version: 66.09
glider: 167
mission: 7
dive: 4
start: 3 24 111 3 44 31
data:
$ID,167
$MISSION,7
$DIVE,4
$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,-55697.789
$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,56
$R_STBD_OVSHOOT,34
$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,110
$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
$GPS1,240311,033452,4742.442,-12226.290,7,99.0,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.7
$GPS2,240311,034336,4742.468,-12226.333,15,1.0,31,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.186,0.182
$KALMAN_X,-913.7,-969.8,-610.5,1186.9,-375.4
$KALMAN_Y,-600.2,-659.5,-446.1,1367.6,-245.6
$MHEAD_RNG_PITCHd_Wd,27.4,3268,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-146.0,0.0,0.0,0,117,0.00,0.00,-95.90,0.000,2,0.000,0.000,121,2285,3892,0,0,0,0,0,0
$GC,119,-0.72,-146.0,5.9,-11.1,15,137,10.38,2.22,-0.52,0.000,4,0.262,0.053,2578,3694,3923,0,0,0,0,0,0
$GC,258,-0.64,-146.0,42.3,-18.0,40,267,0.12,2.15,0.00,0.000,6,0.155,0.025,2616,2256,3925,0,0,0,0,0,0
$GC,338,-0.61,-146.0,54.0,-14.2,53,345,0.00,2.03,0.00,0.000,4,0.000,0.029,2616,883,3925,0,0,0,0,0,0
$GC,484,-0.61,-146.0,74.2,-12.9,79,491,0.00,2.10,0.00,0.000,6,0.000,0.037,2614,2252,3925,0,0,0,0,0,0
$GC,626,-0.58,-146.0,93.4,-13.8,104,634,0.00,2.22,0.00,0.000,4,0.000,0.047,2603,3680,3925,0,0,0,0,0,0
$GC,714,-0.56,-146.0,106.1,-13.4,119,721,0.15,2.08,0.00,0.000,6,0.176,0.024,2643,2256,3925,0,0,0,0,0,0
$GC,861,-0.56,-146.0,122.4,-10.0,144,869,0.00,2.00,0.00,0.000,4,0.000,0.030,2643,905,3925,0,0,0,0,0,0
$GC,915,-0.60,-146.0,128.2,-11.2,153,922,0.00,2.08,0.00,0.000,6,0.000,0.039,2642,2263,3925,0,0,0,0,0,0
$GC,1058,-0.60,-146.0,141.9,-10.4,178,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2263,3925,0,0,0,0,0,0
$GC,1202,-0.62,-146.0,155.2,-8.0,203,1208,0.00,2.00,0.00,0.000,4,0.000,0.029,2642,891,3925,0,0,0,0,0,0
$GC,1240,-0.66,-146.0,158.7,-8.4,209,1247,0.00,2.08,0.00,0.000,6,0.000,0.037,2642,2258,3925,0,0,0,0,0,0
$GC,1382,-0.69,-146.0,170.2,-8.5,234,1391,0.10,2.22,0.00,0.000,4,0.133,0.050,2600,3674,3925,0,0,0,0,0,0
$GC,1449,-0.67,-146.0,178.0,-12.3,245,1456,0.00,2.05,0.00,0.000,6,0.000,0.024,2600,2265,3925,0,0,0,0,0,0
$STATE,1461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1461,begin apogee
$GC,1468,-0.15,0.0,180.0,12.6,247,1580,0.55,0.00,107.25,0.849,4,0.151,0.000,2774,2262,3324,0,0,0,0,0,0
$STATE,1583,end apogee,CONTROL_FINISHED_OK
$STATE,1583,begin climb
$GC,1585,0.72,146.0,184.8,0.0,264,1699,0.82,0.00,109.45,0.810,6,0.100,0.000,3053,2262,2728,0,0,0,0,0,0
$GC,1836,0.60,146.0,161.6,13.2,305,1844,0.12,2.17,0.00,0.000,4,0.210,0.048,3025,3610,2722,0,0,0,0,0,0
$GC,2094,0.50,146.0,129.5,11.7,351,2101,0.17,2.05,0.00,0.000,6,0.218,0.028,2993,2240,2721,0,0,0,0,0,0
$GC,2239,0.56,193.3,117.3,7.8,376,2281,0.00,0.00,35.28,0.783,6,0.000,0.000,2993,2236,2534,0,0,0,0,0,0
$GC,2414,0.66,271.9,105.0,6.4,406,2482,0.15,2.30,60.58,0.770,4,0.106,0.048,3049,3608,2214,0,0,0,0,0,0
$GC,2528,0.61,271.9,92.2,13.9,424,2537,0.10,2.15,0.00,0.000,6,0.185,0.027,3031,2225,2210,0,0,0,0,0,0
$GC,2676,0.61,271.9,76.1,10.6,449,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2224,2207,0,0,0,0,0,0
$GC,2814,0.61,271.9,60.7,11.0,474,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2224,2207,0,0,0,0,0,0
$GC,2958,0.61,271.9,44.1,11.8,499,2967,0.00,2.17,0.00,0.000,4,0.000,0.035,3038,792,2206,0,0,0,0,0,0
$GC,2986,0.61,271.9,40.7,12.0,503,2995,0.00,2.20,0.00,0.000,6,0.000,0.034,3038,2216,2206,0,0,0,0,0,0
$GC,3063,0.61,271.9,31.3,11.5,516,3072,0.00,2.17,0.00,0.000,4,0.000,0.047,3038,3608,2206,0,0,0,0,0,0
$GC,3080,0.61,271.9,28.8,12.9,518,3088,0.00,2.08,0.00,0.000,6,0.000,0.027,3045,2235,2206,0,0,0,0,0,0
$GC,3154,0.61,271.9,19.6,11.6,531,3162,0.00,2.15,0.00,0.000,4,0.000,0.034,3055,805,2206,0,0,0,0,0,0
$GC,3171,0.61,271.9,17.7,11.8,533,3180,0.00,2.20,0.00,0.000,6,0.000,0.034,3055,2239,2205,0,0,0,0,0,0
$GC,3249,0.61,271.9,9.2,11.7,546,3256,0.00,2.12,0.00,0.000,4,0.000,0.047,3055,3602,2205,0,0,0,0,0,0
$STATE,3295,end climb,SURFACE_DEPTH_REACHED
$STATE,3295,begin surface coast
$FINISH,0.5,0.999855
$STATE,3318,end surface coast,CONTROL_FINISHED_OK
$STATE,3318,begin surface
$SM_CCo,3339,102.40,0.655,1,0,1692,400.08
$SM_GC,1.47,0.00,0.00,102.40,0.000,0.000,0.655,124,2245,1692,-8.45,-0.99,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12223.37,240311,020236
$TT8_MAMPS,0.029211,0.029211
$HUMID,33.10
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,77.2
$24V_AH,24.3,0.734
$10V_AH,10.3,0.398
$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,20.625,51.000,312.550,102.400,0.000,24.399,28.943,267.886,1.250,0.000,32.850,1213.714,384.437,486.507,1479.226,413.302,32.329,1053.378,0.000,1285.426,0.000,11.613,0.000
$DEVICE_MAMPS,262.395,52.785,849.150,654.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.298,378.553,834.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322860
$DATA_FILE_SIZE,33680,558
$CAP_FILE_SIZE,71419,0
$CFSIZE,260165632,140570624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,044306,4742.640,-12226.356,11,1.3,27,18.2