version: 66.08
glider: 167
mission: 6
dive: 344
start: 11 12 110 18 55 19
data:
$ID,167
$MISSION,6
$DIVE,344
$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,-54557.617
$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,44
$R_STBD_OVSHOOT,122
$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
$GPS1,121110,184744,2121.160,12601.396,14,1.7,14,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.6
$GPS2,121110,185443,2121.138,12601.472,13,1.4,30,-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,308.9,976,-25.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.87,-124.8,0.0,0.0,0,84,0.00,0.00,-65.60,0.000,2,0.000,0.000,113,762,3280,0,0,0,0,0,0
$GC,87,-0.91,-159.7,5.1,-11.3,9,112,9.30,0.85,-7.00,0.000,4,0.220,0.070,2523,186,3681,0,0,0,0,0,0
$GC,349,-0.91,-159.7,97.9,-33.0,57,358,0.00,0.75,0.00,0.000,6,0.000,0.021,2519,876,3683,0,0,0,0,0,0
$GC,679,-0.91,-159.7,178.8,-21.3,118,687,0.00,1.00,0.00,0.000,4,0.000,0.038,2519,190,3685,0,0,0,0,0,0
$GC,933,-0.91,-159.7,238.9,-22.1,164,941,0.00,0.70,0.00,0.000,6,0.000,0.021,2514,821,3686,0,0,0,0,0,0
$GC,1267,-0.91,-159.7,301.3,-17.6,225,1274,0.00,0.93,0.00,0.000,4,0.000,0.041,2514,188,3686,0,0,0,0,0,0
$GC,1520,-0.91,-159.7,349.8,-19.7,271,1526,0.00,0.60,0.00,0.000,6,0.000,0.023,2510,735,3686,0,0,0,0,0,0
$GC,1851,-0.91,-159.7,409.0,-16.5,332,1859,0.00,0.77,0.00,0.000,4,0.000,0.041,2510,199,3686,0,0,0,0,0,0
$GC,2104,-0.91,-159.7,453.8,-16.8,378,2112,0.00,0.57,0.00,0.000,6,0.000,0.023,2507,716,3685,0,0,0,0,0,0
$STATE,2397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2397,begin apogee
$GC,2404,-0.14,0.0,500.8,15.7,432,2538,0.82,0.00,121.97,0.962,4,0.142,0.000,2765,979,3027,0,0,0,0,0,0
$STATE,2539,end apogee,CONTROL_FINISHED_OK
$STATE,2539,begin climb
$GC,2542,0.91,159.7,506.7,0.0,444,2673,0.90,2.00,120.55,0.945,4,0.054,0.018,3125,2349,2378,0,0,0,0,0,0
$GC,2687,0.92,170.7,499.0,13.1,457,2703,0.00,2.08,10.25,0.809,6,0.000,0.031,3135,996,2332,0,0,0,0,0,0
$GC,3030,0.92,170.7,442.3,16.3,519,3037,0.00,1.17,0.00,0.000,4,0.000,0.041,3141,196,2326,0,0,0,0,0,0
$GC,3066,0.92,170.7,435.8,17.2,525,3074,0.00,1.00,0.00,0.000,6,0.000,0.019,3141,1018,2326,0,0,0,0,0,0
$GC,3401,0.92,172.0,385.1,13.8,586,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1018,2322,0,0,0,0,0,0
$GC,3736,0.92,172.0,338.3,14.1,647,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1018,2320,0,0,0,0,0,0
$GC,4068,0.95,191.8,292.8,12.4,708,4090,0.00,1.83,15.32,0.804,4,0.000,0.018,3141,2320,2245,0,0,0,0,0,0
$GC,4158,0.95,192.1,281.5,13.9,723,4165,0.00,2.00,0.00,0.000,6,0.000,0.032,3150,986,2244,0,0,0,0,0,0
$GC,4495,0.95,196.5,233.5,13.6,784,4504,0.00,1.20,4.55,0.574,4,0.000,0.041,3156,196,2228,0,0,0,0,0,0
$GC,4627,0.95,196.5,215.2,15.1,807,4634,0.00,0.95,0.00,0.000,6,0.000,0.021,3156,967,2227,0,0,0,0,0,0
$GC,4956,0.97,212.3,171.2,12.7,868,4978,0.00,1.98,13.88,0.712,4,0.000,0.018,3156,2333,2162,0,0,0,0,0,0
$GC,5225,1.02,251.4,138.8,11.0,916,5263,0.00,2.12,31.33,0.714,6,0.000,0.031,3166,927,2003,0,0,0,0,0,0
$GC,5584,1.10,311.5,98.0,9.4,981,5637,0.00,2.10,47.03,0.677,4,0.000,0.017,3166,2345,1757,0,0,0,0,0,0
$GC,5873,1.11,326.7,61.0,12.8,1032,5897,0.00,2.20,12.93,0.601,6,0.000,0.031,3176,887,1695,0,0,0,0,0,0
$GC,6217,1.11,326.7,10.3,14.9,1095,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,886,1694,0,0,0,0,0,0
$STATE,6267,end climb,SURFACE_DEPTH_REACHED
$STATE,6267,begin surface coast
$FINISH,0.7,1.022537
$STATE,6290,end surface coast,CONTROL_FINISHED_OK
$STATE,6290,begin surface
$SM_CCo,6308,62.83,0.506,1,0,1397,400.08
$SM_GC,1.23,0.00,0.00,62.83,0.000,0.000,0.506,110,755,1397,-8.48,-1.02,400.08
$IRIDIUM_FIX,2115.63,12602.66,121110,161603
$TT8_MAMPS,0.028462
$HUMID,41.80
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.7,63.523
$10V_AH,10.4,59.613
$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,18.850,27.125,377.800,62.825,0.000,23.675,45.779,168.467,0.000,0.000,31.308,2597.810,661.188,476.858,2729.331,338.112,0.000,1361.048,0.000,2508.184,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,80.325,961.605,506.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.540,1123.287,1765.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,63580,1108
$CAP_FILE_SIZE,90827,0
$CFSIZE,260165632,142827520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.195, 97.4,1
$GPS,121110,204254,2120.898,12601.561,40,1.1,40,-2.9