version: 66.09
glider: 107
mission: 20
dive: 2
start: 6 30 111 18 8 3
data:
$ID,107
$MISSION,20
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,1100
$D_NO_BLEED,50
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51732
$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,47.75
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-73919.609
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,357
$PITCH_MAX,3724
$C_PITCH,2575
$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,2053
$C_ROLL_CLIMB,2053
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3925
$C_VBD,3348
$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,-10.826432
$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,49
$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
$GPS1,300611,180249,4743.645,-12223.907,7,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-56.2
$GPS2,300611,180713,4743.654,-12223.893,17,1.2,34,18.2
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.000,-12223.700
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.040,0.258
$KALMAN_X,45.6,45.6,45.6,173.0,108.8
$KALMAN_Y,4.5,4.5,4.5,201.4,10.7
$MHEAD_RNG_PITCHd_Wd,350.6,683,-18.2,-10.000
$D_GRID,101
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.39,-146.6,0.0,0.0,0,161,0.00,0.00,-142.45,0.000,2,0.000,0.000,361,2064,3786,0,0,0,0,0,0
$GC,162,-1.39,-146.6,3.7,-19.7,25,182,10.38,2.67,-2.97,0.000,4,0.151,0.082,2265,646,3926,0,0,0,0,0,0
$GC,434,-1.39,-146.6,44.7,-11.1,50,442,0.00,2.42,0.00,0.000,6,0.000,0.037,2265,2038,3927,0,0,0,0,0,0
$GC,632,-1.39,-146.6,65.9,-10.7,69,636,0.00,2.58,0.00,0.000,4,0.000,0.073,2266,646,3927,0,0,0,0,0,0
$GC,817,-1.39,-146.6,85.3,-9.5,85,821,0.00,2.42,0.00,0.000,6,0.000,0.040,2265,2055,3927,0,0,0,0,0,0
$STATE,876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,876,begin apogee
$GC,879,-0.33,0.0,90.5,8.7,90,1000,1.08,0.00,110.47,0.666,6,0.082,0.000,2498,2055,3348,0,0,0,0,0,0
$STATE,1000,end apogee,CONTROL_FINISHED_OK
$STATE,1001,begin climb
$GC,1002,1.39,146.6,93.5,0.0,101,1120,1.70,0.00,113.97,0.643,6,0.056,0.000,2889,2054,2750,0,0,0,0,0,0
$GC,1436,1.44,180.0,61.0,8.5,143,1471,0.00,2.65,27.10,0.620,4,0.000,0.073,2889,646,2613,0,0,0,0,0,0
$GC,1486,1.44,180.0,55.8,10.4,147,1494,0.00,2.47,0.00,0.000,6,0.000,0.037,2889,2054,2612,0,0,0,0,0,0
$GC,1812,1.48,219.0,26.8,8.2,178,1848,0.00,2.60,31.60,0.619,4,0.000,0.063,2889,3453,2455,0,0,0,0,0,0
$GC,1871,1.55,273.5,22.2,7.5,183,1927,0.10,2.47,44.53,0.610,6,0.086,0.049,2921,2054,2231,0,0,0,0,0,0
$STATE,2071,end climb,SURFACE_DEPTH_REACHED
$STATE,2071,begin surface coast
$FINISH,-0.1,1.020907
$STATE,2106,end surface coast,CONTROL_FINISHED_OK
$STATE,2106,begin surface
$SM_CCo,2123,66.57,0.591,0,0,1717,400.08
$SM_GC,0.81,0.00,0.00,66.57,0.000,0.000,0.591,362,2053,1717,-10.18,0.00,400.08,0,0,0,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,300611,171759
$TT8_MAMPS,0.02996,0.02996
$HUMID,62.67
$INTERNAL_PRESSURE,9.19561
$TCM_TEMP,19.70
$24V_AH,23.9,27.127
$10V_AH,10.0,18.340
$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,24.500,20.300,327.675,66.575,0.000,0.000,0.000,0.000,0.000,0.000,34.980,452.255,877.072,481.854,444.641,22.003,30.180,768.195,0.000,417.156,0.000,0.000,0.000
$DEVICE_MAMPS,151.470,81.855,665.550,590.580,0.000,0.000,0.000,0.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,140.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,6836,214
$CAP_FILE_SIZE,56969,0
$CFSIZE,260034560,257953792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,184520,4743.855,-12223.907,15,1.9,15,18.2