version: 66.08
glider: 167
mission: 6
dive: 192
start: 10 16 110 10 48 30
data:
$ID,167
$MISSION,6
$DIVE,192
$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,-47143.762
$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,38
$R_STBD_OVSHOOT,101
$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
$GPS1,161010,062913,2251.042,12701.561,0,10000.0,0,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.9
$GPS2,161010,104806,2258.529,12701.595,38,1.0,43,-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,215.7,224942,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.72,-228.7,0.0,0.0,0,84,0.00,0.00,-66.15,0.000,2,0.000,0.000,111,780,3431,0,0,0,0,0,0
$GC,87,-0.72,-228.7,6.3,-13.5,9,112,9.65,0.85,-8.07,0.000,4,0.227,0.069,2581,180,3963,0,0,0,0,0,0
$GC,348,-0.72,-228.7,94.7,-24.2,57,356,0.00,0.77,0.00,0.000,6,0.000,0.021,2578,843,3966,0,0,0,0,0,0
$GC,679,-0.72,-228.7,171.6,-22.1,118,688,0.00,0.95,0.00,0.000,4,0.000,0.041,2578,192,3967,0,0,0,0,0,0
$GC,940,-0.72,-228.7,230.9,-20.6,164,947,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,857,3967,0,0,0,0,0,0
$GC,1280,-0.72,-228.7,294.7,-17.9,225,1287,0.00,0.98,0.00,0.000,4,0.000,0.041,2574,191,3967,0,0,0,0,0,0
$GC,1537,-0.72,-228.7,343.2,-19.0,271,1544,0.00,0.75,0.00,0.000,6,0.000,0.021,2570,850,3967,0,0,0,0,0,0
$GC,1878,-0.72,-228.7,401.9,-15.5,332,1886,0.00,0.98,0.00,0.000,4,0.000,0.041,2570,185,3965,0,0,0,0,0,0
$GC,2056,-0.72,-228.7,430.0,-15.5,363,2063,0.00,0.73,0.00,0.000,6,0.000,0.021,2566,810,3964,0,0,0,0,0,0
$GC,2397,-0.72,-228.7,478.3,-13.9,424,2405,0.00,0.90,0.00,0.000,4,0.000,0.042,2566,195,3962,0,0,0,0,0,0
$GC,2487,-0.72,-228.7,491.4,-14.9,439,2494,0.00,0.65,0.00,0.000,6,0.000,0.022,2562,755,3961,0,0,0,0,0,0
$GC,2816,-0.72,-228.7,538.6,-13.5,475,2820,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2135,3959,0,0,0,0,0,0
$GC,2865,-0.72,-228.7,544.1,-10.7,479,2868,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,762,3959,0,0,0,0,0,0
$GC,3196,-0.72,-228.7,586.6,-13.4,510,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,762,3957,0,0,0,0,0,0
$GC,3509,-0.72,-228.7,628.4,-13.4,530,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,762,3954,0,0,0,0,0,0
$GC,3817,-0.72,-228.7,667.0,-12.6,545,3821,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2151,3951,0,0,0,0,0,0
$GC,3856,-0.72,-228.7,671.6,-10.7,546,3864,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,773,3951,0,0,0,0,0,0
$GC,4174,-0.72,-228.7,709.4,-11.9,562,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,774,3948,0,0,0,0,0,0
$GC,4481,-0.72,-228.7,744.7,-11.3,577,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,775,3946,0,0,0,0,0,0
$GC,4791,-0.72,-228.7,776.1,-10.0,592,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,773,3942,0,0,0,0,0,0
$GC,5102,-0.72,-228.7,807.2,-10.4,607,5106,0.00,1.95,0.00,0.000,4,0.000,0.019,2561,2134,3940,0,0,0,0,0,0
$GC,5141,-0.72,-228.7,811.2,-8.3,608,5148,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,761,3940,0,0,0,0,0,0
$GC,5457,-0.72,-228.7,841.7,-10.0,624,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3937,0,0,0,0,0,0
$GC,5769,-0.72,-228.7,875.1,-11.1,639,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3934,0,0,0,0,0,0
$GC,6076,-0.72,-228.7,908.2,-10.4,654,6080,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2132,3932,0,0,0,0,0,0
$GC,6105,-0.72,-228.7,911.0,-9.7,655,6109,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,773,3932,0,0,0,0,0,0
$GC,6427,-0.72,-228.7,942.6,-9.8,671,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,773,3930,0,0,0,0,0,0
$GC,6736,-0.72,-228.7,972.0,-9.3,686,6740,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2128,3928,0,0,0,0,0,0
$GC,6783,-0.72,-228.7,975.9,-8.1,688,6787,0.00,2.08,0.00,0.000,6,0.000,0.039,2561,771,3928,0,0,0,0,0,0
$STATE,7046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7046,begin apogee
$GC,7052,-0.14,0.0,1000.2,9.2,701,7238,0.62,0.00,178.85,1.409,4,0.119,0.000,2770,955,3029,0,0,0,0,0,0
$STATE,7239,end apogee,CONTROL_FINISHED_OK
$STATE,7239,begin climb
$GC,7241,0.72,228.7,1007.4,0.0,709,7441,0.80,2.22,191.62,1.352,4,0.047,0.021,3065,2393,2096,0,0,0,0,0,0
$GC,7614,0.72,228.7,955.1,18.2,726,7623,0.00,2.22,0.00,0.000,6,0.000,0.036,3075,991,2087,0,0,0,0,0,0
$GC,7931,0.72,228.7,895.0,18.9,742,7935,0.00,1.23,0.00,0.000,4,0.000,0.046,3082,189,2086,0,0,0,0,0,0
$GC,8112,0.72,228.7,858.4,21.2,750,8115,0.00,1.15,0.00,0.000,6,0.000,0.024,3082,1018,2084,0,0,0,0,0,0
$GC,8446,0.72,228.7,796.5,18.3,766,8450,0.00,1.98,0.00,0.000,4,0.000,0.023,3082,2389,2083,0,0,0,0,0,0
$GC,8559,0.72,228.7,775.8,18.3,771,8564,0.12,2.10,0.00,0.000,6,0.184,0.036,3060,1014,2083,0,0,0,0,0,0
$GC,8888,0.72,228.7,721.1,17.2,787,8892,0.00,2.00,0.00,0.000,4,0.000,0.024,3060,2378,2082,0,0,0,0,0,0
$GC,8957,0.72,228.7,709.7,16.1,790,8961,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1036,2081,0,0,0,0,0,0
$GC,9291,0.72,228.7,650.5,18.4,806,9295,0.00,1.95,0.00,0.000,4,0.000,0.024,3066,2381,2081,0,0,0,0,0,0
$GC,9360,0.72,228.7,637.8,18.5,809,9363,0.00,1.98,0.00,0.000,6,0.000,0.036,3076,1063,2080,0,0,0,0,0,0
$GC,9685,0.72,228.7,583.0,16.3,829,9689,0.00,1.90,0.00,0.000,4,0.000,0.024,3075,2382,2080,0,0,0,0,0,0
$GC,9713,0.72,228.7,578.2,15.8,831,9720,0.00,2.00,0.00,0.000,6,0.000,0.037,3084,1067,2080,0,0,0,0,0,0
$GC,10039,0.72,228.7,523.8,17.1,862,10042,0.00,1.90,0.00,0.000,4,0.000,0.024,3083,2391,2079,0,0,0,0,0,0
$GC,10134,0.72,228.7,507.4,16.0,870,10142,0.15,2.00,0.00,0.000,6,0.178,0.036,3052,1073,2079,0,0,0,0,0,0
$GC,10475,0.72,228.7,457.4,14.7,927,10482,0.00,1.88,0.00,0.000,4,0.000,0.022,3053,2385,2078,0,0,0,0,0,0
$GC,10523,0.72,228.7,449.8,14.4,935,10530,0.00,1.98,0.00,0.000,6,0.000,0.036,3061,1080,2078,0,0,0,0,0,0
$GC,10862,0.72,228.7,399.9,14.5,996,10870,0.00,1.35,0.00,0.000,4,0.000,0.046,3067,192,2078,0,0,0,0,0,0
$GC,10921,0.72,228.7,391.0,15.4,1006,10930,0.00,1.23,0.00,0.000,6,0.000,0.023,3067,1096,2078,0,0,0,0,0,0
$GC,11264,0.72,228.7,344.4,15.2,1067,11272,0.00,1.88,0.00,0.000,4,0.000,0.024,3067,2388,2078,0,0,0,0,0,0
$GC,11304,0.72,228.7,338.8,14.4,1073,11311,0.00,1.95,0.00,0.000,6,0.000,0.035,3075,1092,2078,0,0,0,0,0,0
$GC,11645,0.72,228.7,290.1,14.2,1134,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1092,2078,0,0,0,0,0,0
$GC,11991,0.72,228.7,239.7,14.1,1195,11998,0.00,1.85,0.00,0.000,4,0.000,0.021,3076,2393,2078,0,0,0,0,0,0
$GC,12149,0.72,228.7,219.7,11.3,1223,12155,0.00,1.95,0.00,0.000,6,0.000,0.036,3076,1099,2079,0,0,0,0,0,0
$GC,12491,0.75,249.8,180.2,10.4,1284,12513,0.00,1.90,15.65,0.754,4,0.000,0.019,3077,2393,2009,0,0,0,0,0,0
$GC,12567,0.75,249.8,170.8,11.8,1296,12576,0.00,1.98,0.00,0.000,6,0.000,0.036,3077,1104,2008,0,0,0,0,0,0
$GC,12903,0.80,295.7,132.3,9.6,1357,12949,0.00,1.38,37.03,0.732,4,0.000,0.042,3084,181,1822,0,0,0,0,0,0
$GC,12998,0.80,295.7,120.9,12.3,1372,13006,0.00,1.30,0.00,0.000,6,0.000,0.019,3084,1158,1820,0,0,0,0,0,0
$GC,13327,0.85,334.0,81.5,9.9,1433,13364,0.00,1.45,30.98,0.678,4,0.000,0.040,3090,191,1667,0,0,0,0,0,0
$GC,13431,0.85,334.0,68.2,12.8,1450,13439,0.00,1.25,0.00,0.000,6,0.000,0.020,3090,1127,1663,0,0,0,0,0,0
$GC,13760,0.90,376.5,36.2,9.7,1511,13799,0.00,1.48,33.60,0.636,4,0.000,0.043,3091,191,1493,0,0,0,0,0,0
$GC,13987,0.93,395.7,15.3,10.5,1551,14009,0.00,1.17,16.52,0.593,6,0.000,0.021,3091,1078,1414,0,0,0,0,0,0
$STATE,14153,end climb,SURFACE_DEPTH_REACHED
$STATE,14153,begin surface coast
$FINISH,0.5,1.001963
$STATE,14197,end surface coast,CONTROL_FINISHED_OK
$STATE,14197,begin surface
$SM_CCo,14215,3.45,0.067,0,0,1398,400.08
$SM_GC,2.75,0.00,0.00,3.45,0.000,0.000,0.067,122,769,1398,-8.44,-0.59,400.08
$IRIDIUM_FIX,2251.04,12700.15,161010,060625
$TT8_MAMPS,0.028462
$HUMID,40.07
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,23.3,35.397
$10V_AH,10.3,32.047
$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,19.050,81.650,504.250,3.450,0.000,30.781,21.749,184.280,0.000,0.000,44.721,3848.677,6040.413,553.585,3758.483,447.469,0.000,1932.346,0.000,3505.671,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,68.850,1409.130,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.760,1408.116,1940.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333612
$DATA_FILE_SIZE,93636,1589
$CAP_FILE_SIZE,156085,0
$CFSIZE,260165632,156700672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,91.220,206.2,1
$GPS,161010,104806,2258.529,12701.595,901,99.0,901,-3.3