version: 66.09
glider: 167
mission: 7
dive: 10
start: 3 24 111 11 6 35
data:
$ID,167
$MISSION,7
$DIVE,10
$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,-55705.336
$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,54
$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
$GPS1,240311,105606,4743.621,-12224.793,11,1.3,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.1
$GPS2,240311,110531,4743.556,-12224.807,14,1.4,31,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,0.167
$KALMAN_X,-5244.5,-368.8,383.1,5822.9,-936.8
$KALMAN_Y,-2553.9,-75.3,511.4,3799.3,-808.4
$MHEAD_RNG_PITCHd_Wd,323.6,638,-18.5,-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,17,-0.72,-98.8,0.0,0.0,0,114,0.00,0.00,-91.12,0.000,6,0.000,0.000,130,2193,3727,0,0,0,0,0,0
$GC,118,-0.72,-98.8,5.7,-9.9,15,134,10.35,2.20,0.00,0.000,4,0.261,0.032,2565,3618,3727,0,0,0,0,0,0
$GC,143,0.05,-98.8,16.9,-33.5,18,151,0.90,2.17,0.00,0.000,6,0.193,0.023,2826,2170,3729,0,0,0,0,0,0
$GC,221,-0.17,-98.8,23.9,-10.6,31,230,0.20,2.05,0.00,0.000,4,0.103,0.031,2759,826,3728,0,0,0,0,0,0
$GC,258,-0.54,-146.0,26.0,-4.6,36,269,0.30,2.17,-2.60,0.000,6,0.096,0.033,2648,2221,3923,0,0,0,0,0,0
$GC,337,-0.61,-146.0,32.1,-8.2,49,345,0.00,2.17,0.00,0.000,4,0.000,0.047,2643,3596,3924,0,0,0,0,0,0
$GC,489,-0.65,-146.0,49.2,-11.3,76,499,0.08,1.92,0.00,0.000,6,0.084,0.024,2605,2304,3925,0,0,0,0,0,0
$GC,569,-0.59,-146.0,60.9,-16.2,89,576,0.00,2.20,0.00,0.000,4,0.000,0.029,2605,822,3925,0,0,0,0,0,0
$GC,651,-0.59,-146.0,75.0,-16.0,103,659,0.00,2.22,0.00,0.000,6,0.000,0.035,2601,2270,3926,0,0,0,0,0,0
$GC,795,-0.55,-146.0,98.6,-16.8,128,804,0.15,2.10,0.00,0.000,4,0.196,0.048,2630,3597,3926,0,0,0,0,0,0
$GC,844,-0.55,-146.0,106.2,-14.2,136,852,0.00,1.95,0.00,0.000,6,0.000,0.024,2629,2286,3926,0,0,0,0,0,0
$GC,988,-0.55,-146.0,124.0,-12.4,161,995,0.00,2.17,0.00,0.000,4,0.000,0.030,2629,813,3926,0,0,0,0,0,0
$GC,1042,-0.55,-146.0,129.7,-10.7,170,1050,0.00,2.28,0.00,0.000,6,0.000,0.036,2628,2281,3926,0,0,0,0,0,0
$GC,1186,-0.55,-146.0,145.8,-10.6,195,1194,0.00,2.05,0.00,0.000,4,0.000,0.051,2628,3600,3926,0,0,0,0,0,0
$GC,1213,-0.55,-146.0,149.4,-11.4,199,1221,0.00,1.92,0.00,0.000,6,0.000,0.023,2628,2281,3926,0,0,0,0,0,0
$GC,1356,-0.55,-146.0,164.9,-11.3,224,1364,0.00,2.17,0.00,0.000,4,0.000,0.031,2628,821,3926,0,0,0,0,0,0
$GC,1426,-0.55,-146.0,173.2,-11.2,236,1434,0.00,2.25,0.00,0.000,6,0.000,0.038,2626,2272,3926,0,0,0,0,0,0
$STATE,1532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1532,begin apogee
$GC,1537,-0.16,0.0,186.2,12.1,255,1650,0.43,0.00,108.62,0.858,4,0.161,0.000,2758,2272,3324,0,0,0,0,0,0
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1656,0.78,146.0,190.3,0.0,271,1779,0.93,2.38,110.32,0.818,4,0.095,0.050,3061,3703,2727,0,0,0,0,0,0
$GC,1870,0.62,146.0,172.4,15.4,304,1881,0.17,2.15,0.00,0.000,6,0.189,0.026,3023,2329,2723,0,0,0,0,0,0
$GC,2018,0.55,146.0,153.8,11.3,329,2025,0.00,2.17,0.00,0.000,4,0.000,0.033,3032,886,2721,0,0,0,0,0,0
$GC,2034,0.48,146.0,151.9,11.2,331,2042,0.22,2.20,0.00,0.000,6,0.196,0.034,2976,2300,2721,0,0,0,0,0,0
$GC,2180,0.48,146.0,137.9,8.8,356,2189,0.00,2.17,0.00,0.000,4,0.000,0.033,2984,893,2721,0,0,0,0,0,0
$GC,2203,0.48,146.0,135.9,8.2,359,2210,0.00,2.17,0.00,0.000,6,0.000,0.034,2984,2295,2720,0,0,0,0,0,0
$GC,2349,0.48,146.0,123.7,8.3,384,2358,0.00,2.22,0.00,0.000,4,0.000,0.050,2984,3694,2720,0,0,0,0,0,0
$GC,2410,0.44,146.0,117.7,9.7,394,2418,0.10,2.10,0.00,0.000,6,0.199,0.024,2965,2304,2720,0,0,0,0,0,0
$GC,2558,0.51,172.9,107.7,6.5,419,2587,0.00,2.12,20.80,0.782,4,0.000,0.033,2972,907,2618,0,0,0,0,0,0
$GC,2606,0.59,200.0,104.3,6.5,426,2636,0.08,2.20,21.42,0.764,6,0.105,0.034,3004,2308,2507,0,0,0,0,0,0
$GC,2771,0.59,200.0,88.5,9.9,454,2779,0.00,2.22,0.00,0.000,4,0.000,0.047,3004,3700,2504,0,0,0,0,0,0
$GC,2786,0.59,200.0,87.0,10.4,456,2795,0.00,2.12,0.00,0.000,6,0.000,0.025,3014,2309,2504,0,0,0,0,0,0
$GC,2934,0.59,200.0,71.7,10.3,481,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2307,2503,0,0,0,0,0,0
$GC,3074,0.59,200.0,55.9,10.4,506,3083,0.00,2.22,0.00,0.000,4,0.000,0.049,3014,3698,2503,0,0,0,0,0,0
$GC,3122,0.55,200.0,50.6,12.1,513,3130,0.12,2.08,0.00,0.000,6,0.209,0.026,2996,2311,2503,0,0,0,0,0,0
$GC,3268,0.55,200.0,36.3,9.0,538,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2312,2502,0,0,0,0,0,0
$GC,3347,0.58,205.7,30.0,7.7,551,3363,0.00,2.17,5.10,0.609,4,0.000,0.035,3005,905,2485,0,0,0,0,0,0
$GC,3378,0.62,214.5,27.5,7.5,555,3395,0.00,2.20,8.60,0.686,6,0.000,0.034,3005,2322,2448,0,0,0,0,0,0
$GC,3466,0.65,221.6,20.9,7.6,569,3482,0.00,2.22,7.15,0.659,4,0.000,0.047,3004,3716,2419,0,0,0,0,0,0
$GC,3515,0.67,221.6,16.4,9.6,576,3524,0.00,2.08,0.00,0.000,6,0.000,0.024,3013,2348,2418,0,0,0,0,0,0
$GC,3593,0.70,221.6,8.7,9.5,589,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2347,2418,0,0,0,0,0,0
$STATE,3655,end climb,SURFACE_DEPTH_REACHED
$STATE,3655,begin surface coast
$FINISH,0.5,0.999860
$STATE,3689,end surface coast,CONTROL_FINISHED_OK
$STATE,3689,begin surface
$SM_CCo,3708,141.30,0.672,1,0,1693,400.08
$SM_GC,1.38,0.00,0.00,141.30,0.000,0.000,0.672,127,2166,1693,-8.41,-0.93,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12227.78,240311,090942
$TT8_MAMPS,0.029211,0.029211
$HUMID,31.02
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,75.4
$24V_AH,24.1,1.382
$10V_AH,10.3,0.877
$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,21.900,73.425,282.025,141.300,0.000,31.186,34.600,293.977,0.750,0.000,32.093,1428.771,363.572,554.594,1626.718,459.210,33.324,1171.417,0.000,1412.634,0.000,7.199,0.000
$DEVICE_MAMPS,260.865,55.845,857.565,672.435,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.726,449.503,945.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322828
$DATA_FILE_SIZE,33661,606
$CAP_FILE_SIZE,84625,0
$CFSIZE,260165632,140296192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132,171.1,1
$GPS,240311,121143,4743.774,-12224.948,12,1.1,12,18.2