version: 66.08
glider: 167
mission: 6
dive: 188
start: 10 15 110 17 15 18
data:
$ID,167
$MISSION,6
$DIVE,188
$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,-41723.754
$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,43
$R_STBD_OVSHOOT,94
$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
$GPS1,151010,121818,2253.383,12700.151,0,10000.0,0,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.1
$GPS2,151010,121818,2253.383,12700.151,901,99.0,901,-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,214.6,216234,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,83,0.00,0.00,-64.25,0.000,2,0.000,0.000,112,782,3380,0,0,0,0,0,0
$GC,86,-0.72,-228.7,5.8,-12.7,9,111,9.52,0.82,-9.02,0.000,4,0.227,0.072,2579,188,3963,0,0,0,0,0,0
$GC,351,-0.72,-228.7,94.3,-24.2,57,358,0.00,0.77,0.00,0.000,6,0.000,0.021,2576,853,3965,0,0,0,0,0,0
$GC,680,-0.72,-228.7,165.7,-20.9,118,689,0.00,1.85,0.00,0.000,4,0.000,0.016,2567,2189,3966,0,0,0,0,0,0
$GC,880,-0.72,-228.7,202.7,-17.6,153,886,0.00,2.10,0.00,0.000,6,0.000,0.033,2567,771,3966,0,0,0,0,0,0
$GC,1220,-0.72,-228.7,271.5,-19.2,214,1229,0.00,0.82,0.00,0.000,4,0.000,0.041,2567,190,3965,0,0,0,0,0,0
$GC,1394,-0.72,-228.7,306.9,-20.2,244,1402,0.00,0.73,0.00,0.000,6,0.000,0.021,2563,845,3965,0,0,0,0,0,0
$GC,1735,-0.72,-228.7,372.4,-18.4,305,1742,0.00,0.95,0.00,0.000,4,0.000,0.041,2563,192,3963,0,0,0,0,0,0
$GC,1838,-0.72,-228.7,392.5,-18.7,323,1845,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,826,3962,0,0,0,0,0,0
$GC,2178,-0.72,-228.7,447.4,-16.2,384,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,825,3960,0,0,0,0,0,0
$GC,2521,-0.72,-228.7,497.6,-14.0,445,2528,0.00,0.93,0.00,0.000,4,0.000,0.042,2561,194,3958,0,0,0,0,0,0
$GC,2561,-0.72,-228.7,503.7,-14.9,450,2569,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,742,3958,0,0,0,0,0,0
$GC,2887,-0.72,-228.7,550.4,-14.6,481,2890,0.00,0.80,0.00,0.000,4,0.000,0.043,2561,193,3956,0,0,0,0,0,0
$GC,2966,-0.72,-228.7,562.3,-14.9,488,2970,0.00,0.62,0.00,0.000,6,0.000,0.023,2561,739,3955,0,0,0,0,0,0
$GC,3309,-0.72,-228.7,607.5,-12.3,517,3313,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2151,3952,0,0,0,0,0,0
$GC,3332,-0.72,-228.7,610.6,-11.7,518,3336,0.00,2.10,0.00,0.000,6,0.000,0.034,2561,746,3951,0,0,0,0,0,0
$GC,3661,-0.72,-228.7,650.0,-12.6,534,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,745,3948,0,0,0,0,0,0
$GC,3968,-0.72,-228.7,689.2,-12.5,549,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,746,3946,0,0,0,0,0,0
$GC,4278,-0.72,-228.7,726.2,-11.7,564,4281,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2130,3942,0,0,0,0,0,0
$GC,4307,-0.72,-228.7,729.3,-10.4,565,4311,0.00,2.10,0.00,0.000,6,0.000,0.037,2561,744,3942,0,0,0,0,0,0
$GC,4628,-0.72,-228.7,767.7,-12.6,581,4632,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2136,3939,0,0,0,0,0,0
$GC,4675,-0.72,-228.7,772.7,-10.0,583,4679,0.00,2.10,0.00,0.000,6,0.000,0.037,2561,740,3939,0,0,0,0,0,0
$GC,5011,-0.72,-228.7,809.6,-10.3,599,5014,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2122,3936,0,0,0,0,0,0
$GC,5083,-0.72,-228.7,816.5,-8.5,602,5087,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,757,3935,0,0,0,0,0,0
$GC,5412,-0.72,-228.7,848.2,-9.9,618,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,756,3933,0,0,0,0,0,0
$GC,5722,-0.72,-228.7,880.2,-10.3,633,5725,0.00,1.98,0.00,0.000,4,0.000,0.019,2560,2132,3928,0,0,0,0,0,0
$GC,5769,-0.72,-228.7,884.7,-9.1,635,5773,0.00,2.08,0.00,0.000,6,0.000,0.039,2561,769,3930,0,0,0,0,0,0
$GC,6098,-0.72,-228.7,918.2,-10.2,651,6102,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2125,3926,0,0,0,0,0,0
$GC,6154,-0.72,-228.7,923.9,-9.1,653,6158,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,762,3926,0,0,0,0,0,0
$GC,6478,-0.72,-228.7,955.9,-10.2,669,6482,0.00,1.98,0.00,0.000,4,0.000,0.020,2560,2120,3924,0,0,0,0,0,0
$GC,6527,-0.72,-228.7,960.8,-8.9,671,6531,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,777,3923,0,0,0,0,0,0
$GC,6856,-0.72,-228.7,993.9,-10.0,687,6859,0.00,1.95,0.00,0.000,4,0.000,0.020,2560,2129,3920,0,0,0,0,0,0
$GC,6913,-0.72,-228.7,999.1,-8.6,689,6917,0.00,2.08,0.00,0.000,6,0.000,0.040,2560,771,3920,0,0,0,0,0,0
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6929,-0.14,0.0,1000.0,8.7,690,7111,0.62,0.00,177.05,1.402,4,0.116,0.000,2771,957,3029,0,0,0,0,0,0
$STATE,7112,end apogee,CONTROL_FINISHED_OK
$STATE,7112,begin climb
$GC,7114,0.72,228.7,1007.6,0.0,698,7313,0.80,2.20,190.80,1.344,4,0.047,0.021,3068,2389,2096,0,0,0,0,0,0
$GC,7556,0.72,228.7,940.9,18.7,718,7563,0.00,2.20,0.00,0.000,6,0.000,0.037,3078,990,2087,0,0,0,0,0,0
$GC,7872,0.72,228.7,877.7,19.8,734,7875,0.00,1.20,0.00,0.000,4,0.000,0.047,3084,197,2086,0,0,0,0,0,0
$GC,8109,0.72,228.7,828.9,21.5,744,8113,0.08,1.12,0.00,0.000,6,0.182,0.025,3061,990,2084,0,0,0,0,0,0
$GC,8430,0.72,228.7,771.8,17.9,760,8433,0.00,2.03,0.00,0.000,4,0.000,0.024,3061,2388,2083,0,0,0,0,0,0
$GC,8560,0.72,228.7,749.9,15.9,765,8566,0.00,2.10,0.00,0.000,6,0.000,0.037,3069,1022,2082,0,0,0,0,0,0
$GC,8875,0.72,228.7,693.0,17.6,781,8879,0.00,2.03,0.00,0.000,4,0.000,0.023,3069,2414,2081,0,0,0,0,0,0
$GC,8966,0.72,228.7,677.0,17.2,785,8970,0.00,2.12,0.00,0.000,6,0.000,0.037,3078,1021,2081,0,0,0,0,0,0
$GC,9301,0.72,228.7,614.2,18.6,801,9305,0.00,2.00,0.00,0.000,4,0.000,0.024,3078,2399,2080,0,0,0,0,0,0
$GC,9373,0.72,228.7,600.3,18.2,804,9378,0.12,2.10,0.00,0.000,6,0.189,0.037,3054,1022,2080,0,0,0,0,0,0
$GC,9699,0.72,228.7,545.3,16.7,834,9703,0.00,2.00,0.00,0.000,4,0.000,0.023,3054,2399,2079,0,0,0,0,0,0
$GC,9734,0.72,228.7,539.3,18.1,837,9738,0.00,2.08,0.00,0.000,6,0.000,0.037,3062,1036,2079,0,0,0,0,0,0
$GC,10066,0.72,228.7,485.5,16.2,875,10073,0.00,1.27,0.00,0.000,4,0.000,0.047,3068,188,2079,0,0,0,0,0,0
$GC,10107,0.72,228.7,478.2,17.3,882,10116,0.00,1.20,0.00,0.000,6,0.000,0.024,3068,1070,2079,0,0,0,0,0,0
$GC,10452,0.72,228.7,425.6,13.9,943,10459,0.00,1.92,0.00,0.000,4,0.000,0.024,3068,2409,2079,0,0,0,0,0,0
$GC,10605,0.72,228.7,405.0,13.1,970,10614,0.00,2.08,0.00,0.000,6,0.000,0.036,3077,1054,2078,0,0,0,0,0,0
$GC,10950,0.72,228.7,348.5,17.5,1031,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1054,2078,0,0,0,0,0,0
$GC,11287,0.72,228.7,295.8,13.4,1092,11295,0.00,1.95,0.00,0.000,4,0.000,0.021,3077,2400,2078,0,0,0,0,0,0
$GC,11324,0.72,228.7,290.6,13.3,1098,11333,0.00,2.05,0.00,0.000,6,0.000,0.036,3083,1058,2078,0,0,0,0,0,0
$GC,11669,0.72,228.7,247.6,13.4,1159,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1058,2079,0,0,0,0,0,0
$GC,12007,0.72,228.7,201.5,13.5,1220,12015,0.00,1.30,0.00,0.000,4,0.000,0.044,3091,183,2080,0,0,0,0,0,0
$GC,12107,0.72,228.7,186.7,15.4,1237,12114,0.10,1.25,0.00,0.000,6,0.155,0.021,3058,1118,2080,0,0,0,0,0,0
$GC,12450,0.72,228.7,146.9,11.7,1298,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1118,2081,0,0,0,0,0,0
$GC,12776,0.87,348.6,114.7,7.2,1359,12874,0.12,1.50,91.40,0.708,4,0.085,0.042,3125,179,1605,0,0,0,0,0,0
$GC,12923,0.87,348.6,93.3,19.7,1380,12931,0.00,1.33,0.00,0.000,6,0.000,0.019,3125,1172,1602,0,0,0,0,0,0
$GC,13249,0.88,359.1,49.8,10.8,1441,13266,0.00,1.50,8.55,0.572,4,0.000,0.041,3132,166,1564,0,0,0,0,0,0
$GC,13395,0.88,359.1,28.8,13.3,1467,13403,0.00,1.27,0.00,0.000,6,0.000,0.018,3132,1138,1563,0,0,0,0,0,0
$STATE,13616,end climb,SURFACE_DEPTH_REACHED
$STATE,13616,begin surface coast
$FINISH,1.1,1.021777
$STATE,13644,end surface coast,CONTROL_FINISHED_OK
$STATE,13644,begin surface
$SM_CCo,13663,42.12,0.465,1,0,1398,400.08
$SM_GC,1.12,0.00,0.00,42.12,0.000,0.000,0.465,125,782,1398,-8.43,-0.23,400.08
$IRIDIUM_FIX,2251.04,12700.15,151010,121235
$TT8_MAMPS,0.028462
$HUMID,41.73
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.30
$XPDR_PINGS,1
$24V_AH,23.4,34.765
$10V_AH,10.3,31.217
$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,19.125,86.625,467.800,42.125,0.000,73.606,57.555,204.376,0.250,0.000,901.587,3707.868,5803.489,565.664,4618.412,476.508,0.000,1929.382,0.000,3414.580,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,71.910,1402.245,465.120,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.677,1550.406,1811.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333628
$DATA_FILE_SIZE,86939,1513
$CAP_FILE_SIZE,156862,0
$CFSIZE,260165632,157052928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,303.5,1
$GPS,151010,122035,2251.042,12700.151,0,10000.0,0,-3.4