version: 66.09
glider: 167
mission: 8
dive: 2
start: 6 13 111 10 25 28
data:
$ID,167
$MISSION,8
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,5
$D_TGT,60
$D_ABORT,100
$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,20
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,566.20972
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56126.785
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,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,103
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-16.233358
$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
$GPS1,130611,101749,2130.910,12354.001,12,1.5,12,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.7
$GPS2,130611,102504,2130.914,12353.969,11,2.1,30,-2.8
$SPEED_LIMITS,0.173,0.311
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,120.0,147689,-14.7,-10.000
$D_GRID,5000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.68,-219.0,0.0,0.0,0,122,0.00,0.00,-102.05,0.000,2,0.000,0.000,121,2178,3387,0,0,0,0,0,0
$GC,125,-0.68,-219.0,6.3,-13.7,14,149,9.70,2.10,-5.30,0.000,4,0.244,0.051,2558,3603,3735,0,0,0,0,0,0
$GC,209,-0.36,-219.0,41.7,-28.8,28,219,0.35,1.98,0.00,0.000,6,0.141,0.023,2672,2188,3735,0,0,0,0,0,0
$GC,284,-0.29,-219.0,55.6,-15.9,41,293,0.10,1.95,0.00,0.000,4,0.169,0.031,2702,845,3735,0,0,0,0,0,0
$STATE,312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,312,begin apogee
$GC,321,-0.14,0.0,60.1,15.2,45,477,0.17,0.00,150.60,0.585,6,0.137,0.000,2752,2292,2838,0,0,0,0,0,0
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,481,0.68,219.0,72.9,0.0,65,647,0.75,2.20,156.55,0.579,4,0.103,0.038,3013,3701,1945,0,0,0,0,0,0
$GC,703,0.87,352.9,67.2,5.9,97,813,0.15,2.00,98.03,0.569,6,0.047,0.027,3093,2316,1399,0,0,0,0,0,0
$GC,882,0.87,352.9,49.6,10.8,124,891,0.00,2.05,0.00,0.000,4,0.000,0.034,3099,927,1396,0,0,0,0,0,0
$GC,1031,0.87,352.9,33.6,10.7,151,1040,0.00,2.03,0.00,0.000,6,0.000,0.032,3098,2314,1395,0,0,0,0,0,0
$GC,1109,0.87,352.9,24.7,11.0,164,1117,0.00,2.03,0.00,0.000,4,0.000,0.034,3099,934,1394,0,0,0,0,0,0
$GC,1159,0.95,363.8,19.9,9.7,172,1178,0.00,1.98,9.07,0.470,6,0.000,0.031,3099,2298,1354,0,0,0,0,0,0
$GC,1244,1.00,400.9,12.2,8.9,186,1274,0.00,0.00,28.50,0.525,6,0.000,0.000,3099,2298,1203,0,0,0,0,0,0
$STATE,1337,end climb,SURFACE_DEPTH_REACHED
$STATE,1338,begin surface coast
$FINISH,0.4,1.021911
$STATE,1374,end surface coast,CONTROL_FINISHED_OK
$STATE,1375,begin surface
$SM_CCo,1392,122.93,0.493,1,0,530,566.40
$SM_GC,1.05,0.00,0.00,122.93,0.000,0.000,0.493,116,2184,530,-8.36,-0.45,566.40,0,0,0,0,1,0
$IRIDIUM_FIX,2122.58,12352.33,130611,101011
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.54
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,29.80
$XPDR_PINGS,63
$24V_AH,25.4,2.583
$10V_AH,10.6,1.493
$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,18.800,20.475,442.750,122.925,0.000,0.000,0.000,0.000,15.750,0.000,32.516,410.227,13.717,525.307,523.200,143.567,0.000,879.720,0.000,582.970,0.000,0.549,0.000
$DEVICE_MAMPS,244.035,136.170,585.225,492.660,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,130.635,268.916,527.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330472
$DATA_FILE_SIZE,10308,208
$CAP_FILE_SIZE,45505,0
$CFSIZE,260165632,141697024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.265,228.6,1
$GPS,130611,105138,2130.685,12353.948,9,2.0,9,-2.8