version: 66.09
glider: 167
mission: 8
dive: 413
start: 9 10 111 23 1 15
data:
$ID,167
$MISSION,8
$DIVE,413
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,576.20972
$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,-100229.34
$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,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$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
$GPS1,100911,223531,1936.959,12129.130,41,1.1,41,-2.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,100911,223531,1936.959,12129.130,901,99.0,901,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,102.9,147013,-15.3,-9.706
$D_GRID,503
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-90.78,0.000,2,0.000,0.000,109,1967,3067,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.8,-10.4,13,140,10.38,0.00,-8.90,0.000,6,0.235,0.000,2591,1966,3637,0,0,0,0,0,0
$GC,274,-0.62,-194.6,54.6,-15.2,40,283,0.00,1.98,0.00,0.000,4,0.000,0.035,2582,3276,3638,0,0,0,0,0,0
$GC,461,-0.62,-194.6,122.1,-13.1,72,469,0.00,2.05,0.00,0.000,6,0.000,0.024,2581,1887,3639,0,0,0,0,0,0
$GC,608,-0.62,-194.6,131.1,-6.1,97,615,0.00,2.03,0.00,0.000,4,0.000,0.023,2577,3283,3639,0,0,0,0,0,0
$GC,718,-0.62,-194.6,133.4,-1.5,115,725,0.00,1.88,0.00,0.000,6,0.000,0.018,2585,1846,3639,0,0,0,0,0,0
$GC,864,-0.62,-194.6,138.7,-3.0,140,873,0.00,2.22,0.00,0.000,4,0.000,0.049,2585,3265,3639,0,0,0,0,0,0
$GC,899,-0.62,-194.6,138.1,-1.2,145,906,0.00,2.35,0.00,0.000,6,0.000,0.018,2585,1629,3638,0,0,0,0,0,0
$GC,1052,-0.62,-194.6,136.3,1.1,170,1063,0.00,2.53,0.00,0.000,4,0.000,0.039,2585,3305,3638,0,0,0,0,0,0
$GC,1071,-0.62,-194.6,135.1,2.8,172,1079,0.00,2.42,0.00,0.000,6,0.000,0.018,2585,1631,3637,0,0,0,0,0,0
$GC,1222,-0.62,-194.6,137.2,-3.5,197,1229,0.00,2.47,0.00,0.000,4,0.000,0.031,2577,3276,3638,0,0,0,0,0,0
$GC,1391,-0.62,-194.6,136.6,0.3,226,1403,0.00,2.40,0.00,0.000,6,0.000,0.021,2577,1627,3638,0,0,0,0,0,0
$GC,1547,-0.62,-194.6,138.5,-3.7,251,1554,0.00,2.47,0.00,0.000,4,0.000,0.038,2564,3273,3636,0,0,0,0,0,0
$GC,1786,-0.62,-194.6,138.0,1.2,292,1797,0.10,2.50,0.00,0.000,6,0.162,0.047,2593,1668,3636,0,0,0,0,0,0
$GC,1941,-0.62,-194.6,141.3,-3.7,317,1947,0.00,2.35,0.00,0.000,4,0.000,0.024,2587,3289,3634,0,0,0,0,0,0
$GC,2004,-0.62,-194.6,143.6,-5.7,327,2010,0.00,2.38,0.00,0.000,6,0.000,0.017,2587,1561,3634,0,0,0,0,0,0
$GC,2149,-0.62,-194.6,129.7,10.9,352,2157,0.00,1.40,0.00,0.000,4,0.000,0.038,2586,613,3634,0,0,0,0,0,0
$GC,2237,-0.62,-194.6,115.6,7.2,367,2244,0.00,1.30,0.00,0.000,6,0.000,0.018,2580,1623,3633,0,0,0,0,0,0
$GC,2379,-0.62,-194.6,104.2,-19.9,392,2388,0.00,1.48,0.00,0.000,4,0.000,0.023,2579,585,3632,0,0,0,0,0,0
$GC,2472,-0.62,-194.6,119.9,-7.9,408,2479,0.00,1.62,0.00,0.000,6,0.000,0.024,2574,1770,3631,0,0,0,0,0,0
$GC,2619,-0.62,-194.6,130.8,-12.1,433,2627,0.00,2.20,0.00,0.000,4,0.000,0.025,2564,3294,3631,0,0,0,0,0,0
$GC,2876,-0.62,-194.6,131.8,-1.1,479,2885,0.08,1.92,0.00,0.000,6,0.063,0.017,2613,1909,3630,0,0,0,0,0,0
$GC,3019,-0.62,-194.6,132.2,-0.6,504,3028,0.00,2.03,0.00,0.000,4,0.000,0.029,2613,524,3630,0,0,0,0,0,0
$STATE,3045,end dive,NO_VERTICAL_VELOCITY
$STATE,3045,begin apogee
$GC,3055,-0.20,0.0,132.2,0.0,508,3205,0.30,0.00,142.35,0.674,4,0.073,0.000,2738,2088,2838,0,0,0,0,0,0
$STATE,3206,end apogee,CONTROL_FINISHED_OK
$STATE,3206,begin climb
$GC,3208,0.62,194.6,134.0,0.0,529,3365,0.75,2.05,145.43,0.656,4,0.074,0.027,3006,724,2044,0,0,0,0,0,0
$GC,3426,0.62,194.6,115.3,15.2,561,3433,0.00,1.98,0.00,0.000,6,0.000,0.017,3006,2106,2036,0,0,0,0,0,0
$GC,3574,0.66,224.9,89.0,8.7,586,3603,0.00,2.10,23.75,0.600,4,0.000,0.025,3006,715,1921,0,0,0,0,0,0
$GC,3715,0.66,224.9,63.7,15.0,610,3723,0.00,1.90,0.00,0.000,6,0.000,0.018,3006,2038,1917,0,0,0,0,0,0
$GC,3859,0.66,224.9,46.6,13.2,635,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2044,1915,0,0,0,0,0,0
$GC,3997,0.90,420.2,44.5,3.2,660,4159,0.22,2.15,149.20,0.590,4,0.063,0.031,3112,3453,1125,0,0,0,0,0,0
$GC,4217,1.09,577.9,36.2,4.4,691,4345,0.10,2.08,117.20,0.577,6,0.101,0.017,3169,1991,488,0,0,0,0,0,0
$GC,4478,1.10,580.0,12.3,9.6,733,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1991,484,0,0,0,0,0,0
$STATE,4567,end climb,SURFACE_DEPTH_REACHED
$STATE,4567,begin surface coast
$FINISH,0.9,0.999018
$STATE,4595,end surface coast,CONTROL_FINISHED_OK
$STATE,4595,begin surface
$SM_CCo,4674,0.00,0.000,0,0,482,577.93
$SM_GC,1.65,7.82,0.00,0.00,0.038,0.000,0.000,121,1990,482,-8.29,3.25,577.93,0,0,0,0,0,0
$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.54
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,26.30
$XPDR_PINGS,103
$24V_AH,24.5,78.438
$10V_AH,9.9,66.100
$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,19.750,58.525,577.925,0.000,0.000,154.950,42.016,0.000,25.750,0.000,901.674,1768.534,765.788,593.565,2570.700,477.134,0.000,1337.711,0.000,1660.850,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,48.960,673.965,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.787,865.186,936.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323984
$DATA_FILE_SIZE,46910,754
$CAP_FILE_SIZE,78896,0
$CFSIZE,260165632,101175296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346,124.8,1
$GPS,100911,223531,1936.959,12129.130,901,99.0,901,-2.2