version: 66.08
glider: 167
mission: 6
dive: 184
start: 10 14 110 22 46 28
data:
$ID,167
$MISSION,6
$DIVE,184
$N_DIVES,196
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$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,300
$T_MISSION,375
$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,-34501.512
$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,38
$R_STBD_OVSHOOT,162
$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
$GPS1,141010,223927,2304.604,12659.002,12,2.0,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.0
$GPS2,141010,224605,2304.668,12659.065,12,1.6,27,-3.4
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2100.000,12730.000
$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,204.9,237000,-15.8,-11.111
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,82,0.00,0.00,-62.03,0.000,2,0.000,0.000,113,791,3289,0,0,0,0,0,0
$GC,85,-0.72,-228.7,6.3,-15.0,9,110,9.65,0.93,-10.18,0.000,4,0.230,0.076,2583,178,3964,0,0,0,0,0,0
$GC,347,-0.72,-228.7,96.6,-22.8,57,355,0.00,0.70,0.00,0.000,6,0.000,0.021,2580,786,3967,0,0,0,0,0,0
$GC,675,-0.72,-228.7,167.5,-20.4,118,683,0.00,1.88,0.00,0.000,4,0.000,0.015,2571,2150,3968,0,0,0,0,0,0
$GC,694,-0.72,-228.7,171.2,-21.0,120,702,0.00,2.05,0.00,0.000,6,0.000,0.033,2571,781,3968,0,0,0,0,0,0
$GC,1028,-0.72,-228.7,240.4,-19.9,181,1034,0.00,1.85,0.00,0.000,4,0.000,0.015,2562,2155,3968,0,0,0,0,0,0
$GC,1141,-0.72,-228.7,257.7,-13.6,201,1147,0.00,2.03,0.00,0.000,6,0.000,0.032,2562,769,3969,0,0,0,0,0,0
$GC,1473,-0.72,-228.7,315.0,-17.6,262,1481,0.00,0.82,0.00,0.000,4,0.000,0.041,2562,190,3969,0,0,0,0,0,0
$GC,1619,-0.72,-228.7,343.4,-19.0,288,1628,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,783,3969,0,0,0,0,0,0
$GC,1956,-0.72,-228.7,404.0,-17.9,349,1962,0.00,0.85,0.00,0.000,4,0.000,0.041,2561,193,3969,0,0,0,0,0,0
$GC,2153,-0.72,-228.7,440.3,-17.6,385,2160,0.00,0.60,0.00,0.000,6,0.000,0.023,2560,735,3968,0,0,0,0,0,0
$GC,2484,-0.72,-228.7,493.5,-15.4,446,2492,0.00,0.80,0.00,0.000,4,0.000,0.043,2560,186,3967,0,0,0,0,0,0
$GC,2566,-0.72,-228.7,506.4,-15.5,457,2570,0.00,0.60,0.00,0.000,6,0.000,0.023,2560,718,3967,0,0,0,0,0,0
$GC,2897,-0.72,-228.7,551.9,-13.5,488,2899,0.10,0.00,0.00,0.000,6,0.177,0.000,2585,718,3965,0,0,0,0,0,0
$GC,3216,-0.72,-228.7,588.5,-11.0,518,3220,0.00,1.95,0.00,0.000,4,0.000,0.017,2585,2114,3963,0,0,0,0,0,0
$GC,3252,-0.72,-228.7,591.9,-9.5,521,3256,0.00,2.03,0.00,0.000,6,0.000,0.034,2585,745,3962,0,0,0,0,0,0
$GC,3581,-0.72,-228.7,624.5,-9.8,540,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,745,3960,0,0,0,0,0,0
$GC,3892,-0.72,-228.7,655.6,-10.1,555,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,745,3958,0,0,0,0,0,0
$GC,4201,-0.72,-228.7,685.7,-9.6,570,4205,0.00,1.95,0.00,0.000,4,0.000,0.018,2585,2108,3955,0,0,0,0,0,0
$GC,4248,-0.72,-228.7,689.7,-7.6,572,4252,0.00,2.05,0.00,0.000,6,0.000,0.036,2584,742,3954,0,0,0,0,0,0
$GC,4584,-0.72,-228.7,720.4,-9.3,588,4587,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2105,3951,0,0,0,0,0,0
$GC,4617,-0.72,-228.7,723.7,-9.1,589,4620,0.00,2.05,0.00,0.000,6,0.000,0.037,2586,744,3951,0,0,0,0,0,0
$GC,4939,-0.72,-228.7,754.5,-9.9,605,4943,0.00,1.95,0.00,0.000,4,0.000,0.018,2585,2102,3949,0,0,0,0,0,0
$GC,4968,-0.72,-228.7,757.3,-8.9,606,4972,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,749,3950,0,0,0,0,0,0
$GC,5296,-0.72,-228.7,788.7,-9.3,622,5299,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2102,3947,0,0,0,0,0,0
$GC,5335,-0.72,-228.7,792.1,-7.8,623,5342,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,751,3947,0,0,0,0,0,0
$GC,5653,-0.72,-228.7,818.4,-8.3,639,5656,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2102,3944,0,0,0,0,0,0
$GC,5699,-0.72,-228.7,821.9,-6.8,641,5703,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,767,3944,0,0,0,0,0,0
$GC,6034,-0.72,-228.7,847.9,-7.8,657,6037,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2099,3942,0,0,0,0,0,0
$GC,6089,-0.72,-228.7,852.2,-7.0,659,6093,0.00,2.03,0.00,0.000,6,0.000,0.038,2585,765,3941,0,0,0,0,0,0
$GC,6411,-0.72,-228.7,879.2,-8.6,675,6415,0.00,1.92,0.00,0.000,4,0.000,0.019,2585,2111,3940,0,0,0,0,0,0
$GC,6504,-0.72,-228.7,886.6,-9.1,679,6508,0.00,2.03,0.00,0.000,6,0.000,0.040,2585,768,3939,0,0,0,0,0,0
$GC,6837,-0.72,-228.7,917.4,-9.4,695,6841,0.00,1.92,0.00,0.000,4,0.000,0.019,2585,2096,3937,0,0,0,0,0,0
$GC,6895,-0.72,-228.7,922.3,-8.4,697,6898,0.00,1.98,0.00,0.000,6,0.000,0.039,2585,787,3936,0,0,0,0,0,0
$GC,7217,-0.72,-228.7,950.3,-8.6,713,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,787,3934,0,0,0,0,0,0
$GC,7526,-0.72,-228.7,976.3,-8.2,728,7530,0.00,1.90,0.00,0.000,4,0.000,0.020,2585,2101,3933,0,0,0,0,0,0
$GC,7597,-0.72,-228.7,981.3,-7.0,731,7600,0.00,2.00,0.00,0.000,6,0.000,0.039,2585,790,3932,0,0,0,0,0,0
$STATE,7844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7845,begin apogee
$GC,7851,-0.14,0.0,1001.1,7.8,743,8036,0.52,0.00,179.05,1.414,4,0.108,0.000,2769,940,3029,0,0,0,0,0,0
$STATE,8037,end apogee,CONTROL_FINISHED_OK
$STATE,8037,begin climb
$GC,8039,0.72,228.7,1009.2,0.0,751,8238,0.75,0.00,189.32,1.351,6,0.049,0.000,3058,940,2095,0,0,0,0,0,0
$GC,8546,0.72,228.7,925.8,20.4,776,8549,0.00,2.03,0.00,0.000,4,0.000,0.024,3058,2309,2087,0,0,0,0,0,0
$GC,8648,0.72,228.7,906.6,17.3,780,8651,0.00,2.03,0.00,0.000,6,0.000,0.037,3067,1003,2085,0,0,0,0,0,0
$GC,8969,0.72,228.7,846.1,18.9,796,8973,0.00,1.88,0.00,0.000,4,0.000,0.022,3067,2304,2085,0,0,0,0,0,0
$GC,9087,0.72,228.7,824.6,17.3,801,9091,0.00,1.98,0.00,0.000,6,0.000,0.037,3075,1014,2084,0,0,0,0,0,0
$GC,9415,0.72,228.7,762.5,18.7,817,9419,0.00,1.85,0.00,0.000,4,0.000,0.023,3075,2307,2084,0,0,0,0,0,0
$GC,9464,0.72,228.7,752.5,18.9,819,9469,0.08,1.98,0.00,0.000,6,0.168,0.037,3060,1026,2083,0,0,0,0,0,0
$GC,9793,0.72,228.7,694.2,17.8,835,9797,0.00,1.83,0.00,0.000,4,0.000,0.022,3060,2307,2082,0,0,0,0,0,0
$GC,9888,0.72,228.7,677.5,16.5,839,9892,0.00,1.95,0.00,0.000,6,0.000,0.038,3067,1043,2081,0,0,0,0,0,0
$GC,10217,0.72,228.7,621.5,17.1,855,10220,0.00,1.80,0.00,0.000,4,0.000,0.023,3067,2310,2081,0,0,0,0,0,0
$GC,10240,0.72,228.7,617.5,15.3,856,10244,0.00,1.92,0.00,0.000,6,0.000,0.037,3075,1056,2081,0,0,0,0,0,0
$GC,10573,0.72,228.7,564.3,16.3,881,10576,0.00,1.77,0.00,0.000,4,0.000,0.022,3075,2309,2080,0,0,0,0,0,0
$GC,10655,0.72,228.7,550.0,16.6,888,10663,0.00,1.90,0.00,0.000,6,0.000,0.038,3082,1072,2080,0,0,0,0,0,0
$GC,10985,0.72,228.7,494.9,17.9,921,10991,0.00,1.77,0.00,0.000,4,0.000,0.021,3083,2314,2080,0,0,0,0,0,0
$GC,11164,0.72,228.7,465.2,16.5,953,11172,0.12,1.88,0.00,0.000,6,0.179,0.037,3059,1073,2080,0,0,0,0,0,0
$GC,11506,0.72,228.7,417.2,13.5,1014,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1073,2080,0,0,0,0,0,0
$GC,11847,0.72,228.7,370.0,14.3,1075,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1073,2080,0,0,0,0,0,0
$GC,12183,0.72,228.7,323.5,12.6,1136,12191,0.00,1.77,0.00,0.000,4,0.000,0.020,3060,2311,2080,0,0,0,0,0,0
$GC,12253,0.72,228.7,314.5,12.5,1148,12261,0.00,1.88,0.00,0.000,6,0.000,0.036,3067,1079,2080,0,0,0,0,0,0
$GC,12595,0.72,228.7,269.4,12.6,1209,12602,0.00,1.33,0.00,0.000,4,0.000,0.044,3074,191,2080,0,0,0,0,0,0
$GC,12623,0.72,228.7,265.7,13.3,1213,12630,0.00,1.10,0.00,0.000,6,0.000,0.021,3074,1036,2081,0,0,0,0,0,0
$GC,12962,0.73,234.4,223.2,10.9,1274,12970,0.00,1.27,0.00,0.000,4,0.000,0.043,3080,187,2081,0,0,0,0,0,0
$GC,13028,0.73,234.4,214.4,12.5,1285,13036,0.00,1.17,4.03,0.543,6,0.000,0.021,3080,1099,2073,0,0,0,0,0,0
$GC,13372,0.73,239.4,174.6,10.9,1346,13386,0.00,1.80,6.12,0.630,4,0.000,0.020,3081,2356,2053,0,0,0,0,0,0
$GC,13584,0.75,256.2,149.3,10.6,1383,13607,0.00,1.92,15.00,0.710,6,0.000,0.034,3088,1085,1983,0,0,0,0,0,0
$GC,13930,0.79,288.3,110.9,10.1,1446,13961,0.00,1.40,26.73,0.695,4,0.000,0.043,3096,183,1852,0,0,0,0,0,0
$GC,14053,0.80,297.2,97.8,10.8,1466,14069,0.00,1.23,8.25,0.604,6,0.000,0.019,3095,1126,1816,0,0,0,0,0,0
$GC,14390,0.88,357.7,64.4,9.1,1528,14445,0.00,1.77,47.83,0.655,4,0.000,0.017,3095,2376,1569,0,0,0,0,0,0
$GC,14464,0.94,408.3,56.8,9.5,1538,14516,0.00,1.98,40.60,0.634,6,0.000,0.035,3099,1102,1365,0,0,0,0,0,0
$GC,14836,1.06,507.0,20.7,7.9,1605,14925,0.17,1.45,76.78,0.602,4,0.071,0.041,3191,184,960,0,0,0,0,0,0
$STATE,14944,end climb,SURFACE_DEPTH_REACHED
$STATE,14944,begin surface coast
$FINISH,0.5,0.997101
$STATE,14961,end surface coast,CONTROL_FINISHED_OK
$STATE,14962,begin surface
$SM_CCo,15040,0.00,0.000,0,0,956,508.26
$SM_GC,1.31,8.00,0.00,0.00,0.035,0.000,0.000,116,791,956,-8.35,0.03,508.26
$IRIDIUM_FIX,2255.72,12656.41,141010,202022
$TT8_MAMPS,0.027713
$HUMID,40.27
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,23.5,34.074
$10V_AH,10.4,30.358
$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,19.400,100.800,593.700,0.000,0.000,25.497,40.171,171.706,0.000,0.000,28.070,3947.695,6612.725,603.130,3798.836,471.381,0.000,2067.976,0.000,3574.246,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,76.500,1414.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.206,1661.508,1908.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333716
$DATA_FILE_SIZE,93595,1623
$CAP_FILE_SIZE,166907,0
$CFSIZE,260165632,157392896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,101.026,199.1,1
$GPS,141010,224605,2304.668,12659.065,901,99.0,901,-3.4