version: 66.09
glider: 107
mission: 18
dive: 180
start: 10 6 110 8 45 59
data:
$ID,107
$MISSION,18
$DIVE,180
$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,-68854.43
$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,16
$R_STBD_OVSHOOT,37
$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
$GPS1,061010,084014,3252.776,-11850.497,10,1.7,11,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.7
$GPS2,061010,084520,3252.747,-11850.545,14,1.9,14,13.3
$SPEED_LIMITS,0.293,0.388
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.349,-0.170
$KALMAN_X,-853.7,-419.1,-136.7,6660.3,-169.4
$KALMAN_Y,630.6,348.0,37.1,-3452.2,-37.8
$MHEAD_RNG_PITCHd_Wd,102.7,13141,-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,12,begin dive
$GC,14,-1.74,-243.3,0.0,0.0,0,104,0.00,0.00,-87.90,0.000,2,0.000,0.000,499,2186,3312,0,0,0,0,0,0
$GC,107,-1.74,-243.3,3.7,-8.4,8,137,9.12,2.53,-15.68,0.000,4,0.169,0.064,2094,3567,3963,0,0,0,0,0,0
$GC,379,-1.74,-243.3,66.9,-21.2,34,382,0.00,2.50,0.00,0.000,6,0.000,0.044,2100,2171,3965,0,0,0,0,0,0
$GC,585,-1.74,-243.3,107.6,-19.2,52,589,0.00,2.50,0.00,0.000,4,0.000,0.054,2093,3572,3967,0,0,0,0,0,0
$GC,713,-1.74,-243.3,131.3,-17.9,56,717,0.00,2.53,0.00,0.000,6,0.000,0.047,2099,2176,3968,0,0,0,0,0,0
$GC,1048,-1.74,-243.3,191.2,-17.4,67,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2176,3969,0,0,0,0,0,0
$GC,1352,-1.74,-243.3,243.3,-17.1,77,1355,0.00,2.55,0.00,0.000,4,0.000,0.060,2094,3563,3969,0,0,0,0,0,0
$GC,1394,-1.74,-243.3,250.7,-17.1,78,1398,0.00,2.53,0.00,0.000,6,0.000,0.052,2094,2147,3969,0,0,0,0,0,0
$GC,1719,-1.74,-243.3,306.2,-17.3,89,1723,0.00,2.62,0.00,0.000,4,0.000,0.063,2095,3564,3969,0,0,0,0,0,0
$GC,1750,-1.74,-243.3,311.8,-17.7,90,1754,0.00,2.55,0.00,0.000,6,0.000,0.054,2094,2175,3969,0,0,0,0,0,0
$GC,2086,-1.74,-243.3,370.2,-17.4,101,2089,0.00,2.60,0.00,0.000,4,0.000,0.067,2094,3562,3969,0,0,0,0,0,0
$GC,2123,-1.74,-243.3,376.7,-17.8,102,2127,0.00,2.55,0.00,0.000,6,0.000,0.057,2094,2179,3969,0,0,0,0,0,0
$GC,2453,-1.74,-243.3,431.5,-16.6,113,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2179,3969,0,0,0,0,0,0
$GC,2756,-1.74,-243.3,480.6,-16.2,123,2760,0.00,2.58,0.00,0.000,4,0.000,0.070,2094,3567,3969,0,0,0,0,0,0
$GC,2783,-1.74,-243.3,484.9,-15.8,123,2789,0.00,2.58,0.00,0.000,6,0.000,0.061,2094,2178,3969,0,0,0,0,0,0
$GC,3091,-1.74,-243.3,531.7,-15.0,134,3095,0.00,2.58,0.00,0.000,4,0.000,0.071,2094,3567,3969,0,0,0,0,0,0
$GC,3134,-1.74,-243.3,538.2,-15.1,135,3137,0.00,2.58,0.00,0.000,6,0.000,0.062,2094,2167,3969,0,0,0,0,0,0
$GC,3458,-1.74,-243.3,587.4,-15.2,146,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2167,3969,0,0,0,0,0,0
$GC,3762,-1.74,-243.3,632.9,-15.2,156,3765,0.00,2.62,0.00,0.000,4,0.000,0.073,2094,3571,3969,0,0,0,0,0,0
$GC,3809,-1.74,-243.3,640.1,-15.0,157,3813,0.00,2.60,0.00,0.000,6,0.000,0.063,2095,2180,3969,0,0,0,0,0,0
$STATE,3945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3945,begin apogee
$GC,3949,-0.33,0.0,660.1,14.5,162,4127,1.52,0.00,172.62,0.993,6,0.111,0.000,2399,2048,3126,0,0,0,0,0,0
$STATE,4128,end apogee,CONTROL_FINISHED_OK
$STATE,4128,begin climb
$GC,4130,1.74,243.3,666.1,0.0,167,4346,2.10,2.85,206.90,0.967,4,0.065,0.091,2858,651,2132,0,0,0,0,0,0
$GC,4475,1.74,243.3,619.9,18.2,178,4479,0.00,2.50,0.00,0.000,6,0.000,0.048,2856,2047,2128,0,0,0,0,0,0
$GC,4811,1.74,245.0,563.0,16.8,189,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2046,2127,0,0,0,0,0,0
$GC,5114,1.75,252.6,512.2,16.6,199,5128,0.00,2.70,7.97,0.748,4,0.000,0.063,2856,3472,2096,0,0,0,0,0,0
$GC,5145,1.77,271.4,507.0,16.1,200,5169,0.00,2.62,18.00,0.845,6,0.000,0.059,2858,2067,2019,0,0,0,0,0,0
$GC,5479,1.77,271.4,448.4,17.7,211,5482,0.00,2.72,0.00,0.000,4,0.000,0.082,2860,644,2015,0,0,0,0,0,0
$GC,5510,1.77,271.4,442.2,19.1,212,5514,0.00,2.55,0.00,0.000,6,0.000,0.043,2856,2062,2014,0,0,0,0,0,0
$GC,5846,1.77,271.4,383.2,17.7,223,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2062,2014,0,0,0,0,0,0
$GC,6149,1.77,271.4,330.1,17.2,233,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2062,2014,0,0,0,0,0,0
$GC,6453,1.77,271.4,276.2,17.6,243,6456,0.00,2.67,0.00,0.000,4,0.000,0.077,2856,646,2013,0,0,0,0,0,0
$GC,6468,1.77,271.4,273.5,17.7,243,6472,0.00,2.50,0.00,0.000,6,0.000,0.039,2856,2059,2013,0,0,0,0,0,0
$GC,6787,1.77,271.4,218.6,17.2,254,6791,0.00,2.55,0.00,0.000,4,0.000,0.053,2856,3469,2013,0,0,0,0,0,0
$GC,6824,1.77,271.4,211.9,18.4,255,6828,0.00,2.58,0.00,0.000,6,0.000,0.051,2856,2059,2013,0,0,0,0,0,0
$GC,7154,1.77,271.4,156.7,17.0,266,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2058,2013,0,0,0,0,0,0
$GC,7458,1.79,286.0,106.3,16.2,276,7477,0.00,2.75,12.88,0.546,4,0.000,0.076,2856,644,1957,0,0,0,0,0,0
$GC,7494,1.79,286.0,100.3,17.1,277,7498,0.00,2.53,0.00,0.000,6,0.000,0.037,2856,2066,1956,0,0,0,0,0,0
$GC,7810,1.82,309.7,48.4,15.8,306,7832,0.00,0.00,21.05,0.538,6,0.000,0.000,2856,2066,1863,0,0,0,0,0,0
$GC,8017,1.88,357.3,17.9,14.7,326,8064,0.15,2.78,40.60,0.542,4,0.073,0.073,2893,646,1668,0,0,0,0,0,0
$GC,8103,1.92,391.5,5.5,15.3,334,8126,0.00,2.47,18.33,0.498,2,0.000,0.036,2893,2061,1581,0,0,0,0,0,0
$STATE,8126,end climb,SURFACE_DEPTH_REACHED
$STATE,8126,begin surface coast
$FINISH,0.6,1.023540
$STATE,8134,end surface coast,CONTROL_FINISHED_OK
$STATE,8134,begin surface
$SM_CCo,8212,0.00,0.000,0,0,1573,380.71
$SM_GC,1.42,10.70,0.00,0.00,0.042,0.000,0.000,497,2191,1573,-9.08,0.42,380.71
$IRIDIUM_FIX,3327.96,-11804.20,061010,060652
$TT8_MAMPS,0.056175
$HUMID,64.64
$INTERNAL_PRESSURE,9.00029
$TCM_TEMP,19.30
$24V_AH,22.8,24.542
$10V_AH,10.1,17.130
$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,23.600,78.200,498.350,0.000,0.000,30.965,28.932,159.421,0.000,0.000,15.061,0.000,6549.356,514.367,1291.199,154.229,31.410,1069.003,0.000,857.660,0.000,0.000,0.000
$DEVICE_MAMPS,169.065,91.035,992.970,0.000,0.000,103.000,160.000,223.000,0.000,0.000,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,230.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329064
$DATA_FILE_SIZE,10151,337
$CAP_FILE_SIZE,75755,0
$CFSIZE,260034560,251932672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,110340,3252.130,-11849.402,27,1.2,31,13.3