version: 66.09
glider: 167
mission: 7
dive: 8
start: 3 24 111 8 37 34
data:
$ID,167
$MISSION,7
$DIVE,8
$N_DIVES,365
$D_SURF,3
$D_FLARE,5
$D_TGT,216
$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,90
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,2
$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,-55702.82
$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,2816
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$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,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,37
$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,10
$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
$GPS1,240311,082554,4743.603,-12225.006,40,1.6,40,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-74.1
$GPS2,240311,083636,4743.630,-12224.995,12,1.2,28,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,0.078
$KALMAN_X,-3187.4,-1154.2,241.6,4454.9,-217.8
$KALMAN_Y,-1251.0,-640.4,359.3,3349.5,180.0
$MHEAD_RNG_PITCHd_Wd,18.5,556,-27.6,-8.000
$D_GRID,216
$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,15,begin dive
$GC,19,-0.95,-45.2,0.0,0.0,0,110,0.00,0.00,-86.03,0.000,6,0.000,0.000,129,2179,3510,0,0,0,0,0,0
$GC,113,-0.97,-68.8,4.4,-5.2,15,137,9.93,2.10,-2.17,0.000,4,0.260,0.044,2493,801,3607,0,0,0,0,0,0
$GC,272,-0.89,-68.8,48.0,-24.9,43,280,0.12,2.17,0.00,0.000,6,0.195,0.035,2519,2190,3607,0,0,0,0,0,0
$GC,348,-0.82,-68.8,64.3,-19.6,56,356,0.12,0.00,0.00,0.000,6,0.217,0.000,2547,2191,3607,0,0,0,0,0,0
$GC,495,-0.80,-68.8,88.1,-14.3,81,502,0.00,2.08,0.00,0.000,4,0.000,0.029,2548,795,3607,0,0,0,0,0,0
$GC,598,-0.76,-68.8,104.6,-15.7,99,606,0.12,2.15,0.00,0.000,6,0.204,0.033,2568,2219,3607,0,0,0,0,0,0
$GC,743,-0.76,-68.8,127.4,-15.7,124,751,0.00,2.15,0.00,0.000,4,0.000,0.047,2560,3594,3607,0,0,0,0,0,0
$GC,797,-0.76,-68.8,136.4,-16.4,133,804,0.00,2.03,0.00,0.000,6,0.000,0.024,2560,2206,3607,0,0,0,0,0,0
$GC,937,-0.76,-68.8,158.8,-16.2,158,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2203,3606,0,0,0,0,0,0
$GC,1078,-0.76,-68.8,179.6,-15.6,183,1085,0.00,2.05,0.00,0.000,4,0.000,0.033,2560,802,3607,0,0,0,0,0,0
$STATE,1106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1106,begin apogee
$GC,1114,-0.16,0.0,184.8,16.1,188,1171,0.70,0.00,51.60,0.862,4,0.183,0.000,2754,2305,3323,0,0,0,0,0,0
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1175,0.97,68.8,188.6,0.0,196,1239,1.05,2.28,52.17,0.833,4,0.093,0.050,3128,3693,3043,0,0,0,0,0,0
$GC,1353,0.79,79.8,180.4,6.7,225,1370,0.28,2.12,9.65,0.754,6,0.226,0.025,3073,2294,2998,0,0,0,0,0,0
$GC,1504,0.74,79.8,168.9,9.0,251,1511,0.00,2.10,0.00,0.000,4,0.000,0.032,3082,909,2996,0,0,0,0,0,0
$GC,1586,0.70,79.8,161.9,8.3,265,1595,0.15,2.12,0.00,0.000,6,0.193,0.034,3045,2294,2995,0,0,0,0,0,0
$GC,1730,0.71,85.9,151.1,7.3,290,1746,0.00,2.25,5.90,0.682,4,0.000,0.047,3045,3699,2973,0,0,0,0,0,0
$GC,1777,0.66,85.9,147.2,8.1,297,1785,0.00,2.10,0.00,0.000,6,0.000,0.027,3054,2299,2973,0,0,0,0,0,0
$GC,1918,0.64,85.9,134.3,9.6,322,1927,0.12,2.25,0.00,0.000,4,0.222,0.047,3027,3697,2972,0,0,0,0,0,0
$GC,2025,0.61,87.6,125.5,7.8,340,2033,0.00,2.10,0.00,0.000,6,0.000,0.027,3035,2310,2972,0,0,0,0,0,0
$GC,2169,0.64,109.2,117.1,5.4,365,2198,0.00,2.25,18.83,0.792,4,0.000,0.049,3036,3693,2878,0,0,0,0,0,0
$GC,2318,0.60,109.2,105.9,8.8,390,2326,0.10,2.08,0.00,0.000,6,0.230,0.027,3020,2329,2875,0,0,0,0,0,0
$GC,2462,0.65,109.2,94.3,8.7,415,2469,0.00,2.17,0.00,0.000,4,0.000,0.047,3020,3709,2874,0,0,0,0,0,0
$GC,2568,0.65,109.2,82.9,12.0,433,2576,0.00,2.05,0.00,0.000,6,0.000,0.026,3029,2323,2875,0,0,0,0,0,0
$GC,2708,0.69,109.2,68.9,9.1,458,2716,0.00,2.12,0.00,0.000,4,0.000,0.032,3039,910,2875,0,0,0,0,0,0
$GC,2787,0.74,115.2,63.1,7.3,471,2802,0.00,2.15,5.93,0.666,6,0.000,0.034,3039,2319,2853,0,0,0,0,0,0
$GC,2936,0.78,115.2,50.5,8.1,497,2943,0.00,2.15,0.00,0.000,4,0.000,0.049,3039,3703,2853,0,0,0,0,0,0
$GC,3042,0.76,115.2,40.8,9.5,515,3050,0.00,2.05,0.00,0.000,6,0.000,0.027,3049,2339,2853,0,0,0,0,0,0
$GC,3121,0.78,115.2,33.5,9.0,528,3129,0.00,2.15,0.00,0.000,4,0.000,0.048,3049,3699,2853,0,0,0,0,0,0
$GC,3201,0.76,115.2,25.5,10.1,542,3210,0.00,2.03,0.00,0.000,6,0.000,0.027,3059,2344,2853,0,0,0,0,0,0
$GC,3281,0.76,119.8,18.8,7.5,555,3291,0.00,2.20,5.05,0.616,4,0.000,0.032,3070,902,2835,0,0,0,0,0,0
$GC,3445,0.79,126.5,7.6,7.2,583,3459,0.00,2.15,6.28,0.653,6,0.000,0.035,3070,2299,2808,0,0,0,0,0,0
$STATE,3509,end climb,SURFACE_DEPTH_REACHED
$STATE,3509,begin surface coast
$FINISH,0.5,0.999858
$STATE,3556,end surface coast,CONTROL_FINISHED_OK
$STATE,3556,begin surface
$SM_CCo,3574,211.73,0.686,1,0,1693,400.08
$SM_GC,1.38,0.00,0.00,211.73,0.000,0.000,0.686,124,2195,1693,-8.41,-0.14,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4729.30,-12229.50,240311,070743
$TT8_MAMPS,0.029211,0.029211
$HUMID,29.99
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,73.9
$24V_AH,24.3,1.170
$10V_AH,10.3,0.716
$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,20.825,60.025,155.400,211.725,0.000,29.470,33.074,349.632,0.750,0.000,29.080,1442.858,373.974,515.332,1643.415,462.192,33.315,1062.095,0.000,1376.428,0.000,7.195,0.000
$DEVICE_MAMPS,260.100,81.090,862.155,686.205,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.883,437.148,911.682,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322784
$DATA_FILE_SIZE,33634,602
$CAP_FILE_SIZE,79115,0
$CFSIZE,260165632,140386304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035, 48.4,1
$GPS,240311,094138,4743.941,-12224.689,10,1.8,10,18.2