version: 66.09
glider: 167
mission: 7
dive: 9
start: 3 24 111 9 52 10
data:
$ID,167
$MISSION,7
$DIVE,9
$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,-55704.078
$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,68
$R_STBD_OVSHOOT,38
$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
$GPS1,240311,094138,4743.941,-12224.689,10,1.8,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.2
$GPS2,240311,095110,4743.950,-12224.652,9,3.2,28,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,0.004
$KALMAN_X,-3810.5,-834.6,351.9,5072.7,-426.2
$KALMAN_Y,-1470.4,-401.4,504.1,3772.2,-100.0
$MHEAD_RNG_PITCHd_Wd,221.5,205,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.95,-45.2,0.0,0.0,0,108,0.00,0.00,-84.60,0.000,6,0.000,0.000,124,2195,3509,0,0,0,0,0,0
$GC,112,-0.99,-82.4,4.3,-3.6,14,133,9.98,2.20,-3.30,0.000,4,0.262,0.050,2479,3606,3660,0,0,0,0,0,0
$GC,214,-0.85,-82.4,29.8,-23.5,31,225,0.20,2.12,0.00,0.000,6,0.202,0.024,2532,2191,3661,0,0,0,0,0,0
$GC,294,-0.81,-82.4,47.1,-20.1,44,302,0.00,2.08,0.00,0.000,4,0.000,0.030,2532,818,3661,0,0,0,0,0,0
$GC,340,-0.77,-82.4,56.5,-20.0,51,348,0.17,2.10,0.00,0.000,6,0.199,0.033,2567,2183,3660,0,0,0,0,0,0
$GC,486,-0.77,-82.4,81.5,-16.6,76,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2184,3661,0,0,0,0,0,0
$GC,627,-0.77,-82.4,105.1,-15.9,101,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2184,3661,0,0,0,0,0,0
$GC,768,-0.77,-82.4,127.9,-17.2,126,777,0.00,2.08,0.00,0.000,4,0.000,0.030,2567,814,3660,0,0,0,0,0,0
$GC,895,-0.80,-82.4,148.7,-16.1,148,904,0.00,2.12,0.00,0.000,6,0.000,0.034,2560,2189,3661,0,0,0,0,0,0
$GC,1040,-0.80,-82.4,171.0,-15.6,173,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2189,3661,0,0,0,0,0,0
$STATE,1116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1116,begin apogee
$GC,1123,-0.16,0.0,183.0,14.6,187,1193,0.65,0.00,61.20,0.860,4,0.176,0.000,2753,2313,3324,0,0,0,0,0,0
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1196,0.99,82.4,187.9,0.0,197,1266,1.10,0.00,62.67,0.829,6,0.102,0.000,3126,2312,2987,0,0,0,0,0,0
$GC,1405,0.88,82.4,177.4,10.2,231,1412,0.00,2.20,0.00,0.000,4,0.000,0.047,3126,3691,2983,0,0,0,0,0,0
$GC,1665,0.71,82.4,146.4,11.8,277,1673,0.35,2.08,0.00,0.000,6,0.215,0.026,3046,2309,2982,0,0,0,0,0,0
$GC,1811,0.71,84.0,134.3,7.8,302,1819,0.00,2.20,0.00,0.000,4,0.000,0.047,3046,3686,2982,0,0,0,0,0,0
$GC,2066,0.64,84.0,111.9,10.3,348,2074,0.10,2.08,0.00,0.000,6,0.213,0.026,3030,2307,2982,0,0,0,0,0,0
$GC,2213,0.67,94.4,100.9,6.8,373,2227,0.00,0.00,9.62,0.744,6,0.000,0.000,3029,2307,2937,0,0,0,0,0,0
$GC,2364,0.70,94.4,89.0,8.1,399,2372,0.00,2.10,0.00,0.000,4,0.000,0.033,3037,898,2936,0,0,0,0,0,0
$GC,2546,0.75,106.9,76.2,6.5,431,2562,0.00,2.10,10.70,0.744,6,0.000,0.034,3037,2275,2887,0,0,0,0,0,0
$GC,2700,0.78,110.8,65.3,7.5,457,2714,0.00,2.28,4.55,0.594,4,0.000,0.048,3038,3706,2872,0,0,0,0,0,0
$GC,2842,0.76,111.6,53.1,7.9,482,2850,0.00,2.10,0.00,0.000,6,0.000,0.026,3048,2312,2871,0,0,0,0,0,0
$GC,2989,0.78,111.6,41.2,8.4,507,2998,0.00,2.12,0.00,0.000,4,0.000,0.033,3058,896,2870,0,0,0,0,0,0
$GC,3253,0.82,117.2,20.5,7.3,553,3269,0.00,2.15,6.53,0.664,6,0.000,0.035,3058,2291,2845,0,0,0,0,0,0
$GC,3339,0.85,142.6,16.3,5.0,567,3364,0.00,2.28,19.70,0.741,4,0.000,0.048,3058,3701,2742,0,0,0,0,0,0
$STATE,3509,end climb,SURFACE_DEPTH_REACHED
$STATE,3509,begin surface coast
$FINISH,0.5,0.999857
$STATE,3542,end surface coast,CONTROL_FINISHED_OK
$STATE,3542,begin surface
$SM_CCo,3562,200.77,0.682,1,0,1693,400.08
$SM_GC,1.19,0.00,0.00,200.77,0.000,0.000,0.682,130,2193,1693,-8.40,-0.20,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12225.08,240311,080820
$TT8_MAMPS,0.02996,0.02996
$HUMID,30.03
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,71.9
$24V_AH,24.3,1.269
$10V_AH,10.3,0.795
$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,20.625,38.825,174.975,200.775,0.000,28.146,29.655,301.114,0.750,0.000,30.129,1433.042,378.853,481.669,1620.797,434.103,33.309,1018.150,0.000,1398.880,0.000,7.189,0.000
$DEVICE_MAMPS,262.395,80.325,859.860,681.615,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.591,437.665,929.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322796
$DATA_FILE_SIZE,33683,602
$CAP_FILE_SIZE,70093,0
$CFSIZE,260165632,140353536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098,138.5,1
$GPS,240311,105606,4743.621,-12224.793,11,1.3,27,18.2