version: 66.08
glider: 167
mission: 6
dive: 186
start: 10 15 110 7 45 57
data:
$ID,167
$MISSION,6
$DIVE,186
$N_DIVES,199
$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,-38113.395
$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,40
$R_STBD_OVSHOOT,81
$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
$GPS1,151010,031543,2255.724,12701.561,0,10000.0,0,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.4
$GPS2,151010,031543,2255.724,12701.561,901,99.0,901,-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,215.5,219890,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,86,0.00,0.00,-66.25,0.000,2,0.000,0.000,105,775,3474,0,0,0,0,0,0
$GC,89,-0.72,-228.7,6.8,-15.0,9,114,9.70,2.00,-7.22,0.000,4,0.232,0.027,2569,2274,3962,0,0,0,0,0,0
$GC,290,-0.72,-228.7,65.6,-19.0,45,298,0.00,2.22,0.00,0.000,6,0.000,0.033,2570,791,3964,0,0,0,0,0,0
$GC,614,-0.72,-228.7,139.2,-21.7,106,623,0.00,0.85,0.00,0.000,4,0.000,0.042,2570,192,3965,0,0,0,0,0,0
$GC,784,-0.72,-228.7,180.1,-25.9,135,791,0.00,0.77,0.00,0.000,6,0.000,0.020,2565,880,3965,0,0,0,0,0,0
$GC,1121,-0.72,-228.7,252.6,-20.4,196,1129,0.00,1.00,0.00,0.000,4,0.000,0.040,2565,192,3965,0,0,0,0,0,0
$GC,1311,-0.72,-228.7,292.4,-19.2,229,1318,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,871,3964,0,0,0,0,0,0
$GC,1651,-0.72,-228.7,351.5,-15.6,290,1660,0.00,1.00,0.00,0.000,4,0.000,0.040,2561,186,3963,0,0,0,0,0,0
$GC,1912,-0.72,-228.7,397.6,-19.8,336,1920,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,831,3961,0,0,0,0,0,0
$GC,2253,-0.72,-228.7,452.9,-16.0,397,2260,0.00,0.93,0.00,0.000,4,0.000,0.041,2560,196,3959,0,0,0,0,0,0
$GC,2434,-0.72,-228.7,482.7,-15.8,429,2441,0.00,0.57,0.00,0.000,6,0.000,0.024,2557,701,3958,0,0,0,0,0,0
$GC,2764,-0.72,-228.7,529.8,-14.2,470,2768,0.12,2.00,0.00,0.000,4,0.171,0.017,2589,2092,3956,0,0,0,0,0,0
$GC,2837,-0.72,-228.7,537.3,-9.0,476,2843,0.00,2.08,0.00,0.000,6,0.000,0.035,2588,735,3955,0,0,0,0,0,0
$GC,3164,-0.72,-228.7,571.5,-9.7,507,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,735,3952,0,0,0,0,0,0
$GC,3492,-0.72,-228.7,599.2,-7.8,538,3495,0.00,0.77,0.00,0.000,4,0.000,0.045,2588,198,3949,0,0,0,0,0,0
$GC,3561,-0.72,-228.7,605.5,-9.4,542,3564,0.00,0.57,0.00,0.000,6,0.000,0.024,2589,683,3949,0,0,0,0,0,0
$GC,3895,-0.72,-228.7,636.4,-9.7,558,3899,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2107,3945,0,0,0,0,0,0
$GC,3951,-0.72,-228.7,641.6,-8.4,560,3955,0.00,2.08,0.00,0.000,6,0.000,0.036,2588,728,3944,0,0,0,0,0,0
$GC,4275,-0.72,-228.7,672.8,-9.9,576,4278,0.00,1.95,0.00,0.000,4,0.000,0.018,2588,2105,3941,0,0,0,0,0,0
$GC,4336,-0.72,-228.7,678.5,-8.7,578,4344,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,746,3941,0,0,0,0,0,0
$GC,4652,-0.72,-228.7,709.9,-10.1,594,4656,0.00,1.92,0.00,0.000,4,0.000,0.018,2588,2104,3937,0,0,0,0,0,0
$GC,4709,-0.72,-228.7,715.0,-8.2,596,4713,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,751,3938,0,0,0,0,0,0
$GC,5031,-0.72,-228.7,743.2,-8.3,612,5035,0.00,1.92,0.00,0.000,4,0.000,0.018,2588,2106,3935,0,0,0,0,0,0
$GC,5083,-0.72,-228.7,747.1,-7.7,614,5087,0.00,2.08,0.00,0.000,6,0.000,0.038,2588,741,3934,0,0,0,0,0,0
$GC,5406,-0.72,-228.7,774.2,-8.8,630,5410,0.00,1.95,0.00,0.000,4,0.000,0.018,2588,2110,3932,0,0,0,0,0,0
$GC,5456,-0.72,-228.7,778.6,-8.3,632,5460,0.00,2.05,0.00,0.000,6,0.000,0.039,2588,756,3929,0,0,0,0,0,0
$GC,5786,-0.72,-228.7,809.9,-9.7,648,5790,0.00,1.95,0.00,0.000,4,0.000,0.019,2588,2105,3928,0,0,0,0,0,0
$GC,5847,-0.72,-228.7,815.5,-8.9,650,5855,0.00,2.05,0.00,0.000,6,0.000,0.039,2587,759,3928,0,0,0,0,0,0
$GC,6165,-0.72,-228.7,843.3,-8.4,666,6169,0.00,1.95,0.00,0.000,4,0.000,0.019,2588,2104,3926,0,0,0,0,0,0
$GC,6215,-0.72,-228.7,847.2,-7.2,668,6218,0.00,2.05,0.00,0.000,6,0.000,0.039,2588,759,3925,0,0,0,0,0,0
$GC,6542,-0.72,-228.7,872.8,-7.6,684,6546,0.00,1.90,0.00,0.000,4,0.000,0.019,2588,2101,3923,0,0,0,0,0,0
$GC,6571,-0.72,-228.7,875.0,-7.1,685,6575,0.00,2.03,0.00,0.000,6,0.000,0.039,2588,775,3923,0,0,0,0,0,0
$GC,6899,-0.72,-228.7,899.1,-7.4,701,6903,0.00,1.92,0.00,0.000,4,0.000,0.020,2586,2099,3920,0,0,0,0,0,0
$GC,6937,-0.72,-228.7,901.8,-6.7,702,6945,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,774,3920,0,0,0,0,0,0
$GC,7255,-0.72,-228.7,925.0,-7.5,718,7259,0.00,1.92,0.00,0.000,4,0.000,0.020,2588,2096,3918,0,0,0,0,0,0
$GC,7310,-0.72,-228.7,929.2,-7.3,720,7314,0.00,2.03,0.00,0.000,6,0.000,0.040,2588,769,3917,0,0,0,0,0,0
$GC,7634,-0.72,-228.7,954.3,-7.9,736,7637,0.00,1.92,0.00,0.000,4,0.000,0.020,2587,2107,3915,0,0,0,0,0,0
$GC,7706,-0.72,-228.7,960.0,-7.6,739,7710,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,785,3916,0,0,0,0,0,0
$GC,8034,-0.72,-228.7,985.7,-7.8,755,8038,0.00,1.90,0.00,0.000,4,0.000,0.021,2587,2088,3914,0,0,0,0,0,0
$GC,8086,-0.72,-228.7,989.5,-6.9,757,8090,0.00,2.00,0.00,0.000,6,0.000,0.041,2587,787,3914,0,0,0,0,0,0
$STATE,8225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8225,begin apogee
$GC,8231,-0.14,0.0,1000.1,7.6,764,8415,0.52,0.00,176.82,1.412,4,0.108,0.000,2769,935,3029,0,0,0,0,0,0
$STATE,8416,end apogee,CONTROL_FINISHED_OK
$STATE,8416,begin climb
$GC,8418,0.72,228.7,1007.7,0.0,772,8618,0.75,1.23,191.48,1.350,4,0.048,0.050,3058,196,2095,0,0,0,0,0,0
$GC,8643,0.72,228.7,980.8,21.6,783,8647,0.00,1.08,0.00,0.000,6,0.000,0.024,3057,909,2091,0,0,0,0,0,0
$GC,8972,0.72,228.7,915.0,19.7,799,8976,0.00,2.05,0.00,0.000,4,0.000,0.024,3058,2296,2085,0,0,0,0,0,0
$GC,9185,0.72,228.7,875.4,18.0,808,9189,0.00,2.00,0.00,0.000,6,0.000,0.037,3066,1021,2082,0,0,0,0,0,0
$GC,9509,0.72,228.7,814.1,19.1,824,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1020,2082,0,0,0,0,0,0
$GC,9817,0.72,228.7,756.0,18.5,839,9821,0.00,1.90,0.00,0.000,4,0.000,0.024,3066,2305,2081,0,0,0,0,0,0
$GC,9939,0.72,228.7,733.9,17.3,844,9943,0.00,1.98,0.00,0.000,6,0.000,0.037,3074,1030,2080,0,0,0,0,0,0
$GC,10262,0.72,228.7,676.4,17.3,860,10266,0.00,1.88,0.00,0.000,4,0.000,0.023,3074,2307,2080,0,0,0,0,0,0
$GC,10333,0.72,228.7,664.8,15.4,863,10337,0.00,1.95,0.00,0.000,6,0.000,0.038,3082,1026,2080,0,0,0,0,0,0
$GC,10668,0.72,228.7,605.9,18.4,879,10671,0.00,1.83,0.00,0.000,4,0.000,0.022,3082,2315,2079,0,0,0,0,0,0
$GC,10725,0.72,228.7,595.4,17.7,882,10729,0.12,1.92,0.00,0.000,6,0.187,0.036,3060,1046,2079,0,0,0,0,0,0
$GC,11055,0.72,228.7,542.1,16.9,913,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1046,2079,0,0,0,0,0,0
$GC,11377,0.72,228.7,493.1,15.8,947,11383,0.00,1.80,0.00,0.000,4,0.000,0.022,3061,2314,2078,0,0,0,0,0,0
$GC,11459,0.72,228.7,481.4,14.1,961,11466,0.00,1.92,0.00,0.000,6,0.000,0.037,3067,1061,2078,0,0,0,0,0,0
$GC,11799,0.72,228.7,425.7,16.4,1022,11808,0.00,1.80,0.00,0.000,4,0.000,0.022,3066,2307,2077,0,0,0,0,0,0
$GC,11857,0.72,228.7,416.9,14.2,1031,11863,0.00,1.88,0.00,0.000,6,0.000,0.036,3075,1065,2078,0,0,0,0,0,0
$GC,12198,0.72,228.7,362.5,14.3,1092,12206,0.00,1.30,0.00,0.000,4,0.000,0.047,3080,198,2078,0,0,0,0,0,0
$GC,12264,0.72,228.7,352.4,14.9,1103,12271,0.00,1.05,0.00,0.000,6,0.000,0.025,3080,972,2078,0,0,0,0,0,0
$GC,12603,0.72,228.7,304.4,14.0,1164,12611,0.00,2.05,0.00,0.000,4,0.000,0.021,3080,2386,2078,0,0,0,0,0,0
$GC,12749,0.72,228.7,285.0,12.9,1189,12756,0.12,2.03,0.00,0.000,6,0.172,0.034,3056,1043,2078,0,0,0,0,0,0
$GC,13091,0.72,228.7,244.5,11.5,1250,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1043,2078,0,0,0,0,0,0
$GC,13436,0.72,228.7,203.2,11.9,1311,13442,0.00,1.92,0.00,0.000,4,0.000,0.019,3057,2398,2079,0,0,0,0,0,0
$GC,13531,0.75,252.4,191.7,10.3,1328,13554,0.00,2.08,18.00,0.763,6,0.000,0.035,3062,1039,1999,0,0,0,0,0,0
$GC,13892,0.75,252.4,151.0,11.1,1391,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1039,1996,0,0,0,0,0,0
$GC,14216,0.77,269.9,115.8,10.5,1452,14239,0.00,0.00,15.30,0.684,6,0.000,0.000,3062,1039,1927,0,0,0,0,0,0
$GC,14563,0.95,415.4,83.1,6.4,1515,14687,0.17,2.08,113.35,0.673,4,0.070,0.018,3144,2396,1335,0,0,0,0,0,0
$GC,14726,0.95,415.4,59.6,17.4,1538,14735,0.00,2.12,0.00,0.000,6,0.000,0.035,3149,1045,1330,0,0,0,0,0,0
$GC,15055,0.95,415.4,10.6,13.3,1599,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1044,1327,0,0,0,0,0,0
$STATE,15114,end climb,SURFACE_DEPTH_REACHED
$STATE,15114,begin surface coast
$FINISH,0.5,1.020174
$STATE,15142,end surface coast,CONTROL_FINISHED_OK
$STATE,15142,begin surface
$SM_CCo,15222,0.00,0.000,0,0,1324,418.24
$SM_GC,1.74,7.80,0.00,0.00,0.037,0.000,0.000,110,783,1324,-8.36,-0.20,418.24
$IRIDIUM_FIX,2253.38,12701.56,151010,030301
$TT8_MAMPS,0.028462
$HUMID,42.20
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,23.3,34.396
$10V_AH,10.4,30.784
$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,19.325,104.275,514.950,0.000,0.000,30.356,40.639,193.802,0.000,0.000,903.154,3956.319,6804.157,564.126,4736.196,471.783,0.000,2022.243,0.000,3590.372,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,60.435,1412.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.309,1651.156,1857.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333596
$DATA_FILE_SIZE,93414,1615
$CAP_FILE_SIZE,169285,0
$CFSIZE,260165632,157216768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,282.9,1
$GPS,151010,031801,2253.383,12701.561,0,10000.0,0,-3.4