version: 66.09
glider: 167
mission: 8
dive: 195
start: 7 25 111 0 1 6
data:
$ID,167
$MISSION,8
$DIVE,195
$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,-56632.301
$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,65
$R_STBD_OVSHOOT,96
$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
$GPS1,240711,235536,1832.436,12216.254,10,1.6,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.0
$GPS2,250711,000044,1832.417,12216.239,16,1.7,16,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,95.5,286942,-15.4,-8.250
$D_GRID,95
$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,19,-0.56,-146.0,0.0,0.0,0,89,0.00,0.00,-68.12,0.000,2,0.000,0.000,116,1853,2989,0,0,0,0,0,0
$GC,92,-0.56,-146.0,5.3,-10.5,10,117,9.50,2.08,-7.57,0.000,4,0.223,0.044,2597,3244,3437,0,0,0,0,0,0
$GC,173,-0.56,-146.0,38.1,-30.1,23,181,0.00,1.98,0.00,0.000,6,0.000,0.018,2597,1853,3438,0,0,0,0,0,0
$GC,247,-0.56,-146.0,56.6,-20.5,36,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1852,3437,0,0,0,0,0,0
$GC,326,-0.56,-146.0,73.4,-23.1,49,333,0.00,1.95,0.00,0.000,4,0.000,0.034,2597,491,3437,0,0,0,0,0,0
$GC,394,-0.56,-146.0,88.1,-21.1,60,403,0.00,1.95,0.00,0.000,6,0.000,0.024,2587,1870,3437,0,0,0,0,0,0
$STATE,426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,426,begin apogee
$GC,432,-0.20,0.0,95.3,19.8,65,542,0.47,0.00,102.68,0.580,4,0.159,0.000,2731,2108,2839,0,0,0,0,0,0
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,0.56,146.0,106.3,0.0,79,658,0.73,1.98,105.60,0.576,4,0.122,0.031,2971,3418,2242,0,0,0,0,0,0
$GC,704,0.72,269.6,102.8,3.6,101,801,0.12,1.92,90.68,0.569,6,0.050,0.019,3046,2032,1739,0,0,0,0,0,0
$GC,875,0.75,296.2,91.2,7.2,125,908,0.00,1.90,20.75,0.536,4,0.000,0.027,3055,740,1630,0,0,0,0,0,0
$GC,989,0.75,296.2,81.6,8.6,143,997,0.00,1.88,0.00,0.000,6,0.000,0.021,3054,2043,1628,0,0,0,0,0,0
$GC,1068,0.76,306.9,75.3,7.8,156,1085,0.00,1.92,8.82,0.483,4,0.000,0.028,3062,731,1588,0,0,0,0,0,0
$GC,1117,0.76,306.9,71.1,8.3,163,1125,0.00,1.77,0.00,0.000,6,0.000,0.021,3062,1986,1586,0,0,0,0,0,0
$GC,1197,0.77,311.5,64.3,8.1,176,1207,0.00,1.85,5.20,0.412,4,0.000,0.024,3068,731,1568,0,0,0,0,0,0
$GC,1244,0.77,311.5,59.6,9.6,183,1253,0.00,1.60,0.00,0.000,6,0.000,0.018,3068,1882,1568,0,0,0,0,0,0
$GC,1322,0.78,318.5,53.3,8.0,196,1332,0.00,0.00,7.12,0.459,6,0.000,0.000,3069,1882,1539,0,0,0,0,0,0
$GC,1404,0.78,322.6,46.6,8.1,209,1419,0.00,2.35,4.78,0.398,4,0.000,0.030,3069,3462,1522,0,0,0,0,0,0
$GC,1440,0.78,322.6,43.3,8.7,214,1448,0.00,2.25,0.00,0.000,6,0.000,0.025,3076,1876,1521,0,0,0,0,0,0
$GC,1517,0.81,347.5,37.2,7.3,227,1543,0.00,0.00,20.35,0.526,6,0.000,0.000,3076,1877,1420,0,0,0,0,0,0
$GC,1613,0.82,353.1,29.9,8.0,242,1623,0.00,0.00,5.57,0.418,6,0.000,0.000,3076,1877,1398,0,0,0,0,0,0
$GC,1691,0.82,353.1,23.2,8.4,255,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1877,1397,0,0,0,0,0,0
$GC,1765,0.83,358.4,17.1,8.0,268,1774,0.00,0.00,5.53,0.417,6,0.000,0.000,3076,1877,1376,0,0,0,0,0,0
$GC,1844,0.84,369.6,10.8,7.8,281,1861,0.00,1.62,9.90,0.479,4,0.000,0.026,3083,730,1331,0,0,0,0,0,0
$GC,1918,0.90,417.8,5.8,6.4,293,1963,0.00,1.60,38.08,0.525,6,0.000,0.018,3083,1891,1134,0,0,0,0,0,0
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.7,1.009697
$STATE,2023,end surface coast,CONTROL_FINISHED_OK
$STATE,2023,begin surface
$SM_CCo,2100,0.00,0.000,0,0,1130,419.22
$SM_GC,1.54,7.53,0.00,0.00,0.037,0.000,0.000,119,1899,1130,-8.28,0.68,419.22,0,0,0,0,0,0
$IRIDIUM_FIX,1823.67,12218.16,240711,232352
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.93
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,29.80
$XPDR_PINGS,93
$24V_AH,25.3,34.402
$10V_AH,10.4,33.261
$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,18.350,30.825,425.050,0.000,0.000,30.808,38.757,122.429,23.250,0.000,17.640,682.401,104.902,391.136,958.253,281.254,0.000,836.817,0.000,880.072,0.000,0.549,0.000
$DEVICE_MAMPS,223.380,45.900,579.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.113,362.650,762.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,16994,309
$CAP_FILE_SIZE,47309,0
$CFSIZE,260165632,122920960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,281.9,1
$GPS,250711,003713,1832.444,12216.262,13,1.3,30,-2.0