version: 66.09
glider: 167
mission: 7
dive: 17
start: 3 24 111 17 56 51
data:
$ID,167
$MISSION,7
$DIVE,17
$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,-55890.145
$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,80
$R_STBD_OVSHOOT,36
$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
$GPS1,240311,174752,4742.874,-12224.639,30,2.4,49,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.2
$GPS2,240311,175552,4742.912,-12224.569,12,2.3,31,18.2
$SPEED_LIMITS,0.260,0.293
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,-0.259
$KALMAN_X,-8674.6,907.9,-270.8,8914.7,161.9
$KALMAN_Y,-2628.7,545.8,-188.2,2752.7,390.5
$MHEAD_RNG_PITCHd_Wd,200.1,486,-25.2,-15.000
$D_GRID,179
$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,14,begin dive
$GC,17,-0.99,-146.0,0.0,0.0,0,82,0.00,0.00,-62.22,0.000,2,0.000,0.000,130,2175,3878,0,0,0,0,0,0
$GC,85,-0.99,-146.0,5.9,-11.0,9,103,9.85,2.25,-0.75,0.000,4,0.259,0.047,2477,3623,3920,0,0,0,0,0,0
$GC,299,-0.87,-146.0,73.1,-25.5,47,307,0.22,2.10,0.00,0.000,6,0.200,0.024,2533,2202,3922,0,0,0,0,0,0
$GC,443,-0.82,-146.0,103.9,-21.4,72,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2198,3921,0,0,0,0,0,0
$GC,588,-0.79,-146.0,133.3,-20.3,97,594,0.10,0.00,0.00,0.000,6,0.203,0.000,2556,2197,3922,0,0,0,0,0,0
$GC,725,-0.79,-146.0,159.8,-16.9,122,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2197,3922,0,0,0,0,0,0
$STATE,830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,830,begin apogee
$GC,838,-0.16,0.0,179.3,17.7,141,954,0.65,0.00,108.15,0.851,4,0.161,0.000,2756,2308,3323,0,0,0,0,0,0
$STATE,956,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,959,0.99,146.0,185.8,0.0,158,1082,1.12,2.33,109.78,0.814,4,0.100,0.049,3134,3690,2727,0,0,0,0,0,0
$GC,1209,0.83,146.0,151.3,21.2,198,1219,0.20,2.12,0.00,0.000,6,0.197,0.025,3091,2317,2723,0,0,0,0,0,0
$GC,1354,0.80,161.9,130.6,13.9,223,1369,0.00,0.00,13.10,0.741,6,0.000,0.000,3091,2315,2663,0,0,0,0,0,0
$GC,1508,0.76,161.9,108.0,15.8,249,1516,0.12,2.17,0.00,0.000,4,0.185,0.032,3067,893,2660,0,0,0,0,0,0
$GC,1581,0.84,212.4,98.0,11.5,261,1630,0.00,2.17,38.60,0.767,6,0.000,0.033,3067,2298,2458,0,0,0,0,0,0
$GC,1763,0.84,212.4,71.5,15.0,292,1771,0.00,2.25,0.00,0.000,4,0.000,0.046,3066,3701,2454,0,0,0,0,0,0
$GC,1922,0.84,212.4,42.7,17.9,320,1931,0.00,2.12,0.00,0.000,6,0.000,0.026,3077,2313,2454,0,0,0,0,0,0
$GC,2000,0.86,213.1,30.5,15.0,333,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2313,2453,0,0,0,0,0,0
$GC,2074,0.88,213.1,18.8,15.6,346,2082,0.00,2.22,0.00,0.000,4,0.000,0.047,3077,3700,2453,0,0,0,0,0,0
$GC,2155,0.88,213.1,5.7,15.4,360,2163,0.00,2.10,0.00,0.000,6,0.000,0.026,3087,2320,2453,0,0,0,0,0,0
$STATE,2174,end climb,SURFACE_DEPTH_REACHED
$STATE,2174,begin surface coast
$FINISH,0.5,0.999826
$STATE,2195,end surface coast,CONTROL_FINISHED_OK
$STATE,2195,begin surface
$SM_CCo,2214,32.33,0.503,1,0,2303,250.21
$SM_GC,2.06,0.00,0.00,32.33,0.000,0.000,0.503,122,2190,2303,-8.42,-0.28,250.21,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12223.37,240311,171700
$TT8_MAMPS,0.029211,0.029211
$HUMID,30.23
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,24.1,2.055
$10V_AH,10.3,1.257
$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,20.375,22.125,269.625,32.325,0.000,29.194,33.799,228.751,0.250,0.000,32.938,844.938,207.660,333.798,1055.655,300.432,33.368,719.467,0.000,850.560,0.000,0.536,0.000
$DEVICE_MAMPS,258.570,81.855,850.680,502.605,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.888,263.375,558.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322800
$DATA_FILE_SIZE,20223,366
$CAP_FILE_SIZE,47509,0
$CFSIZE,260165632,140111872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.205, 46.2,1
$GPS,240311,183534,4742.847,-12224.490,12,3.5,31,18.2