version: 66.08
glider: 167
mission: 6
dive: 343
start: 11 12 110 16 55 16
data:
$ID,167
$MISSION,6
$DIVE,343
$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,-54556.359
$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,52
$R_STBD_OVSHOOT,151
$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
$GPS1,121110,164834,2121.750,12601.415,10,3.2,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.0
$GPS2,121110,165450,2121.729,12601.459,15,1.1,15,-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,265.3,506,-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,15,begin dive
$GC,17,-0.91,-103.1,0.0,0.0,0,91,0.00,0.00,-69.25,0.000,6,0.000,0.000,113,772,3451,0,0,0,0,0,0
$GC,94,-0.91,-103.1,7.2,-17.1,10,109,9.23,0.80,0.00,0.000,4,0.217,0.026,2523,173,3453,0,0,0,0,0,0
$GC,349,-0.91,-103.1,97.9,-33.4,57,357,0.00,0.73,0.00,0.000,6,0.000,0.020,2519,821,3456,0,0,0,0,0,0
$GC,679,-0.91,-103.1,172.4,-20.6,118,687,0.00,0.90,0.00,0.000,4,0.000,0.040,2519,204,3458,0,0,0,0,0,0
$GC,938,-0.91,-103.1,224.5,-17.8,164,947,0.00,0.60,0.00,0.000,6,0.000,0.022,2515,755,3459,0,0,0,0,0,0
$GC,1284,-0.91,-103.1,283.7,-17.5,225,1291,0.00,0.80,0.00,0.000,4,0.000,0.041,2515,203,3459,0,0,0,0,0,0
$GC,1544,-0.91,-103.1,331.4,-17.3,271,1551,0.00,0.62,0.00,0.000,6,0.000,0.022,2511,766,3459,0,0,0,0,0,0
$GC,1885,-0.91,-103.1,385.4,-14.0,332,1894,0.00,0.82,0.00,0.000,4,0.000,0.042,2511,198,3459,0,0,0,0,0,0
$GC,2144,-0.91,-103.1,423.7,-14.3,378,2151,0.00,0.65,0.00,0.000,6,0.000,0.022,2507,771,3457,0,0,0,0,0,0
$GC,2487,-0.92,-109.2,472.7,-13.3,439,2494,0.00,0.82,0.00,0.000,4,0.000,0.042,2507,206,3456,0,0,0,0,0,0
$GC,2552,-0.92,-109.2,481.9,-14.8,450,2560,0.00,0.62,0.00,0.000,6,0.000,0.023,2505,760,3456,0,0,0,0,0,0
$STATE,2683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2690,-0.14,0.0,500.6,13.4,473,2778,0.82,0.00,80.43,0.965,4,0.148,0.000,2765,1011,3027,0,0,0,0,0,0
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin climb
$GC,2784,0.92,109.2,504.0,0.0,481,2878,0.90,1.95,84.28,0.946,4,0.058,0.018,3118,2346,2582,0,0,0,0,0,0
$GC,2892,0.99,165.7,499.0,8.8,491,2947,0.00,2.03,43.85,0.923,6,0.000,0.031,3128,1005,2351,0,0,0,0,0,0
$GC,3282,0.99,165.7,437.5,16.3,559,3288,0.00,1.88,0.00,0.000,4,0.000,0.019,3128,2330,2345,0,0,0,0,0,0
$GC,3330,0.99,165.7,429.6,15.4,567,3337,0.00,2.00,0.00,0.000,6,0.000,0.032,3137,1010,2344,0,0,0,0,0,0
$GC,3671,0.99,165.7,377.6,15.3,628,3680,0.00,1.90,0.00,0.000,4,0.000,0.018,3137,2334,2341,0,0,0,0,0,0
$GC,3716,0.99,165.7,371.2,14.0,635,3723,0.00,2.00,0.00,0.000,6,0.000,0.033,3146,1014,2341,0,0,0,0,0,0
$GC,4056,0.99,165.7,324.9,14.2,696,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1014,2338,0,0,0,0,0,0
$GC,4400,0.99,169.9,280.3,13.5,757,4407,0.00,1.85,0.00,0.000,4,0.000,0.018,3146,2332,2336,0,0,0,0,0,0
$GC,4463,0.99,169.9,271.5,14.3,768,4471,0.00,1.98,0.00,0.000,6,0.000,0.032,3155,1022,2336,0,0,0,0,0,0
$GC,4809,1.04,206.6,226.8,10.6,829,4843,0.00,1.27,29.77,0.786,4,0.000,0.042,3161,194,2186,0,0,0,0,0,0
$GC,5056,1.04,206.6,190.8,16.6,872,5064,0.00,1.02,0.00,0.000,6,0.000,0.019,3161,1024,2181,0,0,0,0,0,0
$GC,5397,1.04,211.5,145.1,13.4,933,5407,0.00,1.90,4.53,0.523,4,0.000,0.018,3161,2338,2166,0,0,0,0,0,0
$GC,5499,1.08,244.7,132.9,10.9,951,5537,0.00,2.00,27.45,0.706,6,0.000,0.031,3170,1012,2029,0,0,0,0,0,0
$GC,5859,1.14,289.9,95.4,9.8,1016,5905,0.00,1.92,35.60,0.672,4,0.000,0.017,3170,2334,1846,0,0,0,0,0,0
$GC,6120,1.17,313.3,65.1,11.8,1062,6144,0.00,2.00,19.27,0.625,6,0.000,0.031,3179,1008,1751,0,0,0,0,0,0
$GC,6465,1.17,313.3,18.4,14.6,1125,6473,0.00,1.20,0.00,0.000,4,0.000,0.041,3182,192,1747,0,0,0,0,0,0
$STATE,6565,end climb,SURFACE_DEPTH_REACHED
$STATE,6565,begin surface coast
$FINISH,0.5,1.010397
$STATE,6590,end surface coast,CONTROL_FINISHED_OK
$STATE,6590,begin surface
$SM_CCo,6609,78.12,0.526,1,0,1397,400.08
$SM_GC,1.32,0.00,0.00,78.12,0.000,0.000,0.526,114,762,1397,-8.46,-0.79,400.08
$IRIDIUM_FIX,2115.63,12602.66,121110,141440
$TT8_MAMPS,0.028462
$HUMID,41.84
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,63.409
$10V_AH,10.4,59.479
$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,18.775,35.150,325.175,78.125,0.000,24.419,17.574,163.839,0.000,0.000,16.358,2690.917,796.255,469.555,2761.419,347.496,0.000,1371.902,0.000,2591.729,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,44.370,964.665,526.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.970,1166.739,1842.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66888,1147
$CAP_FILE_SIZE,94886,0
$CFSIZE,260165632,142876672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,104.0,1
$GPS,121110,184744,2121.160,12601.396,14,1.7,14,-2.9