version: 66.08
glider: 167
mission: 6
dive: 341
start: 11 12 110 13 2 50
data:
$ID,167
$MISSION,6
$DIVE,341
$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,-54553.844
$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,45
$R_STBD_OVSHOOT,121
$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
$GPS1,121110,125519,2121.811,12601.548,11,1.8,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.1
$GPS2,121110,130222,2121.761,12601.567,12,2.2,31,-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,242.2,700,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.91,-103.1,0.0,0.0,0,83,0.00,0.00,-64.97,0.000,2,0.000,0.000,113,786,3267,0,0,0,0,0,0
$GC,86,-0.95,-137.0,5.1,-10.8,9,111,9.23,0.88,-5.75,0.000,4,0.220,0.073,2507,192,3593,0,0,0,0,0,0
$GC,350,-0.95,-137.0,102.9,-35.3,57,358,0.00,0.73,0.00,0.000,6,0.000,0.020,2504,835,3594,0,0,0,0,0,0
$GC,680,-0.95,-137.0,182.0,-19.2,118,689,0.00,1.77,0.00,0.000,4,0.000,0.016,2495,2139,3596,0,0,0,0,0,0
$GC,856,-0.95,-137.0,212.9,-17.3,148,864,0.00,2.08,0.00,0.000,6,0.000,0.031,2495,753,3597,0,0,0,0,0,0
$GC,1197,-0.95,-137.0,282.5,-19.6,209,1203,0.00,0.80,0.00,0.000,4,0.000,0.041,2496,192,3596,0,0,0,0,0,0
$GC,1288,-0.95,-137.0,302.6,-22.4,225,1295,0.00,0.60,0.00,0.000,6,0.000,0.023,2491,741,3597,0,0,0,0,0,0
$GC,1629,-0.95,-137.0,367.9,-17.0,286,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,741,3597,0,0,0,0,0,0
$GC,1974,-0.95,-137.0,425.9,-17.6,347,1980,0.00,0.80,0.00,0.000,4,0.000,0.041,2490,190,3597,0,0,0,0,0,0
$GC,2121,-0.95,-137.0,453.0,-17.2,373,2128,0.00,0.60,0.00,0.000,6,0.000,0.023,2487,716,3596,0,0,0,0,0,0
$STATE,2404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2404,begin apogee
$GC,2410,-0.14,0.0,500.6,16.0,424,2526,0.90,0.00,105.70,0.963,4,0.145,0.000,2766,995,3029,0,0,0,0,0,0
$STATE,2527,end apogee,CONTROL_FINISHED_OK
$STATE,2527,begin climb
$GC,2529,0.95,137.0,504.4,0.0,434,2644,1.00,1.98,104.05,0.945,4,0.060,0.018,3137,2361,2470,0,0,0,0,0,0
$GC,2896,0.96,145.7,465.0,13.1,489,2911,0.00,2.05,7.28,0.760,6,0.000,0.031,3146,994,2434,0,0,0,0,0,0
$GC,3248,0.97,148.9,414.1,13.6,551,3254,0.00,1.17,0.00,0.000,4,0.000,0.041,3153,195,2430,0,0,0,0,0,0
$GC,3486,0.97,148.9,378.6,14.9,594,3495,0.00,1.05,0.00,0.000,6,0.000,0.020,3153,1048,2428,0,0,0,0,0,0
$GC,3830,0.99,165.2,333.8,12.4,655,3850,0.00,1.33,15.48,0.832,4,0.000,0.041,3159,190,2355,0,0,0,0,0,0
$GC,3870,0.99,172.7,328.3,13.2,661,3885,0.00,1.05,7.38,0.730,6,0.000,0.020,3159,1024,2325,0,0,0,0,0,0
$GC,4222,0.99,172.7,278.2,14.4,723,4229,0.00,1.85,0.00,0.000,4,0.000,0.019,3159,2338,2320,0,0,0,0,0,0
$GC,4256,1.00,178.9,273.5,13.3,728,4270,0.00,1.98,6.07,0.673,6,0.000,0.032,3168,1032,2299,0,0,0,0,0,0
$GC,4605,1.01,188.7,227.2,13.0,790,4620,0.00,1.85,9.05,0.718,4,0.000,0.016,3168,2346,2258,0,0,0,0,0,0
$GC,4694,1.01,188.7,214.5,14.1,805,4701,0.00,1.95,0.00,0.000,6,0.000,0.031,3177,1041,2257,0,0,0,0,0,0
$GC,5038,1.01,188.7,162.8,15.3,866,5047,0.00,1.25,0.00,0.000,4,0.000,0.040,3183,192,2256,0,0,0,0,0,0
$GC,5185,1.06,222.7,146.2,10.8,891,5216,0.00,1.02,26.92,0.724,6,0.000,0.020,3183,1018,2120,0,0,0,0,0,0
$GC,5537,1.12,270.7,106.0,9.6,955,5582,0.00,1.25,37.55,0.689,4,0.000,0.037,3189,197,1924,0,0,0,0,0,0
$GC,5813,1.12,272.2,72.0,13.7,1004,5821,0.00,1.02,0.00,0.000,6,0.000,0.019,3187,1022,1920,0,0,0,0,0,0
$GC,6142,1.13,279.5,28.9,13.2,1065,6159,0.00,1.88,7.60,0.536,4,0.000,0.015,3189,2346,1890,0,0,0,0,0,0
$GC,6211,1.13,279.5,19.1,14.0,1076,6219,0.00,2.00,0.00,0.000,6,0.000,0.029,3198,1008,1889,0,0,0,0,0,0
$STATE,6330,end climb,SURFACE_DEPTH_REACHED
$STATE,6330,begin surface coast
$FINISH,0.6,1.022559
$STATE,6356,end surface coast,CONTROL_FINISHED_OK
$STATE,6356,begin surface
$SM_CCo,6373,98.05,0.545,1,0,1398,400.08
$SM_GC,1.48,0.00,0.00,98.05,0.000,0.000,0.545,126,786,1398,-8.43,-0.08,400.08
$IRIDIUM_FIX,2115.63,12602.66,121110,111103
$TT8_MAMPS,0.028462
$HUMID,40.11
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,24.6,63.202
$10V_AH,10.4,59.204
$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,19.000,33.450,327.075,98.050,0.000,31.069,40.820,163.809,0.000,0.000,33.222,2594.666,760.197,485.435,2725.140,335.165,0.000,1353.471,0.000,2496.001,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,72.675,963.135,545.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.909,1116.550,1768.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,63638,1102
$CAP_FILE_SIZE,93123,0
$CFSIZE,260165632,142999552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.011,144.1,1
$GPS,121110,145207,2121.449,12601.090,42,1.1,42,-2.9