version: 66.09
glider: 167
mission: 8
dive: 200
start: 7 25 111 3 32 42
data:
$ID,167
$MISSION,8
$DIVE,200
$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,-56638.578
$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,131
$R_STBD_OVSHOOT,86
$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
$GPS1,250711,032708,1832.557,12216.474,9,1.8,9,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.3
$GPS2,250711,033220,1832.595,12216.442,14,1.2,14,-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,73.4,286458,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-84.25,0.000,2,0.000,0.000,116,1846,3070,0,0,0,0,0,0
$GC,108,-0.56,-146.0,5.7,-10.9,12,133,9.73,2.05,-6.10,0.000,4,0.230,0.041,2598,3254,3437,0,0,0,0,0,0
$GC,201,-0.56,-146.0,44.1,-33.9,27,209,0.00,1.88,0.00,0.000,6,0.000,0.018,2598,1922,3438,0,0,0,0,0,0
$GC,275,-0.56,-146.0,62.6,-23.0,40,283,0.00,2.05,0.00,0.000,4,0.000,0.024,2599,491,3438,0,0,0,0,0,0
$GC,301,-0.56,-146.0,68.0,-22.3,43,309,0.00,2.05,0.00,0.000,6,0.000,0.031,2588,1916,3438,0,0,0,0,0,0
$GC,381,-0.56,-146.0,86.0,-22.9,56,389,0.00,1.98,0.00,0.000,4,0.000,0.031,2578,3267,3438,0,0,0,0,0,0
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,431,-0.20,0.0,95.4,20.1,63,541,0.47,0.00,103.10,0.592,4,0.153,0.000,2727,2054,2838,0,0,0,0,0,0
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,545,0.56,146.0,106.2,0.0,77,659,0.73,2.17,105.90,0.586,4,0.099,0.037,2986,3465,2242,0,0,0,0,0,0
$GC,740,0.63,196.1,98.5,6.3,106,782,0.00,2.03,37.47,0.568,6,0.000,0.025,2991,2050,2039,0,0,0,0,0,0
$GC,850,0.73,278.6,93.0,5.1,123,918,0.12,2.03,61.38,0.572,4,0.088,0.028,3060,702,1702,0,0,0,0,0,0
$GC,981,0.73,278.6,78.8,13.1,143,989,0.00,1.98,0.00,0.000,6,0.000,0.019,3061,2065,1699,0,0,0,0,0,0
$GC,1054,0.73,278.6,69.2,12.7,156,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2065,1698,0,0,0,0,0,0
$GC,1132,0.73,278.6,60.5,11.0,169,1140,0.00,2.00,0.00,0.000,4,0.000,0.027,3062,698,1697,0,0,0,0,0,0
$GC,1167,0.73,278.6,56.7,10.9,174,1177,0.00,1.88,0.00,0.000,6,0.000,0.018,3062,2014,1697,0,0,0,0,0,0
$GC,1244,0.73,278.6,48.4,10.3,187,1252,0.00,2.12,0.00,0.000,4,0.000,0.031,3062,3460,1696,0,0,0,0,0,0
$GC,1293,0.73,278.6,43.4,10.3,195,1302,0.08,2.00,0.00,0.000,6,0.122,0.028,3037,2045,1696,0,0,0,0,0,0
$GC,1372,0.73,278.6,36.6,8.5,208,1381,0.00,1.92,0.00,0.000,4,0.000,0.028,3038,708,1695,0,0,0,0,0,0
$GC,1433,0.81,348.8,33.3,5.6,218,1496,0.00,1.65,52.28,0.545,6,0.000,0.018,3038,1891,1414,0,0,0,0,0,0
$GC,1567,1.00,503.6,30.5,2.4,238,1688,0.22,0.00,116.65,0.541,6,0.061,0.000,3146,1893,784,0,0,0,0,0,0
$GC,1755,1.00,503.6,16.7,10.1,266,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1893,781,0,0,0,0,0,0
$GC,1830,1.00,503.6,8.8,11.2,279,1839,0.00,1.75,0.00,0.000,4,0.000,0.028,3150,701,779,0,0,0,0,0,0
$GC,1861,1.00,503.6,5.9,9.5,283,1870,0.00,1.70,0.00,0.000,6,0.000,0.018,3150,1905,779,0,0,0,0,0,0
$STATE,1893,end climb,SURFACE_DEPTH_REACHED
$STATE,1893,begin surface coast
$FINISH,0.6,1.020896
$STATE,1926,end surface coast,CONTROL_FINISHED_OK
$STATE,1926,begin surface
$SM_CCo,2003,0.00,0.000,0,0,778,505.81
$SM_GC,1.57,7.70,0.00,0.00,0.037,0.000,0.000,114,1913,778,-8.31,1.07,505.81,0,0,0,0,0,0
$IRIDIUM_FIX,1823.67,12215.02,250711,020256
$TT8_MAMPS,0.028462,0.028462
$HUMID,35.15
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,29.50
$XPDR_PINGS,39
$24V_AH,25.3,34.862
$10V_AH,10.4,33.541
$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,19.050,34.900,476.775,0.000,0.000,22.795,16.319,148.385,9.750,0.000,14.909,620.179,83.681,441.803,893.941,281.731,0.000,890.729,0.000,823.784,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,40.545,592.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.246,368.569,739.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324096
$DATA_FILE_SIZE,16969,294
$CAP_FILE_SIZE,44825,0
$CFSIZE,260165632,122777600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,275.7,1
$GPS,250711,040656,1832.692,12216.623,14,1.4,14,-2.0