version: 66.08
glider: 167
mission: 6
dive: 345
start: 11 12 110 20 49 38
data:
$ID,167
$MISSION,6
$DIVE,345
$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,-54558.871
$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,66
$R_STBD_OVSHOOT,150
$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
$GPS1,121110,204254,2120.898,12601.561,40,1.1,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.7
$GPS2,121110,204914,2120.857,12601.650,15,1.5,15,-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,307.5,1579,-19.1,-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,-0.81,-228.7,0.0,0.0,0,90,0.00,0.00,-70.78,0.000,2,0.000,0.000,109,754,3528,0,0,0,0,0,0
$GC,93,-0.81,-228.7,6.6,-14.6,10,117,9.48,0.77,-6.72,0.000,4,0.222,0.071,2550,196,3963,0,0,0,0,0,0
$GC,356,-0.81,-228.7,104.1,-33.2,58,364,0.00,0.68,0.00,0.000,6,0.000,0.020,2548,824,3965,0,0,0,0,0,0
$GC,689,-0.81,-228.7,179.0,-22.5,119,695,0.00,1.75,0.00,0.000,4,0.000,0.015,2538,2122,3966,0,0,0,0,0,0
$GC,851,-0.81,-228.7,206.4,-16.2,147,858,0.00,2.00,0.00,0.000,6,0.000,0.030,2538,765,3965,0,0,0,0,0,0
$GC,1194,-0.81,-228.7,274.3,-19.5,208,1202,0.00,0.82,0.00,0.000,4,0.000,0.041,2538,189,3967,0,0,0,0,0,0
$GC,1260,-0.81,-228.7,288.3,-21.4,219,1267,0.00,0.57,0.00,0.000,6,0.000,0.022,2534,729,3967,0,0,0,0,0,0
$GC,1600,-0.81,-228.7,350.8,-16.7,280,1608,0.00,1.92,0.00,0.000,4,0.000,0.016,2525,2107,3967,0,0,0,0,0,0
$GC,1636,-0.81,-228.7,355.7,-14.5,285,1643,0.12,2.00,0.00,0.000,6,0.155,0.031,2558,753,3967,0,0,0,0,0,0
$GC,1979,-0.81,-228.7,402.9,-13.5,346,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,753,3967,0,0,0,0,0,0
$GC,2321,-0.81,-228.7,449.7,-13.1,407,2328,0.00,1.88,0.00,0.000,4,0.000,0.017,2552,2103,3966,0,0,0,0,0,0
$GC,2359,-0.81,-228.7,454.1,-11.7,413,2365,0.00,2.00,0.00,0.000,6,0.000,0.031,2552,755,3966,0,0,0,0,0,0
$GC,2699,-0.81,-228.7,496.5,-13.0,474,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,755,3963,0,0,0,0,0,0
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2737,-0.14,0.0,500.4,12.6,479,2917,0.65,0.00,172.93,0.970,4,0.121,0.000,2769,968,3029,0,0,0,0,0,0
$STATE,2917,end apogee,CONTROL_FINISHED_OK
$STATE,2917,begin climb
$GC,2922,0.81,228.7,511.8,0.0,495,3104,0.82,0.00,172.75,0.949,6,0.058,0.000,3089,968,2095,0,0,0,0,0,0
$GC,3437,0.81,228.7,441.9,17.7,570,3445,0.00,1.98,0.00,0.000,4,0.000,0.020,3088,2337,2088,0,0,0,0,0,0
$GC,3470,0.81,228.7,436.2,17.1,575,3477,0.00,2.03,0.00,0.000,6,0.000,0.033,3097,988,2086,0,0,0,0,0,0
$GC,3810,0.81,228.7,382.0,15.4,636,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,987,2085,0,0,0,0,0,0
$GC,4156,0.83,245.7,331.4,13.2,697,4175,0.00,0.00,12.82,0.808,6,0.000,0.000,3097,987,2027,0,0,0,0,0,0
$GC,4510,0.84,252.0,280.6,13.6,760,4526,0.00,2.00,6.38,0.685,4,0.000,0.018,3097,2349,2001,0,0,0,0,0,0
$GC,4540,0.84,252.0,276.6,14.2,764,4549,0.00,2.08,0.00,0.000,6,0.000,0.033,3105,985,2000,0,0,0,0,0,0
$GC,4882,0.84,252.0,224.0,16.3,825,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,985,1998,0,0,0,0,0,0
$GC,5221,0.87,277.1,177.2,12.9,886,5249,0.00,1.20,21.05,0.738,4,0.000,0.041,3113,190,1898,0,0,0,0,0,0
$GC,5258,0.90,304.5,172.5,12.8,891,5288,0.00,1.02,23.30,0.724,6,0.000,0.020,3112,1002,1786,0,0,0,0,0,0
$GC,5615,0.95,341.0,124.5,12.4,955,5652,0.00,1.90,29.48,0.695,4,0.000,0.016,3112,2346,1638,0,0,0,0,0,0
$GC,5661,0.96,353.6,118.6,13.4,961,5677,0.00,2.10,11.48,0.634,6,0.000,0.033,3113,977,1587,0,0,0,0,0,0
$GC,5999,1.02,400.1,76.8,12.0,1023,6046,0.10,1.15,38.17,0.653,4,0.107,0.041,3173,198,1397,0,0,0,0,0,0
$GC,6287,1.02,400.1,26.4,18.6,1074,6295,0.00,0.98,0.00,0.000,6,0.000,0.019,3173,994,1393,0,0,0,0,0,0
$STATE,6438,end climb,SURFACE_DEPTH_REACHED
$STATE,6438,begin surface coast
$FINISH,0.5,1.010034
$STATE,6461,end surface coast,CONTROL_FINISHED_OK
$STATE,6461,begin surface
$SM_CCo,6539,0.00,0.000,0,0,1388,402.54
$SM_GC,1.52,7.80,0.00,0.00,0.038,0.000,0.000,119,769,1388,-8.35,-0.59,402.54
$IRIDIUM_FIX,2113.32,12602.66,121110,181817
$TT8_MAMPS,0.028462
$HUMID,43.66
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,24.6,63.656
$10V_AH,10.4,59.746
$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,18.975,31.275,488.350,0.000,0.000,28.447,21.530,161.871,0.000,0.000,16.408,2557.524,839.141,504.172,2680.749,328.709,0.000,1420.077,0.000,2493.907,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,71.145,970.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.077,1113.071,1722.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,63477,1106
$CAP_FILE_SIZE,93595,0
$CFSIZE,260165632,142770176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250,109.3,1
$GPS,121110,223947,2120.965,12601.786,13,3.5,32,-2.9