version: 66.09
glider: 167
mission: 8
dive: 186
start: 7 24 111 20 6 23
data:
$ID,167
$MISSION,8
$DIVE,186
$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,-56620.996
$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,97
$R_STBD_OVSHOOT,77
$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
$GPS1,240711,200014,1833.214,12217.841,12,1.9,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.3
$GPS2,240711,200601,1833.218,12217.779,40,1.2,40,-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,173.9,4186,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,108,0.00,0.00,-86.82,0.000,2,0.000,0.000,111,1890,3095,0,0,0,0,0,0
$GC,110,-0.56,-146.0,6.1,-11.4,12,134,9.95,0.00,-5.53,0.000,6,0.234,0.000,2609,1887,3437,0,0,0,0,0,0
$GC,201,-0.56,-146.0,43.5,-29.4,27,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1887,3437,0,0,0,0,0,0
$GC,275,-0.56,-146.0,64.7,-25.8,40,283,0.00,2.00,0.00,0.000,4,0.000,0.034,2609,508,3437,0,0,0,0,0,0
$GC,294,-0.56,-146.0,69.2,-25.2,42,303,0.00,1.95,0.00,0.000,6,0.000,0.026,2601,1867,3437,0,0,0,0,0,0
$GC,371,-0.56,-146.0,87.5,-22.3,55,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1867,3437,0,0,0,0,0,0
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,398,-0.20,0.0,92.7,21.7,58,508,0.43,0.00,103.65,0.594,4,0.158,0.000,2729,2102,2838,0,0,0,0,0,0
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,514,0.56,146.0,104.5,0.0,73,632,0.75,2.10,105.95,0.593,4,0.111,0.031,2982,701,2240,0,0,0,0,0,0
$GC,648,0.76,302.3,102.8,2.3,91,778,0.12,2.00,115.57,0.593,6,0.050,0.018,3051,2085,1604,0,0,0,0,0,0
$GC,851,0.76,304.5,89.3,8.2,120,860,0.00,2.03,0.00,0.000,4,0.000,0.030,3051,3439,1601,0,0,0,0,0,0
$GC,902,0.76,304.5,84.9,8.5,128,910,0.00,1.90,0.00,0.000,6,0.000,0.016,3060,2097,1600,0,0,0,0,0,0
$GC,980,0.76,304.5,78.3,8.8,141,989,0.00,2.03,0.00,0.000,4,0.000,0.029,3070,705,1599,0,0,0,0,0,0
$GC,1040,0.76,304.5,73.1,8.3,151,1048,0.00,1.92,0.00,0.000,6,0.000,0.018,3070,2055,1599,0,0,0,0,0,0
$GC,1114,0.76,304.5,66.1,9.5,164,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2055,1600,0,0,0,0,0,0
$GC,1191,0.76,304.5,59.4,8.9,177,1198,0.00,2.05,0.00,0.000,4,0.000,0.030,3070,3449,1599,0,0,0,0,0,0
$GC,1246,0.76,304.5,53.8,10.5,186,1256,0.08,2.03,0.00,0.000,6,0.119,0.017,3047,2008,1599,0,0,0,0,0,0
$GC,1324,0.80,336.7,47.9,7.0,199,1355,0.00,1.92,26.60,0.547,4,0.000,0.027,3053,707,1465,0,0,0,0,0,0
$GC,1447,0.82,354.0,39.0,7.6,219,1471,0.00,1.67,14.62,0.520,6,0.000,0.017,3052,1901,1394,0,0,0,0,0,0
$GC,1540,0.90,421.6,33.1,5.7,234,1598,0.10,2.38,52.30,0.549,4,0.102,0.029,3106,3460,1118,0,0,0,0,0,0
$GC,1641,0.91,424.7,25.8,8.1,248,1651,0.00,2.20,3.78,0.347,6,0.000,0.016,3115,1932,1106,0,0,0,0,0,0
$GC,1719,0.91,424.7,19.2,8.3,261,1727,0.00,1.77,0.00,0.000,4,0.000,0.027,3123,711,1105,0,0,0,0,0,0
$GC,1752,0.91,424.7,16.4,8.7,266,1761,0.08,1.62,0.00,0.000,6,0.096,0.017,3091,1885,1105,0,0,0,0,0,0
$GC,1831,0.93,443.7,10.2,7.5,279,1854,0.00,2.30,15.82,0.509,4,0.000,0.027,3091,3452,1028,0,0,0,0,0,0
$GC,1885,0.97,471.9,6.3,7.2,287,1918,0.00,2.17,23.00,0.515,6,0.000,0.016,3091,1926,914,0,0,0,0,0,0
$STATE,1929,end climb,SURFACE_DEPTH_REACHED
$STATE,1929,begin surface coast
$FINISH,0.7,1.021476
$STATE,1978,end surface coast,CONTROL_FINISHED_OK
$STATE,1978,begin surface
$SM_CCo,2055,0.00,0.000,0,0,910,472.94
$SM_GC,1.57,7.57,0.00,0.00,0.034,0.000,0.000,119,1925,910,-8.30,1.41,472.94,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12220.08,240711,191948
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.37
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,29.80
$XPDR_PINGS,41
$24V_AH,25.1,33.668
$10V_AH,10.3,33.040
$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,19.075,36.300,461.300,0.000,0.000,29.566,19.127,147.077,10.250,0.000,41.048,639.164,90.644,447.368,943.430,287.488,0.000,901.025,0.000,838.909,0.000,0.547,0.000
$DEVICE_MAMPS,234.090,44.370,593.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,192.265,374.315,751.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324136
$DATA_FILE_SIZE,16971,301
$CAP_FILE_SIZE,48025,0
$CFSIZE,260165632,123088896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.442,294.6,1
$GPS,240711,204126,1833.153,12217.325,11,1.8,11,-2.0