version: 66.08
glider: 167
mission: 6
dive: 346
start: 11 12 110 22 47 15
data:
$ID,167
$MISSION,6
$DIVE,346
$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,-54560.125
$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,54
$R_STBD_OVSHOOT,155
$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
$GPS1,121110,223947,2120.965,12601.786,13,3.5,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.7
$GPS2,121110,224649,2120.892,12601.916,14,1.7,31,-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,300.7,1801,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-228.7,0.0,0.0,0,84,0.00,0.00,-66.32,0.000,2,0.000,0.000,113,763,3325,0,0,0,0,0,0
$GC,87,-0.81,-228.7,5.3,-11.2,9,112,9.50,0.85,-10.68,0.000,4,0.223,0.078,2551,203,3964,0,0,0,0,0,0
$GC,351,-0.81,-228.7,97.1,-33.6,57,359,0.00,0.68,0.00,0.000,6,0.000,0.021,2548,820,3966,0,0,0,0,0,0
$GC,681,-0.81,-228.7,172.8,-22.1,118,690,0.00,0.90,0.00,0.000,4,0.000,0.041,2548,213,3968,0,0,0,0,0,0
$GC,941,-0.81,-228.7,230.4,-20.8,164,949,0.00,0.57,0.00,0.000,6,0.000,0.023,2544,754,3968,0,0,0,0,0,0
$GC,1286,-0.81,-228.7,295.0,-18.8,225,1293,0.00,0.80,0.00,0.000,4,0.000,0.042,2545,205,3968,0,0,0,0,0,0
$GC,1360,-0.81,-228.7,310.0,-19.2,238,1368,0.00,0.60,0.00,0.000,6,0.000,0.022,2540,765,3968,0,0,0,0,0,0
$GC,1705,-0.81,-228.7,372.7,-18.3,299,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,766,3968,0,0,0,0,0,0
$GC,2042,-0.81,-228.7,428.2,-15.3,360,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,766,3969,0,0,0,0,0,0
$GC,2384,-0.81,-228.7,477.5,-14.4,421,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,764,3968,0,0,0,0,0,0
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2570,-0.14,0.0,500.5,12.5,453,2751,0.70,0.00,173.32,0.965,4,0.126,0.000,2773,996,3028,0,0,0,0,0,0
$STATE,2752,end apogee,CONTROL_FINISHED_OK
$STATE,2752,begin climb
$GC,2756,0.81,228.7,509.0,0.0,469,2938,0.80,0.00,172.25,0.946,6,0.056,0.000,3086,996,2096,0,0,0,0,0,0
$GC,3272,0.81,228.7,440.6,16.8,546,3281,0.00,1.90,0.00,0.000,4,0.000,0.019,3086,2323,2088,0,0,0,0,0,0
$GC,3311,0.81,228.7,434.0,16.0,552,3319,0.00,2.00,0.00,0.000,6,0.000,0.033,3094,1005,2087,0,0,0,0,0,0
$GC,3654,0.81,228.7,381.3,14.3,613,3660,0.00,1.20,0.00,0.000,4,0.000,0.043,3101,196,2085,0,0,0,0,0,0
$GC,3693,0.81,228.7,375.3,15.6,619,3700,0.00,1.00,0.00,0.000,6,0.000,0.020,3100,1002,2085,0,0,0,0,0,0
$GC,4034,0.83,242.9,325.7,13.3,680,4056,0.00,1.92,10.90,0.795,4,0.000,0.020,3100,2327,2037,0,0,0,0,0,0
$GC,4075,0.83,247.4,319.8,13.7,686,4085,0.00,2.03,5.18,0.642,6,0.000,0.033,3109,996,2020,0,0,0,0,0,0
$GC,4419,0.83,247.4,266.5,16.9,747,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,996,2017,0,0,0,0,0,0
$GC,4758,0.84,249.7,215.5,13.8,808,4766,0.00,1.90,0.00,0.000,4,0.000,0.018,3109,2328,2016,0,0,0,0,0,0
$GC,4868,0.86,272.7,201.5,13.0,827,4897,0.00,1.98,20.90,0.757,6,0.000,0.032,3116,1006,1915,0,0,0,0,0,0
$GC,5232,0.86,272.7,149.2,15.4,891,5239,0.00,1.90,0.00,0.000,4,0.000,0.018,3116,2343,1912,0,0,0,0,0,0
$GC,5309,0.92,317.1,139.2,12.1,904,5354,0.00,2.03,36.35,0.715,6,0.000,0.032,3125,1004,1734,0,0,0,0,0,0
$GC,5672,1.03,405.7,94.4,10.3,970,5753,0.00,2.00,69.95,0.676,4,0.000,0.018,3126,2351,1374,0,0,0,0,0,0
$GC,5821,1.09,455.0,78.1,11.9,993,5868,0.08,2.15,39.62,0.645,6,0.060,0.033,3189,945,1174,0,0,0,0,0,0
$GC,6191,1.09,455.0,7.8,21.0,1059,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,946,1168,0,0,0,0,0,0
$STATE,6220,end climb,SURFACE_DEPTH_REACHED
$STATE,6220,begin surface coast
$FINISH,0.6,1.022542
$STATE,6238,end surface coast,CONTROL_FINISHED_OK
$STATE,6238,begin surface
$SM_CCo,6316,0.00,0.000,0,0,1166,457.24
$SM_GC,1.32,7.82,0.00,0.00,0.035,0.000,0.000,108,780,1166,-8.38,-0.28,457.24
$IRIDIUM_FIX,2113.32,12604.53,121110,202030
$TT8_MAMPS,0.028462
$HUMID,43.89
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,24.7,63.796
$10V_AH,10.3,59.876
$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,18.900,26.775,528.475,0.000,0.000,29.250,38.916,168.877,0.000,0.000,32.072,2451.524,796.510,522.627,2638.846,321.397,0.000,1425.297,0.000,2412.643,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,78.030,964.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.564,1074.923,1669.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,60281,1067
$CAP_FILE_SIZE,89465,0
$CFSIZE,260165632,142721024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.281,127.7,1
$GPS,131110,003337,2120.519,12601.811,31,1.0,31,-2.9