version: 66.09
glider: 167
mission: 7
dive: 6
start: 3 24 111 6 0 53
data:
$ID,167
$MISSION,7
$DIVE,6
$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,0
$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,90
$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,-55700.309
$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,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,75
$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
$GPS1,240311,055106,4742.945,-12226.080,15,1.2,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.7
$GPS2,240311,055956,4742.985,-12226.012,16,1.3,16,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,4742.985,-12209.961
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.259,-0.028
$KALMAN_X,-1839.3,-1342.4,-266.3,2534.8,-101.8
$KALMAN_Y,-934.0,-860.7,-216.8,2629.5,100.4
$MHEAD_RNG_PITCHd_Wd,71.8,20000,-18.2,-10.000
$D_GRID,180
$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,-0.77,-146.0,0.0,0.0,0,116,0.00,0.00,-96.28,0.000,2,0.000,0.000,131,2261,3857,0,0,0,0,0,0
$GC,120,-0.77,-146.0,5.6,-9.8,15,138,10.30,2.25,-1.17,0.000,4,0.264,0.045,2568,811,3924,0,0,0,0,0,0
$GC,390,-0.67,-146.0,69.9,-18.8,62,398,0.10,2.15,0.00,0.000,6,0.171,0.037,2590,2186,3925,0,0,0,0,0,0
$GC,537,-0.61,-146.0,92.3,-14.8,87,544,0.00,2.22,0.00,0.000,4,0.000,0.048,2581,3616,3924,0,0,0,0,0,0
$GC,586,-0.55,-146.0,100.4,-16.0,95,593,0.20,2.05,0.00,0.000,6,0.166,0.024,2635,2203,3925,0,0,0,0,0,0
$GC,729,-0.55,-146.0,116.8,-10.3,120,736,0.00,2.05,0.00,0.000,4,0.000,0.029,2636,825,3925,0,0,0,0,0,0
$GC,777,-0.58,-146.0,121.9,-10.6,128,786,0.00,2.15,0.00,0.000,6,0.000,0.037,2636,2215,3925,0,0,0,0,0,0
$GC,922,-0.58,-146.0,135.9,-9.4,153,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2216,3925,0,0,0,0,0,0
$GC,1065,-0.58,-146.0,150.9,-10.9,178,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2216,3925,0,0,0,0,0,0
$GC,1208,-0.58,-146.0,166.5,-11.6,203,1214,0.00,2.12,0.00,0.000,4,0.000,0.048,2628,3611,3924,0,0,0,0,0,0
$GC,1244,-0.58,-146.0,171.2,-11.6,209,1251,0.00,2.05,0.00,0.000,6,0.000,0.023,2628,2200,3925,0,0,0,0,0,0
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1331,-0.16,0.0,180.5,11.8,223,1443,0.40,0.00,107.82,0.849,4,0.151,0.000,2755,2309,3324,0,0,0,0,0,0
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1447,0.77,146.0,185.0,0.0,239,1573,0.95,2.17,110.10,0.808,4,0.109,0.031,3058,921,2726,0,0,0,0,0,0
$GC,1821,0.68,146.0,151.0,10.7,302,1829,0.00,2.15,0.00,0.000,6,0.000,0.036,3058,2285,2721,0,0,0,0,0,0
$GC,1966,0.57,157.6,136.7,9.5,327,1983,0.20,2.15,9.52,0.723,4,0.197,0.031,3015,916,2680,0,0,0,0,0,0
$GC,2228,0.62,221.8,118.2,7.1,373,2285,0.00,2.15,49.33,0.784,6,0.000,0.036,3015,2312,2418,0,0,0,0,0,0
$GC,2422,0.60,231.3,102.1,9.6,405,2437,0.00,2.22,8.38,0.689,4,0.000,0.047,3015,3706,2381,0,0,0,0,0,0
$GC,2462,0.60,231.3,96.7,12.4,411,2469,0.00,2.08,0.00,0.000,6,0.000,0.026,3024,2340,2380,0,0,0,0,0,0
$GC,2602,0.60,231.3,81.0,11.5,436,2610,0.00,2.20,0.00,0.000,4,0.000,0.048,3024,3706,2379,0,0,0,0,0,0
$GC,2640,0.57,231.3,76.2,12.5,442,2649,0.08,2.10,0.00,0.000,6,0.203,0.026,3011,2326,2378,0,0,0,0,0,0
$GC,2785,0.57,231.9,61.2,10.0,467,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2326,2378,0,0,0,0,0,0
$GC,2926,0.57,231.9,46.2,10.5,492,2934,0.00,2.20,0.00,0.000,4,0.000,0.048,3011,3704,2378,0,0,0,0,0,0
$GC,2947,0.57,231.9,43.6,10.7,495,2955,0.00,2.05,0.00,0.000,6,0.000,0.026,3018,2338,2378,0,0,0,0,0,0
$GC,3026,0.57,231.9,34.6,11.6,508,3034,0.00,2.15,0.00,0.000,4,0.000,0.034,3026,915,2378,0,0,0,0,0,0
$GC,3054,0.57,231.9,31.5,11.6,512,3062,0.00,2.17,0.00,0.000,6,0.000,0.034,3027,2320,2378,0,0,0,0,0,0
$GC,3130,0.57,231.9,21.4,13.3,525,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2320,2378,0,0,0,0,0,0
$GC,3208,0.57,231.9,12.3,12.0,538,3216,0.00,2.17,0.00,0.000,4,0.000,0.047,3026,3709,2377,0,0,0,0,0,0
$GC,3246,0.57,231.9,7.6,12.1,544,3255,0.10,2.08,0.00,0.000,6,0.187,0.026,3005,2326,2377,0,0,0,0,0,0
$STATE,3290,end climb,SURFACE_DEPTH_REACHED
$STATE,3290,begin surface coast
$FINISH,0.6,0.999857
$STATE,3319,end surface coast,CONTROL_FINISHED_OK
$STATE,3319,begin surface
$SM_CCo,3337,137.20,0.672,1,0,1693,400.08
$SM_GC,1.36,0.00,0.00,137.20,0.000,0.000,0.672,129,2175,1693,-8.40,-0.68,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12232.20,240311,040458
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.20
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.3,73.7
$24V_AH,24.2,0.955
$10V_AH,10.3,0.544
$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,20.125,47.400,285.150,137.200,0.000,29.402,29.736,282.913,1.250,0.000,17.369,1281.388,345.077,505.503,1477.429,408.539,33.329,1054.680,0.000,1278.704,0.000,10.352,0.000
$DEVICE_MAMPS,263.925,80.325,849.150,672.435,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.667,383.411,816.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,33480,556
$CAP_FILE_SIZE,69982,0
$CFSIZE,260165632,140488704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,316.5,1
$GPS,240311,065944,4743.126,-12225.692,9,1.5,9,18.2