version: 66.08
glider: 167
mission: 6
dive: 190
start: 10 16 110 2 18 42
data:
$ID,167
$MISSION,6
$DIVE,190
$N_DIVES,223
$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,-44434.223
$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,36
$R_STBD_OVSHOOT,113
$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
$GPS1,151010,214327,2259.988,12658.764,901,99.0,901,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.2
$GPS2,151010,214327,2259.988,12658.764,901,99.0,901,-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,214.6,228686,-28.0,-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,-0.87,-73.8,0.0,0.0,0,90,0.00,0.00,-69.40,0.000,6,0.000,0.000,112,817,3332,0,0,0,0,0,0
$GC,92,-0.87,-73.8,5.9,-13.4,10,108,9.32,0.90,0.00,0.000,4,0.226,0.029,2535,160,3334,0,0,0,0,0,0
$GC,348,-0.87,-73.8,91.6,-22.8,57,356,0.00,0.80,0.00,0.000,6,0.000,0.020,2531,854,3336,0,0,0,0,0,0
$GC,676,-0.87,-73.8,158.0,-19.2,118,684,0.00,1.83,0.00,0.000,4,0.000,0.015,2522,2184,3337,0,0,0,0,0,0
$GC,908,-0.87,-73.8,195.0,-16.4,159,915,0.00,2.10,0.00,0.000,6,0.000,0.033,2522,764,3337,0,0,0,0,0,0
$GC,1246,-0.87,-73.8,255.9,-18.2,220,1255,0.00,0.80,0.00,0.000,4,0.000,0.042,2522,197,3336,0,0,0,0,0,0
$GC,1506,-0.87,-73.8,301.7,-17.7,266,1514,0.00,0.70,0.00,0.000,6,0.000,0.021,2517,824,3335,0,0,0,0,0,0
$GC,1849,-0.87,-73.8,358.1,-17.4,327,1856,0.00,0.93,0.00,0.000,4,0.000,0.041,2517,187,3334,0,0,0,0,0,0
$GC,2106,-0.87,-73.8,401.9,-16.8,373,2113,0.00,0.62,0.00,0.000,6,0.000,0.023,2514,741,3332,0,0,0,0,0,0
$GC,2449,-0.87,-73.8,454.3,-14.9,434,2456,0.00,0.80,0.00,0.000,4,0.000,0.042,2514,190,3330,0,0,0,0,0,0
$GC,2707,-0.87,-73.8,494.0,-14.6,480,2717,0.08,0.62,0.00,0.000,6,0.177,0.023,2533,730,3328,0,0,0,0,0,0
$GC,3038,-0.87,-73.8,537.4,-12.7,514,3042,0.00,0.77,0.00,0.000,4,0.000,0.043,2533,195,3326,0,0,0,0,0,0
$GC,3299,-0.87,-73.8,571.6,-12.7,537,3303,0.00,0.62,0.00,0.000,6,0.000,0.023,2533,729,3324,0,0,0,0,0,0
$GC,3631,-0.87,-73.8,609.8,-11.3,564,3634,0.00,0.77,0.00,0.000,4,0.000,0.044,2533,198,3321,0,0,0,0,0,0
$GC,3791,-0.87,-73.8,629.9,-12.2,571,3794,0.00,0.62,0.00,0.000,6,0.000,0.023,2531,733,3319,0,0,0,0,0,0
$GC,4125,-0.87,-77.0,667.2,-10.8,587,4129,0.00,0.80,0.00,0.000,4,0.000,0.044,2531,190,3316,0,0,0,0,0,0
$GC,4295,-0.87,-77.0,686.5,-12.2,594,4298,0.00,0.62,0.00,0.000,6,0.000,0.024,2528,706,3315,0,0,0,0,0,0
$GC,4620,-0.89,-91.8,718.7,-9.6,610,4623,0.00,0.75,0.00,0.000,4,0.000,0.045,2528,196,3312,0,0,0,0,0,0
$GC,4659,-0.90,-99.1,723.1,-10.4,611,4665,0.00,0.62,0.00,0.000,6,0.000,0.024,2524,702,3312,0,0,0,0,0,0
$GC,4977,-0.90,-101.9,757.1,-10.8,627,4980,0.00,2.03,0.00,0.000,4,0.000,0.018,2519,2123,3310,0,0,0,0,0,0
$GC,5033,-0.92,-119.3,763.0,-9.4,629,5037,0.00,2.10,0.00,0.000,6,0.000,0.037,2519,744,3308,0,0,0,0,0,0
$GC,5350,-0.93,-121.1,797.4,-10.9,644,5353,0.00,0.80,0.00,0.000,4,0.000,0.046,2520,196,3307,0,0,0,0,0,0
$GC,5608,-0.93,-121.1,827.1,-11.4,655,5612,0.00,0.62,0.00,0.000,6,0.000,0.024,2520,703,3305,0,0,0,0,0,0
$GC,5930,-0.93,-127.3,861.3,-10.5,671,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,703,3303,0,0,0,0,0,0
$GC,6242,-0.95,-137.8,892.7,-10.1,686,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,703,3300,0,0,0,0,0,0
$GC,6549,-0.97,-156.2,921.5,-9.3,701,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,703,3298,0,0,0,0,0,0
$GC,6859,-0.98,-166.6,951.6,-10.1,716,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,704,3296,0,0,0,0,0,0
$GC,7169,-0.98,-167.0,985.0,-11.1,731,7172,0.00,0.75,0.00,0.000,4,0.000,0.047,2520,200,3295,0,0,0,0,0,0
$STATE,7289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7289,begin apogee
$GC,7296,-0.14,0.0,1000.1,11.9,736,7354,0.80,0.00,53.40,1.414,4,0.151,0.000,2766,993,3029,0,0,0,0,0,0
$STATE,7355,end apogee,CONTROL_FINISHED_OK
$STATE,7355,begin climb
$GC,7359,0.98,167.0,1002.7,0.0,739,7506,1.02,2.05,138.93,1.376,4,0.057,0.021,3144,2377,2347,0,0,0,0,0,0
$GC,7758,0.98,167.0,942.3,20.9,757,7762,0.00,2.15,0.00,0.000,6,0.000,0.035,3154,1001,2337,0,0,0,0,0,0
$GC,8088,0.98,167.0,867.8,23.0,773,8091,0.00,1.23,0.00,0.000,4,0.000,0.044,3160,190,2335,0,0,0,0,0,0
$GC,8160,0.98,167.0,848.7,25.3,776,8164,0.00,1.12,0.00,0.000,6,0.000,0.024,3160,1001,2334,0,0,0,0,0,0
$GC,8488,0.98,167.0,774.0,22.0,792,8491,0.00,1.98,0.00,0.000,4,0.000,0.024,3160,2378,2332,0,0,0,0,0,0
$GC,8539,0.98,167.0,763.0,21.3,794,8543,0.12,2.08,0.00,0.000,6,0.209,0.035,3141,1018,2332,0,0,0,0,0,0
$GC,8861,0.98,167.0,699.2,19.9,810,8865,0.00,1.98,0.00,0.000,4,0.000,0.024,3138,2389,2331,0,0,0,0,0,0
$GC,9050,0.98,167.0,664.9,18.0,818,9054,0.00,2.05,0.00,0.000,6,0.000,0.035,3145,1054,2329,0,0,0,0,0,0
$GC,9372,0.98,167.0,609.6,16.8,834,9376,0.00,1.90,0.00,0.000,4,0.000,0.022,3145,2392,2328,0,0,0,0,0,0
$GC,9451,0.98,167.0,596.3,17.4,838,9455,0.00,2.00,0.00,0.000,6,0.000,0.035,3153,1060,2328,0,0,0,0,0,0
$GC,9783,0.98,167.0,538.5,17.8,869,9786,0.00,1.90,0.00,0.000,4,0.000,0.023,3154,2388,2328,0,0,0,0,0,0
$GC,9998,0.98,167.0,501.4,17.0,888,10001,0.00,2.00,0.00,0.000,6,0.000,0.034,3162,1064,2327,0,0,0,0,0,0
$GC,10336,0.98,167.0,442.5,17.7,948,10345,0.00,1.92,0.00,0.000,4,0.000,0.024,3162,2379,2326,0,0,0,0,0,0
$GC,10458,0.98,167.0,422.5,16.6,969,10465,0.12,1.95,0.00,0.000,6,0.205,0.035,3142,1078,2326,0,0,0,0,0,0
$GC,10801,0.98,167.0,368.2,16.0,1030,10809,0.00,1.90,0.00,0.000,4,0.000,0.023,3142,2381,2326,0,0,0,0,0,0
$GC,10892,0.98,167.0,354.5,14.6,1045,10899,0.00,1.95,0.00,0.000,6,0.000,0.035,3149,1082,2326,0,0,0,0,0,0
$GC,11232,0.98,167.0,303.8,14.8,1106,11240,0.00,1.90,0.00,0.000,4,0.000,0.022,3149,2392,2326,0,0,0,0,0,0
$GC,11246,0.98,167.0,301.4,14.9,1108,11255,0.00,2.00,0.00,0.000,6,0.000,0.034,3158,1077,2326,0,0,0,0,0,0
$GC,11590,0.98,167.0,249.2,15.3,1169,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1077,2327,0,0,0,0,0,0
$GC,11926,0.98,167.0,202.8,13.5,1230,11934,0.00,1.90,0.00,0.000,4,0.000,0.021,3158,2401,2328,0,0,0,0,0,0
$GC,12047,0.98,167.0,187.4,12.2,1251,12053,0.00,2.00,0.00,0.000,6,0.000,0.033,3166,1063,2329,0,0,0,0,0,0
$GC,12386,0.98,167.0,145.3,11.6,1312,12394,0.00,1.90,0.00,0.000,4,0.000,0.021,3166,2386,2330,0,0,0,0,0,0
$GC,12526,1.00,180.2,130.4,9.8,1337,12542,0.00,2.00,8.85,0.661,6,0.000,0.034,3174,1065,2294,0,0,0,0,0,0
$GC,12864,1.00,180.2,91.4,11.7,1399,12872,0.00,1.30,0.00,0.000,4,0.000,0.041,3181,189,2293,0,0,0,0,0,0
$GC,13114,1.09,252.1,66.9,3.9,1445,13174,0.00,1.17,54.90,0.676,6,0.000,0.021,3181,1088,2000,0,0,0,0,0,0
$GC,13497,1.12,281.8,33.6,8.1,1513,13527,0.00,1.35,22.95,0.620,4,0.000,0.039,3186,180,1881,0,0,0,0,0,0
$STATE,13760,end climb,SURFACE_DEPTH_REACHED
$STATE,13760,begin surface coast
$FINISH,0.7,1.021844
$STATE,13783,end surface coast,CONTROL_FINISHED_OK
$STATE,13786,begin surface
$SM_CCo,13804,95.38,0.549,1,0,1398,400.08
$SM_GC,1.49,0.00,0.00,95.38,0.000,0.000,0.549,120,818,1398,-8.41,0.79,400.08
$IRIDIUM_FIX,2248.70,12702.02,161010,010109
$TT8_MAMPS,0.028462
$HUMID,38.69
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,24.0,35.080
$10V_AH,10.4,31.649
$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,19.400,69.525,279.025,95.375,0.000,53.142,80.245,232.288,0.000,0.000,901.619,3870.000,5743.652,470.016,4847.677,466.689,0.000,1832.070,0.000,3606.971,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,47.430,1414.485,548.505,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.429,1394.755,1948.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333584
$DATA_FILE_SIZE,90230,1565
$CAP_FILE_SIZE,155176,0
$CFSIZE,260165632,156872704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,14.327,341.8,1
$GPS,161010,015609,2248.702,12702.021,0,10000.0,0,-3.3