version: 66.09
glider: 167
mission: 8
dive: 196
start: 7 25 111 0 43 1
data:
$ID,167
$MISSION,8
$DIVE,196
$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,-56633.559
$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,128
$R_STBD_OVSHOOT,73
$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
$GPS1,250711,003713,1832.444,12216.262,13,1.3,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.9
$GPS2,250711,004238,1832.419,12216.227,13,1.3,13,-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,95.5,286955,-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,17,-0.56,-146.0,0.0,0.0,0,90,0.00,0.00,-70.20,0.000,2,0.000,0.000,117,1901,3187,0,0,0,0,0,0
$GC,93,-0.56,-146.0,6.5,-13.3,10,117,9.60,2.03,-3.92,0.000,4,0.226,0.041,2599,3281,3438,0,0,0,0,0,0
$GC,220,-0.56,-146.0,51.3,-19.6,31,228,0.00,1.92,0.00,0.000,6,0.000,0.017,2599,1906,3439,0,0,0,0,0,0
$GC,295,-0.56,-146.0,67.0,-19.4,44,304,0.00,2.00,0.00,0.000,4,0.000,0.025,2599,507,3439,0,0,0,0,0,0
$GC,351,-0.56,-146.0,78.0,-20.9,52,360,0.00,1.90,0.00,0.000,6,0.000,0.024,2590,1845,3439,0,0,0,0,0,0
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,426,begin apogee
$GC,432,-0.20,0.0,95.6,22.1,65,541,0.45,0.00,103.38,0.595,4,0.164,0.000,2725,2100,2838,0,0,0,0,0,0
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,546,0.56,146.0,108.3,0.0,79,659,0.73,0.00,105.32,0.588,6,0.112,0.000,2974,2100,2241,0,0,0,0,0,0
$GC,727,0.67,234.5,103.5,4.9,106,799,0.12,2.12,65.55,0.578,4,0.088,0.025,3039,693,1880,0,0,0,0,0,0
$GC,918,0.70,256.0,88.4,7.4,136,942,0.00,1.77,16.88,0.538,6,0.000,0.030,3039,1943,1794,0,0,0,0,0,0
$GC,1010,0.70,256.0,81.1,8.8,151,1019,0.00,2.20,0.00,0.000,4,0.000,0.032,3039,3432,1791,0,0,0,0,0,0
$GC,1097,0.70,256.0,72.8,9.2,166,1105,0.00,1.90,0.00,0.000,6,0.000,0.017,3044,2087,1790,0,0,0,0,0,0
$GC,1175,0.72,271.2,67.0,7.7,179,1192,0.00,2.05,12.75,0.519,4,0.000,0.027,3044,703,1732,0,0,0,0,0,0
$GC,1259,0.77,311.5,61.5,6.7,193,1297,0.00,1.85,31.08,0.550,6,0.000,0.024,3045,1988,1567,0,0,0,0,0,0
$GC,1365,0.80,338.2,53.9,7.2,210,1388,0.00,0.00,21.42,0.533,6,0.000,0.000,3045,1989,1460,0,0,0,0,0,0
$GC,1457,0.84,372.3,47.2,7.0,225,1492,0.00,1.92,26.80,0.535,4,0.000,0.026,3045,696,1320,0,0,0,0,0,0
$GC,1524,0.92,436.4,43.2,5.8,234,1581,0.10,1.77,50.35,0.542,6,0.055,0.018,3113,1955,1058,0,0,0,0,0,0
$GC,1652,0.95,457.8,33.7,7.4,253,1677,0.00,2.17,17.25,0.509,4,0.000,0.029,3113,3440,970,0,0,0,0,0,0
$GC,1691,0.95,460.5,30.2,8.1,258,1698,0.00,2.08,0.00,0.000,6,0.000,0.025,3119,1991,970,0,0,0,0,0,0
$GC,1766,0.95,460.5,24.0,9.3,271,1774,0.00,1.88,0.00,0.000,4,0.000,0.037,3128,695,969,0,0,0,0,0,0
$GC,1827,0.97,478.4,19.6,7.6,281,1852,0.00,1.67,17.15,0.506,6,0.000,0.017,3128,1897,886,0,0,0,0,0,0
$GC,1919,0.97,478.4,11.6,9.1,296,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1897,883,0,0,0,0,0,0
$GC,1996,0.97,478.4,4.3,9.3,309,2005,0.00,1.75,0.00,0.000,4,0.000,0.026,3133,688,883,0,0,0,0,0,0
$STATE,2011,end climb,SURFACE_DEPTH_REACHED
$STATE,2012,begin surface coast
$FINISH,0.7,0.997995
$STATE,2045,end surface coast,CONTROL_FINISHED_OK
$STATE,2045,begin surface
$SM_CCo,2125,0.00,0.000,0,0,880,480.54
$SM_GC,1.49,7.60,0.00,0.00,0.037,0.000,0.000,123,1913,880,-8.28,1.07,480.54,0,0,0,0,0,0
$IRIDIUM_FIX,1823.67,12215.02,240711,232315
$TT8_MAMPS,0.027713,0.027713
$HUMID,34.56
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,28.30
$XPDR_PINGS,67
$24V_AH,25.3,34.490
$10V_AH,10.4,33.318
$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,18.600,34.950,467.925,0.000,0.000,27.423,17.213,155.556,16.750,0.000,13.830,691.548,91.672,412.505,968.819,292.797,0.000,871.841,0.000,892.555,0.000,0.548,0.000
$DEVICE_MAMPS,226.440,42.075,595.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.455,392.638,795.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324132
$DATA_FILE_SIZE,17021,317
$CAP_FILE_SIZE,47445,0
$CFSIZE,260165632,122892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,284.4,1
$GPS,250711,011914,1832.420,12216.271,11,1.5,11,-2.0