version: 66.08
glider: 167
mission: 6
dive: 191
start: 10 16 110 6 51 29
data:
$ID,167
$MISSION,6
$DIVE,191
$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,-46239.488
$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,110
$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
$GPS1,161010,015609,2248.702,12702.021,0,10000.0,0,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.1
$GPS2,161010,015609,2248.702,12702.021,901,99.0,901,-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,124.8,207048,-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,-73.8,0.0,0.0,0,84,0.00,0.00,-64.45,0.000,6,0.000,0.000,109,817,3332,0,0,0,0,0,0
$GC,87,-0.87,-73.8,5.9,-13.6,9,103,9.27,0.90,0.00,0.000,4,0.223,0.027,2535,172,3334,0,0,0,0,0,0
$GC,342,-0.87,-73.8,93.0,-20.6,56,350,0.00,0.77,0.00,0.000,6,0.000,0.021,2531,845,3336,0,0,0,0,0,0
$GC,667,-0.87,-73.8,157.7,-18.5,117,674,0.00,0.95,0.00,0.000,4,0.000,0.040,2531,189,3337,0,0,0,0,0,0
$GC,921,-0.87,-73.8,210.1,-21.0,163,929,0.00,0.75,0.00,0.000,6,0.000,0.021,2527,843,3337,0,0,0,0,0,0
$GC,1253,-0.87,-73.8,268.5,-17.7,224,1261,0.00,0.95,0.00,0.000,4,0.000,0.040,2527,189,3336,0,0,0,0,0,0
$GC,1504,-0.87,-73.8,313.8,-16.0,270,1512,0.00,0.73,0.00,0.000,6,0.000,0.021,2522,822,3335,0,0,0,0,0,0
$GC,1839,-0.87,-73.8,363.7,-15.9,331,1846,0.00,1.80,0.00,0.000,4,0.000,0.016,2515,2148,3333,0,0,0,0,0,0
$GC,2092,-0.87,-73.8,399.5,-13.6,377,2098,0.00,2.08,0.00,0.000,6,0.000,0.033,2514,745,3332,0,0,0,0,0,0
$GC,2423,-0.87,-73.8,445.2,-14.4,438,2431,0.00,0.80,0.00,0.000,4,0.000,0.042,2514,187,3330,0,0,0,0,0,0
$GC,2646,-0.87,-73.8,477.3,-15.3,478,2655,0.08,0.62,0.00,0.000,6,0.176,0.024,2534,721,3328,0,0,0,0,0,0
$GC,2981,-0.87,-73.8,519.6,-11.9,525,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,721,3326,0,0,0,0,0,0
$GC,3303,-0.87,-73.8,558.3,-11.7,555,3307,0.00,0.77,0.00,0.000,4,0.000,0.044,2534,190,3323,0,0,0,0,0,0
$GC,3542,-0.87,-73.8,588.3,-11.9,576,3546,0.00,0.62,0.00,0.000,6,0.000,0.024,2534,719,3322,0,0,0,0,0,0
$GC,3867,-0.87,-73.8,626.3,-11.3,596,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,719,3318,0,0,0,0,0,0
$GC,4176,-0.88,-82.0,659.0,-10.3,611,4179,0.00,0.77,0.00,0.000,4,0.000,0.045,2534,191,3316,0,0,0,0,0,0
$GC,4433,-0.88,-82.0,686.8,-11.2,622,4437,0.00,0.65,0.00,0.000,6,0.000,0.024,2531,712,3314,0,0,0,0,0,0
$GC,4757,-0.89,-94.4,718.7,-9.9,638,4761,0.00,0.75,0.00,0.000,4,0.000,0.045,2532,202,3311,0,0,0,0,0,0
$GC,4970,-0.90,-100.2,742.5,-10.5,647,4973,0.00,0.60,0.00,0.000,6,0.000,0.025,2529,680,3309,0,0,0,0,0,0
$GC,5293,-0.90,-103.9,776.5,-10.7,663,5297,0.00,2.05,0.00,0.000,4,0.000,0.018,2521,2106,3307,0,0,0,0,0,0
$GC,5326,-0.93,-123.3,780.0,-9.2,664,5330,0.00,2.10,0.00,0.000,6,0.000,0.037,2520,739,3307,0,0,0,0,0,0
$GC,5642,-0.95,-140.0,810.2,-9.4,679,5646,0.00,1.95,0.00,0.000,4,0.000,0.018,2519,2115,3304,0,0,0,0,0,0
$GC,5715,-0.99,-171.0,816.5,-8.0,682,5719,0.00,2.10,0.00,0.000,6,0.000,0.037,2519,733,3304,0,0,0,0,0,0
$GC,6039,-1.01,-189.6,846.3,-9.2,698,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,733,3301,0,0,0,0,0,0
$GC,6348,-1.04,-214.9,873.1,-8.6,713,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,733,3299,0,0,0,0,0,0
$GC,6657,-1.06,-228.7,898.7,-8.2,728,6658,0.12,0.00,0.00,0.000,6,0.097,0.000,2467,733,3298,0,0,0,0,0,0
$GC,6965,-1.06,-228.7,930.5,-10.2,743,6969,0.00,0.77,0.00,0.000,4,0.000,0.047,2467,202,3296,0,0,0,0,0,0
$GC,7022,-1.06,-228.7,936.8,-11.5,745,7026,0.00,0.60,0.00,0.000,6,0.000,0.026,2464,677,3295,0,0,0,0,0,0
$GC,7344,-1.06,-228.7,969.4,-10.4,761,7348,0.00,2.03,0.00,0.000,4,0.000,0.018,2455,2096,3293,0,0,0,0,0,0
$GC,7368,-1.06,-228.7,971.6,-9.0,762,7372,0.00,2.08,0.00,0.000,6,0.000,0.037,2455,754,3293,0,0,0,0,0,0
$STATE,7651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7652,begin apogee
$GC,7659,-0.14,0.0,1002.1,11.3,776,7717,1.08,0.00,53.25,1.425,4,0.171,0.000,2769,941,3029,0,0,0,0,0,0
$STATE,7717,end apogee,CONTROL_FINISHED_OK
$STATE,7717,begin climb
$GC,7720,1.06,228.7,1004.1,0.0,778,7916,1.05,0.00,190.23,1.381,6,0.060,0.000,3164,941,2096,0,0,0,0,0,0
$GC,8239,1.06,228.7,892.0,26.2,803,8243,0.00,2.05,0.00,0.000,4,0.000,0.024,3165,2306,2084,0,0,0,0,0,0
$GC,8496,1.06,228.7,828.0,25.3,814,8500,0.00,2.00,0.00,0.000,6,0.000,0.035,3173,1025,2082,0,0,0,0,0,0
$GC,8820,1.06,228.7,743.5,26.3,830,8823,0.00,1.88,0.00,0.000,4,0.000,0.022,3173,2326,2080,0,0,0,0,0,0
$GC,9054,1.06,228.7,684.3,24.2,840,9058,0.00,1.98,0.00,0.000,6,0.000,0.035,3181,1043,2079,0,0,0,0,0,0
$GC,9378,1.06,228.7,603.9,25.1,856,9382,0.00,1.85,0.00,0.000,4,0.000,0.024,3181,2315,2078,0,0,0,0,0,0
$GC,9457,1.06,228.7,584.1,25.2,862,9461,0.00,1.90,0.00,0.000,6,0.000,0.035,3189,1047,2078,0,0,0,0,0,0
$GC,9788,1.06,228.7,501.5,25.2,893,9792,0.00,1.83,0.00,0.000,4,0.000,0.022,3190,2315,2077,0,0,0,0,0,0
$GC,9887,1.06,228.7,476.9,25.6,910,9895,0.10,1.90,0.00,0.000,6,0.193,0.034,3168,1072,2077,0,0,0,0,0,0
$GC,10222,1.06,228.7,400.5,21.1,971,10230,0.00,1.77,0.00,0.000,4,0.000,0.023,3168,2318,2076,0,0,0,0,0,0
$GC,10384,1.06,228.7,367.0,18.5,1000,10392,0.00,1.88,0.00,0.000,6,0.000,0.035,3175,1086,2076,0,0,0,0,0,0
$GC,10720,1.06,228.7,300.6,19.4,1061,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1086,2075,0,0,0,0,0,0
$GC,11058,1.06,228.7,231.8,20.7,1122,11066,0.00,1.77,0.00,0.000,4,0.000,0.023,3175,2312,2075,0,0,0,0,0,0
$GC,11252,1.06,228.7,193.8,18.5,1157,11258,0.00,1.83,0.00,0.000,6,0.000,0.034,3183,1077,2075,0,0,0,0,0,0
$GC,11584,1.06,228.7,132.8,18.5,1218,11592,0.00,1.80,0.00,0.000,4,0.000,0.021,3183,2327,2075,0,0,0,0,0,0
$GC,11696,1.06,228.7,115.0,17.6,1238,11704,0.00,1.88,0.00,0.000,6,0.000,0.034,3191,1086,2076,0,0,0,0,0,0
$GC,12024,1.06,228.7,65.0,14.5,1299,12033,0.00,1.33,0.00,0.000,4,0.000,0.042,3198,191,2076,0,0,0,0,0,0
$GC,12047,1.06,228.7,62.1,12.5,1302,12055,0.10,1.10,0.00,0.000,6,0.177,0.021,3168,1021,2076,0,0,0,0,0,0
$GC,12376,1.12,279.3,35.0,6.0,1363,12416,0.00,0.00,37.08,0.654,6,0.000,0.000,3168,1021,1889,0,0,0,0,0,0
$STATE,12680,end climb,SURFACE_DEPTH_REACHED
$STATE,12680,begin surface coast
$FINISH,0.6,1.021884
$STATE,12699,end surface coast,CONTROL_FINISHED_OK
$STATE,12699,begin surface
$SM_CCo,12716,96.30,0.559,1,0,1398,400.08
$SM_GC,1.28,0.00,0.00,96.30,0.000,0.000,0.559,116,780,1398,-8.45,-0.28,400.08
$IRIDIUM_FIX,2251.04,12701.56,161010,060613
$TT8_MAMPS,0.028462
$HUMID,40.39
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,23.8,35.215
$10V_AH,10.4,31.851
$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,19.575,57.450,280.550,96.300,0.000,58.224,86.970,210.101,0.000,0.000,901.630,3508.985,5440.857,453.012,4457.914,444.705,0.000,1675.831,0.000,3236.572,0.000,0.545,0.000
$DEVICE_MAMPS,223.380,53.550,1425.195,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.315,1259.496,1737.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83451,1421
$CAP_FILE_SIZE,139772,0
$CFSIZE,260165632,156803072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,3.954,144.7,1
$GPS,161010,062913,2251.042,12701.561,0,10000.0,0,-3.3