version: 66.09
glider: 167
mission: 8
dive: 198
start: 7 25 111 2 6 29
data:
$ID,167
$MISSION,8
$DIVE,198
$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,-56636.066
$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,91
$R_STBD_OVSHOOT,69
$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
$GPS1,250711,020016,1832.474,12216.331,13,99.0,32,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.6
$GPS2,250711,020607,1832.444,12216.336,35,1.0,35,-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,95.0,286782,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,115,0.00,0.00,-93.80,0.000,2,0.000,0.000,112,1949,3191,0,0,0,0,0,0
$GC,118,-0.56,-146.0,6.3,-11.4,12,142,9.70,1.95,-3.85,0.000,4,0.230,0.041,2598,3293,3439,0,0,0,0,0,0
$GC,157,-0.56,-146.0,29.6,-53.0,17,165,0.00,2.00,0.00,0.000,6,0.000,0.018,2598,1883,3440,0,0,0,0,0,0
$GC,231,-0.56,-146.0,52.8,-26.1,30,239,0.00,2.00,0.00,0.000,4,0.000,0.026,2599,489,3441,0,0,0,0,0,0
$GC,261,-0.56,-146.0,59.2,-22.3,34,270,0.00,1.75,0.00,0.000,6,0.000,0.019,2590,1730,3441,0,0,0,0,0,0
$GC,339,-0.56,-146.0,75.9,-24.5,47,348,0.00,2.25,0.00,0.000,4,0.000,0.039,2579,3261,3440,0,0,0,0,0,0
$GC,378,-0.56,-146.0,86.1,-24.1,53,388,0.10,2.15,0.00,0.000,6,0.168,0.017,2609,1725,3441,0,0,0,0,0,0
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,432,-0.20,0.0,95.8,20.4,60,542,0.38,0.00,103.82,0.588,4,0.158,0.000,2727,2101,2838,0,0,0,0,0,0
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,0.56,146.0,108.5,0.0,75,666,0.73,2.03,106.00,0.584,4,0.106,0.033,2973,3434,2241,0,0,0,0,0,0
$GC,917,0.68,240.7,93.0,4.7,136,996,0.10,1.92,69.57,0.575,6,0.054,0.016,3035,2037,1855,0,0,0,0,0,0
$GC,1065,0.68,240.7,82.8,8.8,158,1074,0.00,2.10,0.00,0.000,4,0.000,0.029,3034,3440,1851,0,0,0,0,0,0
$GC,1258,0.68,244.0,66.1,8.1,193,1266,0.00,2.00,0.00,0.000,6,0.000,0.023,3041,2025,1849,0,0,0,0,0,0
$GC,1335,0.71,266.8,60.6,7.4,206,1361,0.00,1.95,19.70,0.538,4,0.000,0.028,3044,706,1749,0,0,0,0,0,0
$GC,1425,0.76,302.2,54.3,6.9,220,1458,0.00,1.80,27.10,0.541,6,0.000,0.028,3044,1971,1606,0,0,0,0,0,0
$GC,1530,0.81,346.9,47.2,6.6,236,1572,0.00,1.85,34.60,0.542,4,0.000,0.024,3044,695,1423,0,0,0,0,0,0
$GC,1603,0.89,407.6,42.7,5.9,246,1660,0.08,1.70,46.45,0.540,6,0.058,0.018,3099,1902,1178,0,0,0,0,0,0
$GC,1730,0.89,407.6,32.1,8.8,265,1738,0.00,2.30,0.00,0.000,4,0.000,0.031,3099,3450,1175,0,0,0,0,0,0
$GC,1776,0.89,411.4,28.0,8.1,272,1786,0.00,2.28,4.50,0.378,6,0.000,0.018,3102,1871,1160,0,0,0,0,0,0
$GC,1855,0.99,488.7,24.2,5.3,285,1920,0.00,1.75,59.75,0.535,4,0.000,0.028,3102,699,845,0,0,0,0,0,0
$GC,1990,1.03,524.4,16.0,6.9,304,2023,0.00,1.58,26.10,0.513,6,0.000,0.030,3102,1825,699,0,0,0,0,0,0
$GC,2092,1.08,562.2,8.1,6.8,320,2131,0.12,2.42,27.92,0.509,4,0.094,0.030,3167,3435,544,0,0,0,0,0,0
$GC,2141,1.08,562.2,3.8,10.2,326,2151,0.00,2.33,0.00,0.000,6,0.000,0.026,3175,1831,543,0,0,0,0,0,0
$STATE,2157,end climb,SURFACE_DEPTH_REACHED
$STATE,2157,begin surface coast
$FINISH,0.8,1.012233
$STATE,2189,end surface coast,CONTROL_FINISHED_OK
$STATE,2189,begin surface
$SM_CCo,2266,0.00,0.000,0,0,541,563.70
$SM_GC,1.52,7.72,0.00,0.00,0.032,0.000,0.000,111,1829,541,-8.31,-1.30,563.70,0,0,0,0,0,0
$IRIDIUM_FIX,1828.22,12215.02,250711,010104
$TT8_MAMPS,0.029211,0.029211
$HUMID,34.20
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,29.80
$XPDR_PINGS,55
$24V_AH,25.3,34.682
$10V_AH,10.4,33.431
$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,18.925,40.575,525.525,0.000,0.000,25.171,25.878,150.890,13.750,0.000,36.669,711.471,87.702,470.438,1049.625,305.475,0.000,970.342,0.000,945.498,0.000,0.547,0.000
$DEVICE_MAMPS,229.500,41.310,588.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.875,402.993,837.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,16951,333
$CAP_FILE_SIZE,49158,0
$CFSIZE,260165632,122830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,282.0,1
$GPS,250711,024507,1832.475,12216.376,9,1.6,14,-2.0