version: 66.09
glider: 167
mission: 7
dive: 1
start: 3 24 111 0 30 57
data:
$ID,167
$MISSION,7
$DIVE,1
$N_DIVES,365
$D_SURF,3
$D_FLARE,5
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,500
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55596.023
$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,2801
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1.1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,-16.09973
$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,90
$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
$GPS1,240311,002519,4742.664,-12225.201,8,1.7,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-60.0
$GPS2,240311,002938,4742.651,-12225.278,13,1.8,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,0.252
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,356.3,2388,-18.2,-10.000
$D_GRID,186
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.69,-146.0,0.0,0.0,0,167,0.00,0.00,-143.82,0.000,6,0.000,0.000,119,2247,3920,0,0,0,0,0,0
$GC,172,-0.69,-146.0,5.4,-11.9,23,189,9.90,2.08,0.00,0.000,4,0.251,0.037,2562,3640,3922,0,0,0,0,0,0
$GC,301,-0.57,-146.0,39.1,-18.1,45,311,0.15,2.03,0.00,0.000,6,0.158,0.025,2608,2233,3924,0,0,0,0,0,0
$STATE,339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,339,begin apogee
$GC,346,-0.14,0.0,45.7,15.7,51,453,0.43,0.00,103.30,0.710,6,0.144,0.000,2746,2229,3324,0,0,0,0,0,0
$STATE,455,end apogee,CONTROL_FINISHED_OK
$STATE,455,begin climb
$GC,457,0.69,146.0,51.8,0.0,66,577,0.80,2.30,105.50,0.679,4,0.110,0.049,3015,3624,2727,0,0,0,0,0,0
$GC,588,0.68,201.1,45.9,7.5,84,638,0.00,2.05,41.20,0.659,6,0.000,0.025,3025,2271,2502,0,0,0,0,0,0
$GC,706,0.71,220.8,35.8,9.1,103,729,0.00,0.00,15.88,0.636,6,0.000,0.000,3025,2271,2420,0,0,0,0,0,0
$GC,796,0.71,225.9,26.8,9.8,118,812,0.00,2.17,4.88,0.505,4,0.000,0.032,3034,849,2403,0,0,0,0,0,0
$GC,820,0.71,225.9,24.2,10.3,121,828,0.00,2.15,0.00,0.000,6,0.000,0.037,3034,2240,2402,0,0,0,0,0,0
$GC,896,0.71,226.6,16.7,10.0,134,904,0.00,2.17,0.00,0.000,4,0.000,0.046,3034,3641,2400,0,0,0,0,0,0
$GC,949,0.70,226.6,10.8,12.7,142,956,0.00,1.98,0.00,0.000,6,0.000,0.025,3042,2310,2401,0,0,0,0,0,0
$STATE,1011,end climb,SURFACE_DEPTH_REACHED
$STATE,1011,begin surface coast
$FINISH,0.3,0.999846
$STATE,1039,end surface coast,CONTROL_FINISHED_OK
$STATE,1039,begin surface
$SM_CCo,1056,206.32,0.630,1,0,1285,500.17
$SM_GC,1.05,0.00,0.00,206.32,0.000,0.000,0.630,126,2306,1285,-8.36,1.58,500.17,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12225.08,240311,000030
$TT8_MAMPS,0.028462,0.028462
$HUMID,29.52
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,17.00
$XPDR_PINGS,11
$24V_AH,24.9,0.364
$10V_AH,10.5,0.172
$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,19.075,16.925,270.750,206.325,0.000,0.000,0.000,0.000,2.750,0.000,14.651,311.166,24.400,512.683,395.371,128.080,29.236,802.120,0.000,446.776,0.000,1.005,0.000
$DEVICE_MAMPS,250.920,48.960,709.920,630.360,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,102.852,179.693,373.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323196
$DATA_FILE_SIZE,6958,158
$CAP_FILE_SIZE,66641,0
$CFSIZE,260165632,140722176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,005324,4742.626,-12225.440,34,1.6,38,18.2