version: 66.09
glider: 167
mission: 7
dive: 3
start: 3 24 111 2 39 22
data:
$ID,167
$MISSION,7
$DIVE,3
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55696.535
$T_RSLEEP,5
$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,67
$R_STBD_OVSHOOT,43
$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
$GPS1,240311,023355,4742.365,-12226.149,12,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.7
$GPS2,240311,023828,4742.377,-12226.186,11,3.6,30,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,0.179
$KALMAN_X,-515.9,-611.7,-529.7,538.7,-533.4
$KALMAN_Y,-381.5,-456.8,-392.3,733.3,-399.8
$MHEAD_RNG_PITCHd_Wd,28.5,3306,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-146.0,0.0,0.0,0,135,0.00,0.00,-115.28,0.000,2,0.000,0.000,123,2268,3859,0,0,0,0,0,0
$GC,139,-0.72,-146.0,5.7,-11.8,18,161,10.15,2.20,-1.20,0.000,4,0.263,0.054,2578,3680,3923,0,0,0,0,0,0
$GC,276,-0.64,-146.0,44.5,-20.0,41,286,0.12,2.08,0.00,0.000,6,0.153,0.025,2616,2271,3924,0,0,0,0,0,0
$GC,354,-0.61,-146.0,58.2,-16.9,54,362,0.00,2.03,0.00,0.000,4,0.000,0.031,2617,903,3924,0,0,0,0,0,0
$GC,455,-0.61,-146.0,74.3,-16.3,71,462,0.00,2.08,0.00,0.000,6,0.000,0.037,2612,2266,3924,0,0,0,0,0,0
$GC,599,-0.56,-146.0,97.2,-16.7,96,608,0.12,2.22,0.00,0.000,4,0.191,0.048,2635,3683,3924,0,0,0,0,0,0
$GC,653,-0.56,-146.0,105.4,-14.0,105,660,0.00,2.03,0.00,0.000,6,0.000,0.024,2635,2280,3925,0,0,0,0,0,0
$GC,796,-0.56,-146.0,122.7,-12.7,130,804,0.00,2.05,0.00,0.000,4,0.000,0.029,2635,884,3924,0,0,0,0,0,0
$GC,851,-0.56,-146.0,129.7,-11.8,139,859,0.00,2.08,0.00,0.000,6,0.000,0.037,2629,2262,3924,0,0,0,0,0,0
$GC,998,-0.56,-146.0,145.7,-10.6,164,1006,0.00,2.05,0.00,0.000,4,0.000,0.031,2629,886,3925,0,0,0,0,0,0
$GC,1047,-0.59,-146.0,151.8,-11.3,172,1055,0.00,2.08,0.00,0.000,6,0.000,0.039,2628,2239,3924,0,0,0,0,0,0
$GC,1191,-0.59,-146.0,168.0,-11.6,197,1198,0.00,2.22,0.00,0.000,4,0.000,0.050,2620,3687,3924,0,0,0,0,0,0
$GC,1227,-0.59,-146.0,172.6,-11.7,203,1234,0.00,2.10,0.00,0.000,6,0.000,0.024,2621,2225,3924,0,0,0,0,0,0
$STATE,1284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1284,begin apogee
$GC,1289,-0.15,0.0,180.0,13.2,213,1402,0.47,0.00,106.75,0.853,4,0.145,0.000,2774,2221,3323,0,0,0,0,0,0
$STATE,1406,end apogee,CONTROL_FINISHED_OK
$STATE,1406,begin climb
$GC,1408,0.72,146.0,185.5,0.0,230,1521,0.80,0.00,109.07,0.812,6,0.094,0.000,3051,2220,2728,0,0,0,0,0,0
$GC,1660,0.60,146.0,165.3,12.6,271,1667,0.00,2.20,0.00,0.000,4,0.000,0.048,3051,3612,2722,0,0,0,0,0,0
$GC,1876,0.45,146.0,130.0,18.0,310,1884,0.28,2.08,0.00,0.000,6,0.195,0.027,2982,2241,2720,0,0,0,0,0,0
$GC,2022,0.46,161.4,113.8,9.3,335,2036,0.00,0.00,12.20,0.745,6,0.000,0.000,2982,2240,2666,0,0,0,0,0,0
$GC,2174,0.52,207.0,101.4,7.9,361,2215,0.00,2.20,34.60,0.773,4,0.000,0.047,2981,3610,2479,0,0,0,0,0,0
$GC,2251,0.54,221.0,94.1,9.4,373,2273,0.00,2.08,12.30,0.715,6,0.000,0.026,2986,2231,2421,0,0,0,0,0,0
$GC,2409,0.61,259.4,81.2,8.2,400,2449,0.12,2.25,30.38,0.750,4,0.122,0.047,3033,3602,2265,0,0,0,0,0,0
$GC,2457,0.59,259.4,75.9,10.9,407,2464,0.00,2.05,0.00,0.000,6,0.000,0.024,3041,2248,2263,0,0,0,0,0,0
$GC,2598,0.59,259.4,58.0,12.4,432,2606,0.00,2.17,0.00,0.000,4,0.000,0.047,3041,3609,2260,0,0,0,0,0,0
$GC,2621,0.59,259.4,55.4,12.7,435,2628,0.00,2.03,0.00,0.000,6,0.000,0.027,3047,2262,2260,0,0,0,0,0,0
$GC,2758,0.57,259.4,38.4,13.2,460,2767,0.15,2.22,0.00,0.000,4,0.210,0.035,3020,805,2259,0,0,0,0,0,0
$GC,2777,0.57,259.4,36.0,12.8,462,2785,0.00,2.22,0.00,0.000,6,0.000,0.034,3020,2247,2259,0,0,0,0,0,0
$GC,2853,0.59,259.4,27.8,10.3,475,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2247,2259,0,0,0,0,0,0
$GC,2927,0.62,265.7,20.2,9.7,488,2936,0.00,0.00,5.20,0.598,6,0.000,0.000,3020,2247,2241,0,0,0,0,0,0
$GC,3006,0.66,265.7,12.6,10.0,501,3014,0.00,2.12,0.00,0.000,4,0.000,0.047,3020,3608,2240,0,0,0,0,0,0
$GC,3087,0.66,265.7,3.2,11.0,515,3095,0.00,2.08,0.00,0.000,6,0.000,0.028,3022,2233,2240,0,0,0,0,0,0
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,0.5,0.999852
$STATE,3131,end surface coast,CONTROL_FINISHED_OK
$STATE,3132,begin surface
$SM_CCo,3151,106.00,0.654,1,0,1692,400.08
$SM_GC,1.30,0.00,0.00,106.00,0.000,0.000,0.654,121,2284,1692,-8.46,0.14,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12217.96,240311,020210
$TT8_MAMPS,0.029211,0.029211
$HUMID,33.65
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.3,56.2
$24V_AH,24.4,0.624
$10V_AH,10.4,0.325
$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,20.050,50.975,310.500,106.000,0.000,0.000,0.000,0.000,2.000,0.000,32.681,1123.698,350.858,499.134,1109.613,271.727,31.410,1045.347,0.000,1213.096,0.000,14.907,0.000
$DEVICE_MAMPS,263.160,111.690,852.975,654.075,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.102,361.350,799.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,30194,522
$CAP_FILE_SIZE,79895,0
$CFSIZE,260165632,140607488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,033452,4742.442,-12226.290,7,99.0,26,18.2