version: 66.08
glider: 167
mission: 6
dive: 340
start: 11 12 110 11 10 16
data:
$ID,167
$MISSION,6
$DIVE,340
$N_DIVES,356
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,1090
$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,120
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-54552.586
$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,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,156
$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,3029
$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,-16.491346
$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,1
$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,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,121110,110325,2121.995,12600.900,41,1.5,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,121110,110950,2121.963,12600.896,14,1.5,14,-2.9
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,144.8,853,-28.2,-13.889
$D_GRID,1000
$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,-0.91,-103.1,0.0,0.0,0,87,0.00,0.00,-67.10,0.000,2,0.000,0.000,113,764,3356,0,0,0,0,0,0
$GC,90,-0.95,-139.8,5.3,-10.6,9,114,9.23,0.88,-4.30,0.000,4,0.218,0.073,2509,179,3604,0,0,0,0,0,0
$GC,352,-0.95,-139.8,101.3,-25.6,57,360,0.00,0.70,0.00,0.000,6,0.000,0.021,2505,790,3606,0,0,0,0,0,0
$GC,681,-0.95,-139.8,177.5,-23.1,118,689,0.00,0.85,0.00,0.000,4,0.000,0.041,2506,203,3608,0,0,0,0,0,0
$GC,934,-0.95,-139.8,233.4,-21.8,164,942,0.00,0.60,0.00,0.000,6,0.000,0.022,2501,751,3609,0,0,0,0,0,0
$GC,1272,-0.95,-139.8,296.0,-18.5,225,1278,0.00,0.80,0.00,0.000,4,0.000,0.041,2501,199,3610,0,0,0,0,0,0
$GC,1525,-0.95,-139.8,342.3,-17.9,271,1532,0.00,0.60,0.00,0.000,6,0.000,0.022,2497,733,3610,0,0,0,0,0,0
$GC,1862,-0.95,-139.8,397.5,-16.8,332,1869,0.00,0.77,0.00,0.000,4,0.000,0.041,2497,199,3610,0,0,0,0,0,0
$GC,2112,-0.95,-139.8,439.1,-16.0,378,2120,0.00,0.60,0.00,0.000,6,0.000,0.023,2494,725,3608,0,0,0,0,0,0
$GC,2451,-0.95,-139.8,492.0,-16.7,439,2458,0.00,0.77,0.00,0.000,4,0.000,0.042,2494,193,3607,0,0,0,0,0,0
$STATE,2501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2501,begin apogee
$GC,2510,-0.14,0.0,500.8,16.6,448,2628,0.90,0.00,107.90,0.969,4,0.146,0.000,2772,1009,3028,0,0,0,0,0,0
$STATE,2629,end apogee,CONTROL_FINISHED_OK
$STATE,2629,begin climb
$GC,2632,0.95,139.8,506.8,0.0,459,2750,0.98,2.00,106.22,0.950,4,0.058,0.018,3136,2367,2457,0,0,0,0,0,0
$GC,2755,1.01,184.6,502.3,9.9,469,2798,0.00,2.10,35.55,0.913,6,0.000,0.031,3146,1007,2275,0,0,0,0,0,0
$GC,3123,1.01,184.6,436.7,18.6,534,3131,0.00,1.95,0.00,0.000,4,0.000,0.020,3146,2354,2269,0,0,0,0,0,0
$GC,3144,1.01,184.6,433.2,17.7,537,3151,0.00,2.05,0.00,0.000,6,0.000,0.031,3155,986,2269,0,0,0,0,0,0
$GC,3478,1.01,184.6,373.8,16.8,598,3486,0.00,1.15,0.00,0.000,4,0.000,0.041,3161,199,2266,0,0,0,0,0,0
$GC,3505,1.01,184.6,369.2,18.2,602,3513,0.00,1.05,0.00,0.000,6,0.000,0.021,3161,1013,2265,0,0,0,0,0,0
$GC,3839,1.01,184.6,312.4,15.9,663,3847,0.00,1.23,0.00,0.000,4,0.000,0.041,3167,192,2264,0,0,0,0,0,0
$GC,3912,1.01,184.6,300.4,16.2,676,3920,0.00,1.02,0.00,0.000,6,0.000,0.021,3167,980,2263,0,0,0,0,0,0
$GC,4246,1.01,184.6,251.4,14.4,737,4252,0.00,1.17,0.00,0.000,4,0.000,0.041,3173,195,2262,0,0,0,0,0,0
$GC,4315,1.01,184.6,240.3,16.5,749,4322,0.00,1.05,0.00,0.000,6,0.000,0.021,3173,1003,2261,0,0,0,0,0,0
$GC,4647,1.01,188.4,191.7,13.6,810,4655,0.00,1.95,0.00,0.000,4,0.000,0.021,3173,2359,2260,0,0,0,0,0,0
$GC,4682,1.01,188.4,187.1,14.3,815,4690,0.12,2.03,0.00,0.000,6,0.194,0.031,3151,998,2260,0,0,0,0,0,0
$GC,5014,1.06,223.3,150.7,10.7,876,5051,0.00,1.20,28.20,0.724,4,0.000,0.042,3157,206,2118,0,0,0,0,0,0
$GC,5146,1.09,252.9,135.9,11.2,898,5177,0.00,1.02,23.85,0.699,6,0.000,0.022,3157,992,1997,0,0,0,0,0,0
$GC,5499,1.15,300.8,95.4,9.6,962,5546,0.10,0.00,38.17,0.673,6,0.099,0.000,3207,992,1800,0,0,0,0,0,0
$GC,5867,1.15,300.8,42.1,14.9,1028,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,992,1795,0,0,0,0,0,0
$STATE,6114,end climb,SURFACE_DEPTH_REACHED
$STATE,6114,begin surface coast
$FINISH,0.4,1.009517
$STATE,6131,end surface coast,CONTROL_FINISHED_OK
$STATE,6131,begin surface
$SM_CCo,6149,80.78,0.533,1,0,1398,400.08
$SM_GC,1.34,0.00,0.00,80.78,0.000,0.000,0.533,120,792,1398,-8.45,0.06,400.08
$IRIDIUM_FIX,2122.58,12610.50,121110,090929
$TT8_MAMPS,0.028462
$HUMID,41.45
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.6,63.095
$10V_AH,10.4,59.069
$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,19.225,28.825,339.900,80.775,0.000,31.129,19.824,166.884,0.000,0.000,14.928,2523.401,650.319,487.087,2623.628,333.532,0.000,1347.898,0.000,2436.842,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,72.675,969.255,533.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.661,1089.805,1715.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,63533,1077
$CAP_FILE_SIZE,90443,0
$CFSIZE,260165632,143056896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,358.4,1
$GPS,121110,125519,2121.811,12601.548,11,1.8,28,-2.9