.00029
$TCM_TEMP,19.60
$24V_AH,23.1,24.268
$10V_AH,10.0,17.070
$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,23.225,139.550,518.150,0.000,0.000,27.187,29.123,153.391,0.000,0.000,33.785,0.000,8627.653,489.383,4787.876,290.754,29.228,1945.700,0.000,1138.918,0.000,0.000,0.000
$DEVICE_MAMPS,172.890,92.565,1227.060,0.000,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,375.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328932
$DATA_FILE_SIZE,20133,547
$CAP_FILE_SIZE,221026,0
$CFSIZE,260034560,251875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,061606,3253.463,-11851.672,37,1.0,42,13.3