version: 66.09
glider: 167
mission: 7
dive: 16
start: 3 24 111 17 6 46
data:
$ID,167
$MISSION,7
$DIVE,16
$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,40
$T_MISSION,55
$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,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,250
$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,-55888.887
$T_RSLEEP,3
$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,61
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,240311,165838,4743.049,-12224.854,11,1.7,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.0
$GPS2,240311,170550,4743.083,-12224.843,14,1.5,14,18.2
$SPEED_LIMITS,0.260,0.293
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.005,-0.293
$KALMAN_X,-8870.0,861.5,-363.4,8913.2,38.9
$KALMAN_Y,-2796.8,505.9,-362.2,3446.8,362.5
$MHEAD_RNG_PITCHd_Wd,160.3,712,-25.2,-15.000
$D_GRID,178
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.99,-146.0,0.0,0.0,0,83,0.00,0.00,-61.60,0.000,2,0.000,0.000,124,2208,3832,0,0,0,0,0,0
$GC,86,-0.99,-146.0,5.3,-8.7,9,104,9.95,2.22,-1.73,0.000,4,0.260,0.047,2487,794,3923,0,0,0,0,0,0
$GC,155,-0.90,-146.0,30.4,-27.6,20,164,0.15,2.22,0.00,0.000,6,0.189,0.037,2519,2198,3925,0,0,0,0,0,0
$GC,231,-0.83,-146.0,48.3,-21.8,33,239,0.00,2.22,0.00,0.000,4,0.000,0.044,2511,3604,3924,0,0,0,0,0,0
$GC,260,-0.75,-146.0,55.4,-22.7,37,268,0.22,2.10,0.00,0.000,6,0.194,0.022,2567,2177,3925,0,0,0,0,0,0
$GC,403,-0.75,-146.0,81.7,-17.5,62,411,0.00,2.28,0.00,0.000,4,0.000,0.044,2559,3607,3925,0,0,0,0,0,0
$GC,424,-0.75,-146.0,86.0,-18.2,65,431,0.00,2.03,0.00,0.000,6,0.000,0.023,2559,2235,3925,0,0,0,0,0,0
$GC,564,-0.75,-146.0,110.5,-18.0,90,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2231,3925,0,0,0,0,0,0
$GC,707,-0.75,-146.0,137.3,-18.8,115,715,0.00,2.10,0.00,0.000,4,0.000,0.029,2558,810,3924,0,0,0,0,0,0
$GC,746,-0.75,-146.0,144.3,-18.8,121,753,0.00,2.17,0.00,0.000,6,0.000,0.034,2548,2232,3924,0,0,0,0,0,0
$GC,886,-0.75,-146.0,171.1,-17.4,146,894,0.00,2.12,0.00,0.000,4,0.000,0.029,2549,802,3924,0,0,0,0,0,0
$STATE,921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,921,begin apogee
$GC,930,-0.16,0.0,178.5,19.0,152,1042,0.70,0.00,108.30,0.858,4,0.175,0.000,2755,2298,3323,0,0,0,0,0,0
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1048,0.99,146.0,185.4,0.0,168,1172,1.20,2.33,110.07,0.816,4,0.110,0.048,3133,3704,2727,0,0,0,0,0,0
$GC,1181,0.81,146.0,174.7,16.4,187,1189,0.28,2.17,0.00,0.000,6,0.216,0.025,3079,2312,2725,0,0,0,0,0,0
$GC,1327,0.79,164.6,152.9,13.7,212,1350,0.00,2.17,14.57,0.750,4,0.000,0.031,3088,896,2655,0,0,0,0,0,0
$GC,1413,0.78,179.5,140.9,14.0,226,1435,0.00,2.25,13.60,0.739,6,0.000,0.034,3088,2311,2591,0,0,0,0,0,0
$GC,1573,0.75,183.8,117.7,14.7,253,1587,0.00,2.25,4.55,0.572,4,0.000,0.046,3088,3700,2574,0,0,0,0,0,0
$GC,1655,0.69,183.8,103.7,17.6,267,1664,0.22,2.08,0.00,0.000,6,0.198,0.025,3041,2313,2573,0,0,0,0,0,0
$GC,1800,0.79,237.5,85.8,11.3,292,1849,0.00,2.33,42.42,0.759,4,0.000,0.047,3041,3701,2354,0,0,0,0,0,0
$GC,1897,0.85,237.5,72.6,15.1,307,1905,0.12,2.10,0.00,0.000,6,0.090,0.024,3100,2326,2351,0,0,0,0,0,0
$GC,2042,0.85,237.5,48.3,15.7,332,2050,0.00,2.22,0.00,0.000,4,0.000,0.046,3100,3703,2349,0,0,0,0,0,0
$GC,2098,0.82,237.5,38.1,17.8,341,2107,0.00,2.05,0.00,0.000,6,0.000,0.024,3110,2357,2349,0,0,0,0,0,0
$GC,2176,0.82,237.5,24.9,17.3,354,2184,0.00,2.15,0.00,0.000,4,0.000,0.047,3110,3697,2349,0,0,0,0,0,0
$GC,2238,0.79,237.5,13.2,19.7,364,2247,0.15,1.98,0.00,0.000,6,0.188,0.026,3076,2395,2348,0,0,0,0,0,0
$GC,2320,0.89,286.2,3.1,11.6,377,2329,0.00,0.00,6.88,0.080,2,0.000,0.000,3076,2393,2323,0,0,0,0,0,0
$STATE,2330,end climb,SURFACE_DEPTH_REACHED
$STATE,2330,begin surface coast
$FINISH,0.6,1.005467
$STATE,2355,end surface coast,CONTROL_FINISHED_OK
$STATE,2355,begin surface
$SM_CCo,2373,3.15,0.083,0,0,2304,250.21
$SM_GC,2.96,0.00,0.00,3.15,0.000,0.000,0.083,129,2174,2304,-8.40,-0.74,250.21,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12209.14,240311,161628
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.39
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,24.1,1.971
$10V_AH,10.3,1.205
$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,21.075,48.125,300.400,3.150,0.000,23.740,29.545,216.406,0.000,0.000,15.381,889.776,219.690,351.626,1040.577,315.790,33.337,773.617,0.000,881.973,0.000,0.535,0.000
$DEVICE_MAMPS,260.100,48.195,858.330,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.665,275.608,571.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322788
$DATA_FILE_SIZE,23682,382
$CAP_FILE_SIZE,56805,0
$CFSIZE,260165632,140132352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 40.4,1
$GPS,240311,174752,4742.874,-12224.639,30,2.4,49,18.2