version: 66.09
glider: 167
mission: 7
dive: 7
start: 3 24 111 7 9 36
data:
$ID,167
$MISSION,7
$DIVE,7
$N_DIVES,365
$D_SURF,3
$D_FLARE,5
$D_TGT,216
$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,90
$T_MISSION,95
$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,-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,-55701.562
$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,72
$R_STBD_OVSHOOT,34
$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
$GPS1,240311,065944,4743.126,-12225.692,9,1.5,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.2
$GPS2,240311,070838,4743.192,-12225.620,15,1.1,15,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,0.149
$KALMAN_X,-2425.5,-1380.2,-50.8,3436.0,-68.2
$KALMAN_Y,-781.3,-828.8,42.6,2562.9,437.7
$MHEAD_RNG_PITCHd_Wd,32.2,1662,-15.0,-8.000
$D_GRID,216
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.66,-146.0,0.0,0.0,0,117,0.00,0.00,-96.35,0.000,2,0.000,0.000,129,2176,3906,0,0,0,0,0,0
$GC,121,-0.66,-146.0,5.9,-10.7,15,138,10.45,2.12,-0.22,0.000,4,0.263,0.044,2594,796,3923,0,0,0,0,0,0
$GC,295,-0.57,-146.0,49.9,-16.0,45,305,0.12,2.20,0.00,0.000,6,0.163,0.037,2625,2198,3924,0,0,0,0,0,0
$GC,375,-0.51,-146.0,60.6,-13.0,58,383,0.00,2.22,0.00,0.000,4,0.000,0.048,2616,3603,3925,0,0,0,0,0,0
$GC,425,-0.46,-146.0,67.7,-14.3,66,434,0.15,2.08,0.00,0.000,6,0.147,0.023,2664,2202,3924,0,0,0,0,0,0
$GC,571,-0.46,-146.0,83.4,-10.0,91,578,0.00,2.03,0.00,0.000,4,0.000,0.031,2664,822,3925,0,0,0,0,0,0
$GC,612,-0.46,-146.0,88.2,-10.5,98,620,0.00,2.17,0.00,0.000,6,0.000,0.037,2657,2222,3925,0,0,0,0,0,0
$GC,754,-0.46,-146.0,100.3,-7.9,123,761,0.00,2.12,0.00,0.000,4,0.000,0.050,2656,3603,3925,0,0,0,0,0,0
$GC,815,-0.46,-146.0,105.0,-8.0,133,822,0.00,2.00,0.00,0.000,6,0.000,0.023,2656,2234,3925,0,0,0,0,0,0
$GC,959,-0.44,-146.0,114.9,-7.3,158,966,0.00,2.12,0.00,0.000,4,0.000,0.029,2656,808,3925,0,0,0,0,0,0
$GC,1004,-0.44,-146.0,119.2,-9.1,165,1014,0.00,2.20,0.00,0.000,6,0.000,0.037,2656,2231,3925,0,0,0,0,0,0
$GC,1154,-0.42,-146.0,134.6,-12.8,190,1162,0.00,2.15,0.00,0.000,4,0.000,0.050,2655,3604,3925,0,0,0,0,0,0
$GC,1212,-0.42,-146.0,141.6,-11.2,199,1219,0.00,1.98,0.00,0.000,6,0.000,0.024,2655,2251,3925,0,0,0,0,0,0
$GC,1352,-0.40,-146.0,162.9,-18.0,224,1361,0.10,2.15,0.00,0.000,4,0.181,0.031,2680,820,3925,0,0,0,0,0,0
$GC,1387,-0.42,-146.0,166.5,-11.1,229,1395,0.00,2.17,0.00,0.000,6,0.000,0.037,2679,2245,3925,0,0,0,0,0,0
$GC,1531,-0.45,-146.0,178.8,-9.1,254,1538,0.00,2.12,0.00,0.000,4,0.000,0.049,2670,3605,3925,0,0,0,0,0,0
$GC,1608,-0.49,-146.0,187.0,-11.1,267,1615,0.00,1.98,0.00,0.000,6,0.000,0.024,2670,2253,3925,0,0,0,0,0,0
$GC,1749,-0.51,-146.0,201.5,-10.3,292,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2251,3925,0,0,0,0,0,0
$STATE,1761,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1761,begin apogee
$GC,1767,-0.16,0.0,203.1,9.7,294,1880,0.28,0.00,108.25,0.866,4,0.142,0.000,2758,2305,3324,0,0,0,0,0,0
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1886,0.66,146.0,207.9,0.0,310,2004,0.75,0.00,110.68,0.825,6,0.083,0.000,3020,2305,2727,0,0,0,0,0,0
$GC,2141,0.55,146.0,190.4,10.9,351,2148,0.00,2.15,0.00,0.000,4,0.000,0.032,3030,913,2722,0,0,0,0,0,0
$GC,2301,0.46,146.0,174.5,9.7,379,2311,0.25,2.15,0.00,0.000,6,0.181,0.035,2965,2307,2721,0,0,0,0,0,0
$GC,2447,0.48,189.3,164.8,6.4,404,2490,0.00,2.28,33.05,0.806,4,0.000,0.049,2965,3696,2550,0,0,0,0,0,0
$GC,2532,0.45,189.3,157.7,8.8,417,2540,0.00,2.10,0.00,0.000,6,0.000,0.025,2973,2313,2549,0,0,0,0,0,0
$GC,2678,0.49,218.8,147.2,6.9,442,2706,0.00,0.00,23.38,0.786,6,0.000,0.000,2972,2312,2430,0,0,0,0,0,0
$GC,2840,0.50,226.8,134.9,7.7,470,2854,0.00,2.22,7.65,0.699,4,0.000,0.048,2973,3700,2398,0,0,0,0,0,0
$GC,2875,0.50,226.8,131.7,9.1,475,2882,0.00,2.12,0.00,0.000,6,0.000,0.027,2980,2304,2397,0,0,0,0,0,0
$GC,3014,0.50,226.8,118.7,8.4,500,3021,0.00,2.15,0.00,0.000,4,0.000,0.034,2988,898,2396,0,0,0,0,0,0
$GC,3041,0.50,226.8,116.4,8.1,504,3049,0.00,2.17,0.00,0.000,6,0.000,0.034,2988,2294,2396,0,0,0,0,0,0
$GC,3183,0.50,226.8,104.6,8.7,529,3191,0.00,2.20,0.00,0.000,4,0.000,0.049,2988,3711,2395,0,0,0,0,0,0
$GC,3211,0.48,226.8,101.6,9.9,533,3219,0.00,2.10,0.00,0.000,6,0.000,0.025,2995,2307,2395,0,0,0,0,0,0
$GC,3354,0.48,226.8,88.4,8.4,558,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2307,2395,0,0,0,0,0,0
$GC,3495,0.45,226.8,76.7,8.3,583,3501,0.12,0.00,0.00,0.000,6,0.215,0.000,2966,2307,2395,0,0,0,0,0,0
$GC,3639,0.52,264.0,67.3,6.6,608,3675,0.00,0.00,29.52,0.770,6,0.000,0.000,2967,2306,2246,0,0,0,0,0,0
$GC,3810,0.57,271.7,54.3,7.7,637,3824,0.00,0.00,6.70,0.656,6,0.000,0.000,2966,2306,2217,0,0,0,0,0,0
$GC,3964,0.63,277.8,42.2,7.8,663,3981,0.15,2.17,6.70,0.656,4,0.096,0.034,3028,896,2191,0,0,0,0,0,0
$GC,3990,0.65,277.8,39.5,8.7,666,3997,0.00,2.17,0.00,0.000,6,0.000,0.034,3027,2293,2190,0,0,0,0,0,0
$GC,4064,0.63,277.8,30.4,13.0,679,4072,0.00,2.22,0.00,0.000,4,0.000,0.048,3027,3697,2190,0,0,0,0,0,0
$GC,4108,0.59,277.8,23.9,14.9,686,4117,0.00,2.12,0.00,0.000,6,0.000,0.028,3029,2304,2190,0,0,0,0,0,0
$GC,4182,0.56,277.8,15.8,9.3,699,4190,0.00,2.12,0.00,0.000,4,0.000,0.034,3035,905,2189,0,0,0,0,0,0
$GC,4238,0.56,277.8,11.1,8.1,708,4249,0.10,2.10,0.00,0.000,6,0.155,0.034,3003,2262,2189,0,0,0,0,0,0
$GC,4317,0.63,306.4,5.7,6.9,721,4350,0.00,2.33,23.23,0.729,4,0.000,0.049,3003,3704,2072,0,0,0,0,0,0
$STATE,4355,end climb,SURFACE_DEPTH_REACHED
$STATE,4355,begin surface coast
$FINISH,0.5,0.999859
$STATE,4392,end surface coast,CONTROL_FINISHED_OK
$STATE,4395,begin surface
$SM_CCo,4415,76.03,0.630,1,0,1693,400.08
$SM_GC,1.41,0.00,0.00,76.03,0.000,0.000,0.630,129,2179,1693,-8.40,-0.59,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,4726.11,-12227.78,240311,050559
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.04
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.4,72.2
$24V_AH,24.2,1.069
$10V_AH,10.3,0.635
$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,20.400,73.125,349.150,76.025,0.000,30.037,34.233,280.940,1.250,0.000,16.709,1712.710,443.923,545.088,1828.397,508.216,33.336,1263.278,0.000,1662.204,0.000,10.352,0.000
$DEVICE_MAMPS,263.160,114.750,865.980,629.595,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.200,502.664,1064.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322808
$DATA_FILE_SIZE,43607,734
$CAP_FILE_SIZE,93197,0
$CFSIZE,260165632,140419072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,336.2,1
$GPS,240311,082554,4743.603,-12225.006,40,1.6,40,18.2