version: 66.09
glider: 167
mission: 7
dive: 5
start: 3 24 111 4 52 28
data:
$ID,167
$MISSION,7
$DIVE,5
$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,60
$T_MISSION,70
$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,1
$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,-55699.047
$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,2828
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$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,2280
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,40
$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
$GPS1,240311,044306,4742.640,-12226.356,11,1.3,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.7
$GPS2,240311,045132,4742.683,-12226.336,14,1.9,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.199,0.168
$KALMAN_X,-1442.3,-1230.2,-464.7,1824.0,-269.1
$KALMAN_Y,-793.8,-792.3,-376.6,2021.5,-77.8
$MHEAD_RNG_PITCHd_Wd,31.6,2957,-18.2,-10.000
$D_GRID,188
$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,15,begin dive
$GC,18,-0.72,-146.0,0.0,0.0,0,116,0.00,0.00,-94.93,0.000,2,0.000,0.000,124,2246,3810,0,0,0,0,0,0
$GC,119,-0.72,-146.0,5.2,-8.2,15,144,10.48,2.30,-2.17,0.000,4,0.265,0.057,2575,3680,3922,0,0,0,0,0,0
$GC,170,-0.43,-146.0,25.9,-39.5,22,179,0.38,2.10,0.00,0.000,6,0.164,0.024,2686,2278,3922,0,0,0,0,0,0
$GC,249,-0.51,-146.0,36.1,-8.9,35,258,0.00,2.08,0.00,0.000,4,0.000,0.029,2686,897,3923,0,0,0,0,0,0
$GC,343,-0.60,-146.0,45.3,-9.9,51,351,0.12,2.17,0.00,0.000,6,0.076,0.037,2627,2291,3923,0,0,0,0,0,0
$GC,419,-0.60,-146.0,56.0,-15.3,64,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2292,3923,0,0,0,0,0,0
$GC,562,-0.59,-146.0,76.8,-15.8,89,569,0.00,2.17,0.00,0.000,4,0.000,0.048,2618,3692,3922,0,0,0,0,0,0
$GC,599,-0.59,-146.0,83.4,-17.2,95,606,0.00,2.03,0.00,0.000,6,0.000,0.024,2618,2304,3923,0,0,0,0,0,0
$GC,741,-0.57,-146.0,105.3,-15.1,120,750,0.00,2.10,0.00,0.000,4,0.000,0.030,2618,888,3923,0,0,0,0,0,0
$GC,779,-0.57,-146.0,111.6,-16.5,126,787,0.08,2.15,0.00,0.000,6,0.177,0.037,2637,2279,3923,0,0,0,0,0,0
$GC,923,-0.57,-146.0,128.0,-10.7,151,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2280,3923,0,0,0,0,0,0
$GC,1065,-0.57,-146.0,143.9,-10.7,176,1073,0.00,2.10,0.00,0.000,4,0.000,0.030,2637,893,3922,0,0,0,0,0,0
$GC,1091,-0.57,-146.0,147.3,-12.3,180,1099,0.00,2.12,0.00,0.000,6,0.000,0.037,2637,2269,3923,0,0,0,0,0,0
$GC,1236,-0.57,-146.0,163.1,-12.0,205,1243,0.00,2.17,0.00,0.000,4,0.000,0.050,2628,3693,3923,0,0,0,0,0,0
$GC,1273,-0.57,-146.0,168.1,-12.2,211,1280,0.00,2.10,0.00,0.000,6,0.000,0.024,2627,2248,3923,0,0,0,0,0,0
$STATE,1377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1377,begin apogee
$GC,1383,-0.15,0.0,180.5,11.8,230,1497,0.45,0.00,107.28,0.850,4,0.145,0.000,2772,2245,3324,0,0,0,0,0,0
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1501,begin climb
$GC,1503,0.72,146.0,184.4,0.0,247,1621,0.85,0.00,109.68,0.810,6,0.105,0.000,3056,2244,2727,0,0,0,0,0,0
$GC,1760,0.60,146.0,164.1,11.1,289,1768,0.12,2.20,0.00,0.000,4,0.194,0.034,3036,818,2722,0,0,0,0,0,0
$GC,1803,0.53,146.0,159.3,10.6,296,1812,0.10,2.22,0.00,0.000,6,0.185,0.035,3007,2233,2722,0,0,0,0,0,0
$GC,1949,0.53,176.1,146.6,8.6,321,1978,0.00,2.25,23.55,0.778,4,0.000,0.047,3007,3611,2604,0,0,0,0,0,0
$GC,2019,0.46,176.1,138.3,13.3,332,2027,0.12,2.08,0.00,0.000,6,0.215,0.026,2984,2254,2602,0,0,0,0,0,0
$GC,2165,0.51,216.8,125.8,8.1,357,2206,0.00,0.00,31.33,0.779,6,0.000,0.000,2984,2252,2438,0,0,0,0,0,0
$GC,2341,0.56,226.2,110.1,9.6,387,2355,0.00,0.00,8.65,0.696,6,0.000,0.000,2984,2251,2400,0,0,0,0,0,0
$GC,2492,0.63,238.0,96.2,9.5,413,2513,0.15,2.20,10.60,0.718,4,0.112,0.048,3037,3605,2352,0,0,0,0,0,0
$GC,2526,0.60,238.0,92.0,10.6,418,2534,0.00,2.05,0.00,0.000,6,0.000,0.026,3046,2262,2352,0,0,0,0,0,0
$GC,2674,0.56,238.0,72.2,14.0,443,2681,0.15,2.12,0.00,0.000,4,0.202,0.047,3011,3601,2350,0,0,0,0,0,0
$GC,2691,0.53,238.0,69.4,14.0,445,2697,0.00,1.98,0.00,0.000,6,0.000,0.024,3016,2269,2350,0,0,0,0,0,0
$GC,2831,0.53,238.0,51.6,13.0,470,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2268,2350,0,0,0,0,0,0
$GC,2970,0.53,238.0,35.0,11.3,495,2979,0.00,2.17,0.00,0.000,4,0.000,0.035,3026,829,2350,0,0,0,0,0,0
$GC,2993,0.53,238.0,32.7,11.4,498,3001,0.00,2.20,0.00,0.000,6,0.000,0.034,3026,2260,2350,0,0,0,0,0,0
$GC,3070,0.53,238.0,24.2,11.2,511,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2260,2350,0,0,0,0,0,0
$GC,3148,0.54,245.4,16.1,9.7,524,3164,0.00,0.00,7.00,0.658,6,0.000,0.000,3026,2260,2322,0,0,0,0,0,0
$GC,3234,0.58,259.2,8.1,9.4,538,3249,0.00,0.00,11.77,0.699,6,0.000,0.000,3026,2260,2266,0,0,0,0,0,0
$STATE,3282,end climb,SURFACE_DEPTH_REACHED
$STATE,3283,begin surface coast
$FINISH,0.6,0.999854
$STATE,3310,end surface coast,CONTROL_FINISHED_OK
$STATE,3310,begin surface
$SM_CCo,3327,112.43,0.655,1,0,1693,400.08
$SM_GC,1.41,0.00,0.00,112.43,0.000,0.000,0.655,131,2261,1693,-8.43,-0.54,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12227.78,240311,030339
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.51
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,73.5
$24V_AH,24.3,0.844
$10V_AH,10.3,0.471
$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,20.900,47.075,309.850,112.425,0.000,23.877,34.064,262.765,1.000,0.000,15.375,1197.589,368.754,507.927,1462.851,421.836,33.308,1086.316,0.000,1285.566,0.000,8.772,0.000
$DEVICE_MAMPS,265.455,56.610,849.915,654.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.082,376.592,844.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322796
$DATA_FILE_SIZE,33587,551
$CAP_FILE_SIZE,73776,0
$CFSIZE,260165632,140525568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240311,055106,4742.945,-12226.080,15,1.2,31,18.2