version: 66.09
glider: 167
mission: 7
dive: 2
start: 3 24 111 1 18 38
data:
$ID,167
$MISSION,7
$DIVE,2
$N_DIVES,365
$D_SURF,3
$D_FLARE,5
$D_TGT,180
$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,60
$T_MISSION,70
$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,-55662.965
$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,2828
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$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,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,44
$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
$GPS1,240311,011304,4742.537,-12225.729,11,3.0,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.4
$GPS2,240311,011726,4742.517,-12225.789,14,1.6,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,0.180
$KALMAN_X,-169.5,-169.5,-169.5,-111.1,-548.9
$KALMAN_Y,-116.0,-116.0,-116.0,110.8,-375.6
$MHEAD_RNG_PITCHd_Wd,28.2,2842,-18.2,-10.000
$D_GRID,189
$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,18,-0.72,-146.0,0.0,0.0,0,141,0.00,0.00,-117.28,0.000,6,0.000,0.000,128,2306,3921,0,0,0,0,0,0
$GC,144,-0.72,-146.0,6.3,-12.5,19,161,10.23,2.10,0.00,0.000,4,0.264,0.037,2580,3697,3922,0,0,0,0,0,0
$GC,238,-0.65,-146.0,33.8,-16.3,35,246,0.10,2.10,0.00,0.000,6,0.162,0.025,2610,2260,3923,0,0,0,0,0,0
$GC,312,-0.62,-146.0,45.0,-15.3,48,320,0.00,2.00,0.00,0.000,4,0.000,0.029,2610,895,3923,0,0,0,0,0,0
$GC,407,-0.62,-146.0,58.0,-13.5,64,415,0.00,2.10,0.00,0.000,6,0.000,0.038,2606,2269,3923,0,0,0,0,0,0
$GC,551,-0.58,-146.0,79.2,-15.0,89,558,0.12,2.17,0.00,0.000,4,0.194,0.047,2629,3682,3923,0,0,0,0,0,0
$GC,593,-0.58,-146.0,85.8,-13.7,96,601,0.00,2.05,0.00,0.000,6,0.000,0.024,2629,2283,3924,0,0,0,0,0,0
$GC,738,-0.58,-146.0,105.2,-15.2,121,744,0.00,2.03,0.00,0.000,4,0.000,0.029,2629,878,3923,0,0,0,0,0,0
$GC,808,-0.60,-146.0,116.2,-15.2,133,815,0.00,2.10,0.00,0.000,6,0.000,0.038,2627,2276,3923,0,0,0,0,0,0
$GC,950,-0.60,-146.0,134.5,-12.1,158,958,0.00,2.17,0.00,0.000,4,0.000,0.051,2627,3677,3923,0,0,0,0,0,0
$GC,984,-0.60,-146.0,138.9,-12.9,163,990,0.00,2.00,0.00,0.000,6,0.000,0.025,2628,2281,3923,0,0,0,0,0,0
$GC,1133,-0.60,-146.0,158.4,-13.1,188,1141,0.00,2.05,0.00,0.000,4,0.000,0.032,2627,884,3923,0,0,0,0,0,0
$GC,1199,-0.60,-146.0,166.7,-10.7,199,1206,0.00,2.10,0.00,0.000,6,0.000,0.041,2627,2271,3922,0,0,0,0,0,0
$STATE,1333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1333,begin apogee
$GC,1341,-0.15,0.0,180.5,10.9,223,1453,0.45,0.00,105.90,0.848,4,0.154,0.000,2772,2272,3323,0,0,0,0,0,0
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1458,0.72,146.0,186.3,0.0,240,1579,0.80,2.30,108.43,0.808,4,0.096,0.031,3056,806,2726,0,0,0,0,0,0
$GC,1796,0.61,146.0,156.3,13.0,297,1805,0.10,2.17,0.00,0.000,6,0.185,0.037,3026,2210,2720,0,0,0,0,0,0
$GC,1938,0.52,146.0,137.1,14.1,322,1947,0.00,2.12,0.00,0.000,4,0.000,0.033,3035,806,2719,0,0,0,0,0,0
$GC,2197,0.47,151.8,112.3,9.7,368,2207,0.17,2.12,4.45,0.583,6,0.187,0.035,2985,2204,2705,0,0,0,0,0,0
$GC,2343,0.52,196.9,100.6,7.9,393,2383,0.00,2.25,34.72,0.780,4,0.000,0.048,2985,3602,2520,0,0,0,0,0,0
$GC,2401,0.56,226.7,95.4,8.6,402,2430,0.00,2.05,23.95,0.745,6,0.000,0.026,2992,2247,2399,0,0,0,0,0,0
$GC,2566,0.62,254.2,80.6,8.7,430,2595,0.10,0.00,21.95,0.743,6,0.135,0.000,3030,2245,2285,0,0,0,0,0,0
$GC,2728,0.62,254.2,62.0,12.3,458,2736,0.00,2.15,0.00,0.000,4,0.000,0.049,3030,3598,2282,0,0,0,0,0,0
$GC,2754,0.62,254.2,58.6,12.8,462,2763,0.00,2.05,0.00,0.000,6,0.000,0.025,3038,2233,2281,0,0,0,0,0,0
$GC,2901,0.62,254.2,40.2,12.8,487,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2233,2281,0,0,0,0,0,0
$GC,2977,0.62,254.2,30.9,11.4,500,2985,0.00,2.15,0.00,0.000,4,0.000,0.034,3046,801,2280,0,0,0,0,0,0
$GC,2995,0.62,254.2,28.9,11.4,502,3003,0.00,2.22,0.00,0.000,6,0.000,0.034,3047,2253,2280,0,0,0,0,0,0
$GC,3071,0.62,254.2,20.0,11.8,515,3079,0.00,2.10,0.00,0.000,4,0.000,0.048,3047,3606,2280,0,0,0,0,0,0
$GC,3093,0.62,254.2,17.2,12.4,518,3100,0.00,2.00,0.00,0.000,6,0.000,0.027,3054,2262,2280,0,0,0,0,0,0
$GC,3169,0.60,254.2,8.0,12.0,531,3178,0.12,2.08,0.00,0.000,4,0.207,0.044,3024,3599,2279,0,0,0,0,0,0
$STATE,3206,end climb,SURFACE_DEPTH_REACHED
$STATE,3206,begin surface coast
$FINISH,0.5,0.999851
$STATE,3229,end surface coast,CONTROL_FINISHED_OK
$STATE,3229,begin surface
$SM_CCo,3249,189.60,0.671,1,0,1284,500.17
$SM_GC,1.25,0.00,0.00,189.60,0.000,0.000,0.671,124,2268,1284,-8.45,-0.34,500.17,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12229.50,240311,010108
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.06
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.9,65.3
$24V_AH,24.6,0.503
$10V_AH,10.4,0.250
$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,20.000,54.725,299.400,189.600,0.000,0.000,0.000,0.000,1.750,0.000,15.098,1176.568,383.437,574.517,1115.357,289.674,30.180,1132.111,0.000,1238.886,0.000,13.395,0.000
$DEVICE_MAMPS,263.925,51.255,848.385,670.905,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.860,374.261,812.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323168
$DATA_FILE_SIZE,30256,541
$CAP_FILE_SIZE,82265,0
$CFSIZE,260165632,140648448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,021716,4742.389,-12225.913,12,2.7,31,18.2