version: 66.09
glider: 167
mission: 7
dive: 11
start: 3 24 111 12 21 46
data:
$ID,167
$MISSION,7
$DIVE,11
$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,-55706.594
$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,82
$R_STBD_OVSHOOT,33
$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
$GPS1,240311,121143,4743.774,-12224.948,12,1.1,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.8
$GPS2,240311,122038,4743.724,-12224.974,11,1.8,11,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.225,0.087
$KALMAN_X,-6673.8,95.4,194.2,6765.8,-1478.9
$KALMAN_Y,-2939.3,112.5,112.3,4697.8,-877.6
$MHEAD_RNG_PITCHd_Wd,347.7,392,-19.5,-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,18,-0.74,-88.8,0.0,0.0,0,117,0.00,0.00,-91.95,0.000,6,0.000,0.000,127,2167,3687,0,0,0,0,0,0
$GC,121,-0.74,-88.8,5.9,-10.8,16,137,10.32,2.08,0.00,0.000,4,0.262,0.025,2578,808,3687,0,0,0,0,0,0
$GC,174,-0.59,-88.8,24.0,-24.8,24,183,0.17,2.20,0.00,0.000,6,0.167,0.035,2621,2200,3688,0,0,0,0,0,0
$GC,254,-0.55,-88.8,35.2,-13.1,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2200,3688,0,0,0,0,0,0
$GC,335,-0.52,-88.8,46.1,-14.2,50,345,0.00,2.22,0.00,0.000,4,0.000,0.047,2612,3603,3688,0,0,0,0,0,0
$GC,381,-0.48,-88.8,52.7,-14.0,57,389,0.17,2.10,0.00,0.000,6,0.175,0.023,2658,2176,3687,0,0,0,0,0,0
$GC,526,-0.50,-88.8,68.7,-10.6,82,535,0.00,2.28,0.00,0.000,4,0.000,0.049,2656,3598,3688,0,0,0,0,0,0
$GC,582,-0.55,-88.8,74.6,-10.1,91,589,0.00,2.05,0.00,0.000,6,0.000,0.023,2655,2193,3688,0,0,0,0,0,0
$GC,731,-0.57,-88.8,90.9,-11.7,116,739,0.00,2.08,0.00,0.000,4,0.000,0.031,2656,814,3688,0,0,0,0,0,0
$GC,765,-0.60,-88.8,95.1,-11.3,121,772,0.00,2.10,0.00,0.000,6,0.000,0.036,2655,2197,3688,0,0,0,0,0,0
$GC,908,-0.64,-93.8,108.1,-7.7,146,918,0.12,2.22,-0.15,0.000,4,0.108,0.062,2599,3604,3711,0,0,0,0,0,0
$GC,946,-0.60,-93.8,111.3,-8.8,151,952,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,2186,3711,0,0,0,0,0,0
$GC,1096,-0.56,-93.8,132.2,-14.3,176,1105,0.12,2.08,0.00,0.000,4,0.201,0.031,2629,808,3711,0,0,0,0,0,0
$GC,1170,-0.56,-93.8,140.4,-10.4,188,1178,0.00,2.12,0.00,0.000,6,0.000,0.038,2628,2176,3711,0,0,0,0,0,0
$GC,1316,-0.56,-93.8,155.6,-10.7,213,1323,0.00,2.20,0.00,0.000,4,0.000,0.049,2617,3610,3712,0,0,0,0,0,0
$GC,1369,-0.56,-93.8,162.6,-13.5,222,1381,0.00,2.12,0.00,0.000,6,0.000,0.024,2618,2175,3711,0,0,0,0,0,0
$GC,1520,-0.54,-93.8,180.8,-12.5,247,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2173,3712,0,0,0,0,0,0
$STATE,1636,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1636,begin apogee
$GC,1643,-0.16,0.0,195.0,9.8,268,1723,0.45,0.00,69.97,0.871,4,0.162,0.000,2756,2316,3324,0,0,0,0,0,0
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1726,0.75,93.8,199.8,0.0,279,1809,0.93,2.25,71.57,0.838,4,0.114,0.051,3052,3694,2940,0,0,0,0,0,0
$GC,2063,0.56,93.8,166.7,12.2,336,2071,0.20,2.12,0.00,0.000,6,0.194,0.026,3006,2310,2935,0,0,0,0,0,0
$GC,2211,0.50,97.5,154.3,7.8,361,2218,0.00,2.20,0.00,0.000,4,0.000,0.049,3006,3691,2934,0,0,0,0,0,0
$GC,2393,0.39,97.5,137.9,9.2,393,2401,0.28,2.05,0.00,0.000,6,0.199,0.026,2946,2303,2933,0,0,0,0,0,0
$GC,2542,0.49,152.5,130.1,4.7,418,2593,0.00,2.28,43.53,0.810,4,0.000,0.047,2945,3697,2701,0,0,0,0,0,0
$GC,2632,0.58,189.9,125.5,5.7,431,2669,0.15,2.10,29.65,0.781,6,0.093,0.026,3009,2308,2547,0,0,0,0,0,0
$GC,2809,0.58,189.9,110.6,9.7,460,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2308,2544,0,0,0,0,0,0
$GC,2954,0.58,189.9,96.3,10.4,485,2961,0.00,2.10,0.00,0.000,4,0.000,0.034,3017,912,2543,0,0,0,0,0,0
$GC,2986,0.58,189.9,92.7,10.4,490,2995,0.00,2.15,0.00,0.000,6,0.000,0.036,3018,2304,2542,0,0,0,0,0,0
$GC,3135,0.58,189.9,76.6,11.3,515,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2304,2542,0,0,0,0,0,0
$GC,3276,0.58,189.9,61.9,9.5,540,3284,0.00,2.22,0.00,0.000,4,0.000,0.050,3018,3706,2541,0,0,0,0,0,0
$GC,3321,0.54,189.9,57.2,11.1,547,3329,0.15,2.08,0.00,0.000,6,0.200,0.025,2994,2313,2541,0,0,0,0,0,0
$GC,3466,0.59,197.4,45.7,7.5,572,3483,0.00,2.25,5.85,0.646,4,0.000,0.047,2993,3701,2519,0,0,0,0,0,0
$GC,3512,0.59,197.4,41.3,8.6,579,3520,0.00,2.08,0.00,0.000,6,0.000,0.025,3000,2322,2518,0,0,0,0,0,0
$GC,3587,0.61,197.4,34.8,8.8,592,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2321,2518,0,0,0,0,0,0
$GC,3661,0.63,197.4,28.3,8.7,605,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2321,2518,0,0,0,0,0,0
$GC,3739,0.65,197.4,21.0,9.3,618,3748,0.00,2.12,0.00,0.000,4,0.000,0.033,3010,915,2517,0,0,0,0,0,0
$GC,3774,0.69,197.4,17.7,9.5,623,3783,0.00,2.17,0.00,0.000,6,0.000,0.034,3010,2319,2517,0,0,0,0,0,0
$GC,3852,0.72,197.4,10.3,8.9,636,3861,0.10,2.20,0.00,0.000,4,0.125,0.050,3052,3702,2517,0,0,0,0,0,0
$STATE,3911,end climb,SURFACE_DEPTH_REACHED
$STATE,3911,begin surface coast
$FINISH,0.5,0.999859
$STATE,3935,end surface coast,CONTROL_FINISHED_OK
$STATE,3935,begin surface
$SM_CCo,3956,159.52,0.682,1,0,1693,400.08
$SM_GC,1.39,0.00,0.00,159.52,0.000,0.000,0.682,129,2189,1693,-8.40,-0.31,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4710.21,-11728.01,240311,101007
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.62
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.5,74.1
$24V_AH,24.2,1.484
$10V_AH,10.3,0.961
$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,21.150,64.775,220.575,159.525,0.000,25.755,29.654,283.926,1.000,0.000,12.728,1552.811,449.255,530.330,1665.953,472.093,33.329,1151.664,0.000,1492.596,0.000,10.281,0.000
$DEVICE_MAMPS,261.630,71.910,870.570,682.380,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.220,462.136,972.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36955,650
$CAP_FILE_SIZE,84836,0
$CFSIZE,260165632,140247040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172,193.0,1
$GPS,240311,133137,4743.797,-12225.108,29,1.3,29,18.2