version: 66.08
glider: 167
mission: 6
dive: 189
start: 10 15 110 21 43 52
data:
$ID,167
$MISSION,6
$DIVE,189
$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,-42628.988
$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,42
$R_STBD_OVSHOOT,72
$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
$GPS1,151010,122035,2251.042,12700.151,0,10000.0,0,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.2
$GPS2,151010,214327,2259.988,12658.764,837,99.0,856,-3.3
$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,153.1,228686,-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,16,-0.72,-228.7,0.0,0.0,0,84,0.00,0.00,-65.82,0.000,2,0.000,0.000,112,779,3403,0,0,0,0,0,0
$GC,87,-0.72,-228.7,5.9,-12.3,9,112,9.50,0.82,-8.57,0.000,4,0.226,0.069,2581,180,3964,0,0,0,0,0,0
$GC,353,-0.72,-228.7,98.1,-27.9,57,361,0.00,0.82,0.00,0.000,6,0.000,0.020,2577,895,3965,0,0,0,0,0,0
$GC,682,-0.72,-228.7,172.9,-22.6,118,691,0.00,1.02,0.00,0.000,4,0.000,0.039,2577,190,3966,0,0,0,0,0,0
$GC,943,-0.72,-228.7,237.6,-24.1,164,951,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,905,3966,0,0,0,0,0,0
$GC,1287,-0.72,-228.7,301.3,-16.0,225,1293,0.00,1.05,0.00,0.000,4,0.000,0.040,2574,186,3966,0,0,0,0,0,0
$GC,1545,-0.72,-228.7,349.0,-17.4,271,1551,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,889,3965,0,0,0,0,0,0
$GC,1886,-0.72,-228.7,404.3,-15.9,332,1894,0.00,1.02,0.00,0.000,4,0.000,0.041,2574,189,3961,0,0,0,0,0,0
$GC,1923,-0.72,-228.7,410.3,-16.9,338,1932,0.00,0.77,0.00,0.000,6,0.000,0.021,2571,871,3962,0,0,0,0,0,0
$GC,2266,-0.72,-228.7,462.1,-14.0,399,2272,0.00,1.00,0.00,0.000,4,0.000,0.041,2571,190,3960,0,0,0,0,0,0
$GC,2304,-0.72,-228.7,467.5,-13.2,405,2311,0.00,0.77,0.00,0.000,6,0.000,0.021,2570,867,3959,0,0,0,0,0,0
$GC,2640,-0.72,-228.7,511.3,-12.6,458,2644,0.00,1.00,0.00,0.000,4,0.000,0.041,2570,189,3957,0,0,0,0,0,0
$GC,2712,-0.72,-228.7,521.8,-14.2,464,2719,0.00,0.77,0.00,0.000,6,0.000,0.021,2567,845,3956,0,0,0,0,0,0
$GC,3038,-0.72,-228.7,564.0,-12.9,495,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,846,3954,0,0,0,0,0,0
$GC,3359,-0.72,-228.7,603.3,-12.3,524,3363,0.00,0.95,0.00,0.000,4,0.000,0.043,2567,198,3951,0,0,0,0,0,0
$GC,3436,-0.72,-228.7,613.7,-13.2,527,3440,0.00,0.75,0.00,0.000,6,0.000,0.022,2563,817,3951,0,0,0,0,0,0
$GC,3760,-0.72,-228.7,655.0,-13.1,543,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,817,3948,0,0,0,0,0,0
$GC,4068,-0.72,-228.7,693.6,-12.0,558,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,818,3945,0,0,0,0,0,0
$GC,4377,-0.72,-228.7,730.6,-11.6,573,4380,0.00,0.93,0.00,0.000,4,0.000,0.044,2563,196,3942,0,0,0,0,0,0
$GC,4456,-0.72,-228.7,740.4,-11.8,576,4460,0.00,0.68,0.00,0.000,6,0.000,0.024,2562,738,3941,0,0,0,0,0,0
$GC,4778,-0.72,-228.7,778.2,-11.7,592,4781,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2137,3938,0,0,0,0,0,0
$GC,4805,-0.72,-228.7,781.4,-11.2,593,4809,0.00,2.08,0.00,0.000,6,0.000,0.036,2562,765,3938,0,0,0,0,0,0
$GC,5134,-0.72,-228.7,820.1,-12.0,609,5138,0.00,0.82,0.00,0.000,4,0.000,0.046,2561,199,3935,0,0,0,0,0,0
$GC,5225,-0.72,-228.7,831.7,-12.9,613,5228,0.00,0.68,0.00,0.000,6,0.000,0.024,2561,738,3934,0,0,0,0,0,0
$GC,5558,-0.72,-228.7,869.3,-11.0,629,5562,0.00,2.00,0.00,0.000,4,0.000,0.020,2561,2146,3932,0,0,0,0,0,0
$GC,5642,-0.72,-228.7,877.8,-9.7,632,5649,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,760,3930,0,0,0,0,0,0
$GC,5960,-0.72,-228.7,911.5,-10.7,648,5964,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2133,3928,0,0,0,0,0,0
$GC,6016,-0.72,-228.7,917.2,-9.1,650,6020,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,772,3928,0,0,0,0,0,0
$GC,6338,-0.72,-228.7,948.0,-9.3,666,6341,0.00,1.98,0.00,0.000,4,0.000,0.020,2561,2140,3925,0,0,0,0,0,0
$GC,6364,-0.72,-228.7,950.2,-9.0,667,6368,0.00,2.08,0.00,0.000,6,0.000,0.040,2561,767,3925,0,0,0,0,0,0
$GC,6698,-0.72,-228.7,979.0,-8.3,683,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,766,3923,0,0,0,0,0,0
$STATE,6962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6962,begin apogee
$GC,6970,-0.14,0.0,1001.4,8.6,696,7153,0.62,0.00,178.07,1.405,4,0.117,0.000,2772,973,3029,0,0,0,0,0,0
$STATE,7154,end apogee,CONTROL_FINISHED_OK
$STATE,7154,begin climb
$GC,7158,0.72,228.7,1009.0,0.0,704,7355,0.75,0.00,189.50,1.346,6,0.048,0.000,3061,973,2096,0,0,0,0,0,0
$GC,7663,0.72,228.7,930.2,19.5,729,7667,0.00,2.08,0.00,0.000,4,0.000,0.023,3062,2375,2087,0,0,0,0,0,0
$GC,7775,0.72,228.7,909.4,19.2,734,7779,0.00,2.10,0.00,0.000,6,0.000,0.036,3070,1006,2085,0,0,0,0,0,0
$GC,8104,0.72,228.7,846.4,19.1,750,8108,0.00,2.00,0.00,0.000,4,0.000,0.023,3070,2372,2085,0,0,0,0,0,0
$GC,8209,0.72,228.7,826.5,18.6,754,8217,0.00,2.05,0.00,0.000,6,0.000,0.037,3080,1020,2084,0,0,0,0,0,0
$GC,8526,0.72,228.7,767.5,18.9,770,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1020,2084,0,0,0,0,0,0
$GC,8837,0.72,228.7,710.4,18.6,785,8841,0.00,1.95,0.00,0.000,4,0.000,0.025,3079,2367,2082,0,0,0,0,0,0
$GC,8870,0.72,228.7,703.7,17.6,786,8875,0.10,2.08,0.00,0.000,6,0.163,0.036,3058,1023,2082,0,0,0,0,0,0
$GC,9191,0.72,228.7,650.2,16.7,802,9195,0.00,1.95,0.00,0.000,4,0.000,0.023,3058,2377,2082,0,0,0,0,0,0
$GC,9292,0.72,228.7,633.8,16.6,806,9296,0.00,2.03,0.00,0.000,6,0.000,0.037,3066,1033,2081,0,0,0,0,0,0
$GC,9618,0.72,228.7,579.7,15.8,827,9621,0.00,1.92,0.00,0.000,4,0.000,0.024,3066,2369,2080,0,0,0,0,0,0
$GC,9721,0.72,228.7,564.0,15.6,836,9725,0.00,2.03,0.00,0.000,6,0.000,0.037,3074,1023,2080,0,0,0,0,0,0
$GC,10052,0.72,228.7,511.6,16.1,867,10056,0.00,1.98,0.00,0.000,4,0.000,0.023,3073,2375,2079,0,0,0,0,0,0
$GC,10184,0.72,228.7,491.9,15.2,883,10191,0.00,1.98,0.00,0.000,6,0.000,0.037,3081,1061,2079,0,0,0,0,0,0
$GC,10526,0.72,228.7,434.9,15.9,944,10534,0.00,1.92,0.00,0.000,4,0.000,0.024,3080,2376,2079,0,0,0,0,0,0
$GC,10592,0.72,228.7,424.7,14.6,955,10600,0.12,1.95,0.00,0.000,6,0.177,0.036,3057,1083,2078,0,0,0,0,0,0
$GC,10932,0.72,228.7,378.7,14.2,1016,10939,0.00,1.88,0.00,0.000,4,0.000,0.023,3057,2375,2079,0,0,0,0,0,0
$GC,10965,0.72,228.7,374.3,13.6,1021,10971,0.00,1.92,0.00,0.000,6,0.000,0.036,3064,1084,2078,0,0,0,0,0,0
$GC,11306,0.72,228.7,327.1,14.0,1082,11315,0.00,1.88,0.00,0.000,4,0.000,0.022,3064,2377,2078,0,0,0,0,0,0
$GC,11396,0.72,228.7,315.2,13.8,1097,11403,0.00,1.90,0.00,0.000,6,0.000,0.035,3072,1098,2078,0,0,0,0,0,0
$GC,11735,0.72,228.7,269.9,12.2,1158,11744,0.00,1.38,0.00,0.000,4,0.000,0.044,3078,186,2079,0,0,0,0,0,0
$GC,11883,0.72,228.7,250.0,14.4,1183,11890,0.00,1.23,0.00,0.000,6,0.000,0.021,3079,1113,2079,0,0,0,0,0,0
$GC,12224,0.72,228.7,202.7,14.4,1244,12232,0.00,1.80,0.00,0.000,4,0.000,0.020,3078,2375,2080,0,0,0,0,0,0
$GC,12302,0.72,228.7,192.7,12.4,1257,12310,0.12,1.90,0.00,0.000,6,0.172,0.034,3052,1088,2080,0,0,0,0,0,0
$GC,12646,0.83,319.6,159.6,8.1,1318,12722,0.10,0.00,69.40,0.753,6,0.098,0.000,3108,1087,1725,0,0,0,0,0,0
$GC,13042,0.83,319.6,106.1,11.6,1389,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1088,1719,0,0,0,0,0,0
$GC,13367,0.87,351.4,64.2,10.1,1450,13398,0.00,1.40,24.85,0.654,4,0.000,0.044,3115,189,1596,0,0,0,0,0,0
$GC,13501,0.97,429.5,52.7,8.6,1472,13569,0.00,1.23,62.12,0.649,6,0.000,0.019,3114,1120,1277,0,0,0,0,0,0
$GC,13891,0.97,429.5,6.2,12.2,1541,13898,0.00,1.40,0.00,0.000,4,0.000,0.042,3119,195,1272,0,0,0,0,0,0
$STATE,13920,end climb,SURFACE_DEPTH_REACHED
$STATE,13920,begin surface coast
$FINISH,0.6,1.021858
$STATE,13948,end surface coast,CONTROL_FINISHED_OK
$STATE,13949,begin surface
$SM_CCo,14027,0.00,0.000,0,0,1267,431.97
$SM_GC,1.36,7.70,0.00,0.00,0.036,0.000,0.000,121,817,1267,-8.36,0.74,431.97
$IRIDIUM_FIX,2251.04,12700.15,151010,212130
$TT8_MAMPS,0.028462
$HUMID,40.11
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,23.4,34.954
$10V_AH,10.3,31.429
$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,19.025,78.550,523.950,0.000,0.000,52.470,87.095,200.456,0.000,0.000,858.552,3758.887,6077.688,557.886,4593.487,461.212,0.000,1922.471,0.000,3422.690,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,68.850,1404.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.270,1368.871,1839.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90268,1551
$CAP_FILE_SIZE,155647,0
$CFSIZE,260165632,156962816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,91.467,136.4,1
$GPS,151010,214327,2259.988,12658.764,901,99.0,901,-3.3