version: 66.09
glider: 167
mission: 8
dive: 185
start: 7 24 111 19 24 48
data:
$ID,167
$MISSION,8
$DIVE,185
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56619.738
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,88
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,240711,191732,1833.286,12218.574,12,1.6,12,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-69.9
$GPS2,240711,192426,1833.308,12218.474,16,1.6,16,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,183.7,5125,-15.4,-8.250
$D_GRID,92
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,97,0.00,0.00,-78.12,0.000,2,0.000,0.000,111,1798,2860,0,0,0,0,0,0
$GC,102,-0.56,-146.0,5.1,-8.4,10,127,9.98,1.95,-9.90,0.000,4,0.234,0.041,2609,478,3438,0,0,0,0,0,0
$GC,141,-0.56,-146.0,22.2,-37.2,15,149,0.00,2.00,0.00,0.000,6,0.000,0.020,2602,1857,3438,0,0,0,0,0,0
$GC,217,-0.56,-146.0,45.7,-28.6,28,225,0.00,2.10,0.00,0.000,4,0.000,0.031,2591,3267,3439,0,0,0,0,0,0
$GC,260,-0.56,-146.0,57.5,-28.7,34,268,0.00,1.77,0.00,0.000,6,0.000,0.016,2591,2007,3439,0,0,0,0,0,0
$GC,333,-0.56,-146.0,75.9,-24.7,47,341,0.00,1.90,0.00,0.000,4,0.000,0.031,2582,3267,3439,0,0,0,0,0,0
$GC,393,-0.56,-146.0,90.8,-23.3,57,402,0.10,1.55,0.00,0.000,6,0.155,0.016,2612,2124,3440,0,0,0,0,0,0
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,416,-0.20,0.0,94.4,22.1,59,526,0.38,0.00,104.35,0.615,4,0.151,0.000,2731,2119,2838,0,0,0,0,0,0
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,529,0.56,146.0,105.2,0.0,73,648,0.75,2.08,106.93,0.607,4,0.108,0.031,2975,3456,2241,0,0,0,0,0,0
$GC,660,0.75,294.8,102.8,2.6,90,779,0.15,2.03,110.20,0.599,6,0.050,0.016,3054,2036,1635,0,0,0,0,0,0
$GC,851,0.77,312.0,90.5,7.6,118,876,0.00,1.95,14.18,0.547,4,0.000,0.027,3063,733,1565,0,0,0,0,0,0
$GC,940,0.78,321.8,83.4,7.9,132,957,0.00,1.95,9.07,0.507,6,0.000,0.018,3063,2078,1526,0,0,0,0,0,0
$GC,1025,0.78,321.8,75.9,9.1,146,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2078,1525,0,0,0,0,0,0
$GC,1099,0.78,322.0,69.5,8.2,159,1107,0.00,2.05,0.00,0.000,4,0.000,0.030,3063,3459,1523,0,0,0,0,0,0
$GC,1153,0.78,322.0,64.3,9.2,168,1165,0.00,1.95,0.00,0.000,6,0.000,0.016,3071,2085,1523,0,0,0,0,0,0
$GC,1232,0.80,335.4,58.2,7.7,181,1248,0.00,2.05,11.88,0.521,4,0.000,0.027,3078,707,1470,0,0,0,0,0,0
$GC,1306,0.85,380.6,53.2,6.5,193,1351,0.00,1.77,35.28,0.556,6,0.000,0.017,3079,1959,1287,0,0,0,0,0,0
$GC,1420,0.89,407.0,45.5,7.2,211,1453,0.00,2.28,21.88,0.535,4,0.000,0.028,3078,3456,1177,0,0,0,0,0,0
$GC,1484,0.91,424.7,40.8,7.6,220,1510,0.00,2.22,15.30,0.517,6,0.000,0.016,3081,1915,1105,0,0,0,0,0,0
$GC,1577,0.96,464.6,34.1,6.7,235,1615,0.00,1.83,32.05,0.537,4,0.000,0.028,3087,705,943,0,0,0,0,0,0
$GC,1656,0.99,489.3,28.6,7.3,247,1682,0.00,1.85,20.20,0.519,6,0.000,0.017,3087,1997,843,0,0,0,0,0,0
$GC,1748,1.05,539.9,22.2,6.3,262,1795,0.15,1.95,37.58,0.532,4,0.080,0.024,3171,704,636,0,0,0,0,0,0
$GC,1816,1.05,539.9,15.8,10.6,271,1825,0.08,1.77,0.00,0.000,6,0.104,0.018,3141,1951,634,0,0,0,0,0,0
$GC,1896,1.05,539.9,7.8,9.6,284,1905,0.00,2.22,0.00,0.000,4,0.000,0.028,3141,3449,631,0,0,0,0,0,0
$GC,1925,1.05,539.9,4.9,9.6,288,1934,0.00,2.25,0.00,0.000,6,0.000,0.017,3148,1893,630,0,0,0,0,0,0
$STATE,1946,end climb,SURFACE_DEPTH_REACHED
$STATE,1946,begin surface coast
$FINISH,0.8,1.008547
$STATE,1981,end surface coast,CONTROL_FINISHED_OK
$STATE,1981,begin surface
$SM_CCo,2059,0.00,0.000,0,0,629,542.11
$SM_GC,1.56,7.75,0.00,0.00,0.037,0.000,0.000,114,1893,629,-8.30,0.51,542.11,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12218.16,240711,171755
$TT8_MAMPS,0.027713,0.027713
$HUMID,31.29
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,29.90
$XPDR_PINGS,26
$24V_AH,25.0,33.582
$10V_AH,10.3,32.985
$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,19.325,43.475,518.875,0.000,0.000,26.733,39.462,190.681,6.500,0.000,17.009,621.429,85.290,476.701,976.989,307.096,0.000,958.441,0.000,836.086,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,40.545,615.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.915,371.853,747.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324140
$DATA_FILE_SIZE,16944,297
$CAP_FILE_SIZE,51127,0
$CFSIZE,260165632,123117568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.524,288.2,1
$GPS,240711,200014,1833.214,12217.841,12,1.9,30,-2.0