version: 66.08
glider: 167
mission: 6
dive: 342
start: 11 12 110 14 58 50
data:
$ID,167
$MISSION,6
$DIVE,342
$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,-54555.102
$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,43
$R_STBD_OVSHOOT,154
$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
$GPS1,121110,145207,2121.449,12601.090,42,1.1,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.7
$GPS2,121110,145825,2121.402,12601.106,14,1.1,14,-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,24.4,401,-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,-103.1,0.0,0.0,0,84,0.00,0.00,-65.32,0.000,2,0.000,0.000,115,784,3292,0,0,0,0,0,0
$GC,88,-0.94,-131.4,5.0,-11.3,9,111,9.23,1.92,-4.82,0.000,4,0.220,0.031,2497,2163,3569,0,0,0,0,0,0
$GC,246,-0.94,-131.4,56.6,-28.4,37,254,0.00,2.08,0.00,0.000,6,0.000,0.031,2497,783,3571,0,0,0,0,0,0
$GC,569,-0.94,-131.4,153.3,-26.7,98,577,0.00,0.85,0.00,0.000,4,0.000,0.041,2497,188,3572,0,0,0,0,0,0
$GC,830,-0.94,-131.4,213.6,-23.0,144,839,0.00,0.65,0.00,0.000,6,0.000,0.021,2493,781,3574,0,0,0,0,0,0
$GC,1175,-0.94,-131.4,284.6,-19.9,205,1181,0.00,0.85,0.00,0.000,4,0.000,0.041,2493,193,3575,0,0,0,0,0,0
$GC,1433,-0.94,-131.4,338.3,-19.7,251,1439,0.00,0.60,0.00,0.000,6,0.000,0.022,2489,742,3574,0,0,0,0,0,0
$GC,1775,-0.94,-131.4,401.7,-17.0,312,1784,0.00,0.80,0.00,0.000,4,0.000,0.041,2488,190,3574,0,0,0,0,0,0
$GC,1992,-0.94,-131.4,442.5,-18.4,350,2000,0.08,0.60,0.00,0.000,6,0.169,0.022,2509,726,3574,0,0,0,0,0,0
$GC,2332,-0.94,-131.4,496.2,-15.3,411,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,727,3573,0,0,0,0,0,0
$STATE,2355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2356,begin apogee
$GC,2362,-0.14,0.0,500.1,15.7,415,2475,0.80,0.00,101.32,0.962,4,0.141,0.000,2765,988,3028,0,0,0,0,0,0
$STATE,2476,end apogee,CONTROL_FINISHED_OK
$STATE,2476,begin climb
$GC,2478,0.94,131.4,504.9,0.0,425,2587,0.93,2.00,99.65,0.940,4,0.054,0.018,3129,2357,2493,0,0,0,0,0,0
$GC,2832,0.95,134.1,469.9,13.6,478,2840,0.00,2.05,0.00,0.000,6,0.000,0.031,3139,1000,2486,0,0,0,0,0,0
$GC,3169,0.97,150.4,424.9,12.4,539,3191,0.00,1.92,14.30,0.855,4,0.000,0.017,3139,2340,2416,0,0,0,0,0,0
$GC,3436,0.98,160.7,389.3,13.0,587,3451,0.00,2.00,9.82,0.802,6,0.000,0.033,3148,992,2373,0,0,0,0,0,0
$GC,3781,0.98,162.8,340.2,13.7,649,3788,0.00,1.92,0.00,0.000,4,0.000,0.018,3148,2349,2368,0,0,0,0,0,0
$GC,3952,0.98,162.8,316.0,14.5,680,3960,0.00,2.08,0.00,0.000,6,0.000,0.033,3157,978,2367,0,0,0,0,0,0
$GC,4287,1.01,184.6,269.6,11.9,741,4315,0.00,1.17,18.80,0.802,4,0.000,0.044,3163,198,2275,0,0,0,0,0,0
$GC,4340,1.01,186.9,262.8,13.7,749,4348,0.00,1.02,0.00,0.000,6,0.000,0.019,3163,1020,2273,0,0,0,0,0,0
$GC,4675,1.01,188.6,215.5,13.7,810,4685,0.00,1.27,3.95,0.518,4,0.000,0.040,3170,190,2260,0,0,0,0,0,0
$GC,4725,1.02,192.4,208.9,13.5,818,4734,0.00,1.00,4.90,0.581,6,0.000,0.020,3170,995,2244,0,0,0,0,0,0
$GC,5067,1.05,215.9,169.1,11.8,879,5095,0.00,1.20,19.52,0.728,4,0.000,0.039,3175,198,2147,0,0,0,0,0,0
$GC,5336,1.05,217.6,131.6,13.7,928,5344,0.00,0.93,0.00,0.000,6,0.000,0.020,3175,953,2144,0,0,0,0,0,0
$GC,5661,1.16,310.0,105.6,5.6,989,5742,0.00,1.15,72.43,0.689,4,0.000,0.038,3181,201,1766,0,0,0,0,0,0
$GC,5941,1.16,310.0,71.8,14.6,1037,5950,0.00,0.85,0.00,0.000,6,0.000,0.020,3181,904,1760,0,0,0,0,0,0
$GC,6271,1.16,310.0,20.4,15.0,1098,6278,0.00,2.03,0.00,0.000,4,0.000,0.018,3181,2337,1759,0,0,0,0,0,0
$GC,6354,1.16,310.0,8.6,14.0,1113,6362,0.00,2.12,0.00,0.000,6,0.000,0.030,3190,922,1759,0,0,0,0,0,0
$STATE,6395,end climb,SURFACE_DEPTH_REACHED
$STATE,6395,begin surface coast
$FINISH,0.5,0.999892
$STATE,6417,end surface coast,CONTROL_FINISHED_OK
$STATE,6417,begin surface
$SM_CCo,6437,74.03,0.521,1,0,1398,400.08
$SM_GC,1.27,0.00,0.00,74.03,0.000,0.000,0.521,114,773,1398,-8.46,-0.48,400.08
$IRIDIUM_FIX,2113.32,12602.66,121110,121251
$TT8_MAMPS,0.028462
$HUMID,41.10
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,63.308
$10V_AH,10.4,59.340
$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,18.850,33.450,344.700,74.025,0.000,30.762,19.013,162.409,0.000,0.000,14.929,2630.159,724.132,475.365,2726.285,335.042,0.000,1363.665,0.000,2547.449,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,65.790,961.605,520.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.321,1139.577,1806.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63650,1124
$CAP_FILE_SIZE,93704,0
$CFSIZE,260165632,142942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,118.4,1
$GPS,121110,164834,2121.750,12601.415,10,3.2,29,-2.9