version: 66.08
glider: 167
mission: 6
dive: 193
start: 10 16 110 15 26 6
data:
$ID,167
$MISSION,6
$DIVE,193
$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,-48949.086
$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,46
$R_STBD_OVSHOOT,90
$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
$GPS1,161010,104806,2258.529,12701.595,901,99.0,901,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.6
$GPS2,161010,104806,2258.529,12701.595,901,99.0,901,-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,125.7,224942,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.87,-73.8,0.0,0.0,0,84,0.00,0.00,-63.72,0.000,6,0.000,0.000,112,764,3332,0,0,0,0,0,0
$GC,87,-0.87,-73.8,6.8,-14.7,9,104,9.35,0.80,0.00,0.000,4,0.227,0.026,2529,177,3334,0,0,0,0,0,0
$GC,343,-0.87,-73.8,97.0,-29.3,56,351,0.00,0.80,0.00,0.000,6,0.000,0.020,2525,881,3335,0,0,0,0,0,0
$GC,673,-0.87,-73.8,165.3,-19.3,117,679,0.00,1.00,0.00,0.000,4,0.000,0.039,2525,193,3337,0,0,0,0,0,0
$GC,935,-0.87,-73.8,218.2,-21.3,163,942,0.00,0.77,0.00,0.000,6,0.000,0.021,2520,875,3337,0,0,0,0,0,0
$GC,1273,-0.87,-73.8,281.3,-15.8,224,1281,0.00,0.98,0.00,0.000,4,0.000,0.040,2520,203,3336,0,0,0,0,0,0
$GC,1325,-0.87,-73.8,289.6,-17.5,232,1332,0.00,0.75,0.00,0.000,6,0.000,0.021,2515,857,3336,0,0,0,0,0,0
$GC,1665,-0.87,-73.8,342.4,-15.6,293,1672,0.00,1.83,0.00,0.000,4,0.000,0.015,2506,2217,3334,0,0,0,0,0,0
$GC,1922,-0.87,-73.8,378.5,-14.2,339,1929,0.12,2.12,0.00,0.000,6,0.178,0.033,2537,766,3333,0,0,0,0,0,0
$GC,2261,-0.87,-73.8,424.5,-12.5,400,2269,0.00,2.00,0.00,0.000,4,0.000,0.016,2533,2188,3331,0,0,0,0,0,0
$GC,2300,-0.87,-73.8,428.8,-11.7,406,2309,0.00,2.12,0.00,0.000,6,0.000,0.034,2533,776,3331,0,0,0,0,0,0
$GC,2641,-0.87,-73.8,473.9,-11.5,467,2648,0.00,1.95,0.00,0.000,4,0.000,0.016,2531,2200,3328,0,0,0,0,0,0
$GC,2679,-0.87,-74.0,478.3,-11.1,473,2685,0.00,2.12,0.00,0.000,6,0.000,0.034,2531,774,3328,0,0,0,0,0,0
$GC,3019,-0.87,-74.0,519.8,-12.2,520,3023,0.00,0.82,0.00,0.000,4,0.000,0.044,2531,200,3325,0,0,0,0,0,0
$GC,3279,-0.87,-74.0,552.7,-12.8,543,3283,0.00,0.75,0.00,0.000,6,0.000,0.022,2526,822,3324,0,0,0,0,0,0
$GC,3610,-0.87,-74.0,592.1,-11.4,574,3614,0.00,0.93,0.00,0.000,4,0.000,0.044,2526,195,3321,0,0,0,0,0,0
$GC,3866,-0.87,-74.0,625.2,-13.0,588,3870,0.00,0.70,0.00,0.000,6,0.000,0.022,2522,768,3319,0,0,0,0,0,0
$GC,4188,-0.87,-74.0,663.0,-11.7,604,4192,0.00,0.85,0.00,0.000,4,0.000,0.044,2522,193,3316,0,0,0,0,0,0
$GC,4444,-0.87,-74.0,693.3,-11.4,615,4449,0.00,0.70,0.00,0.000,6,0.000,0.022,2520,761,3313,0,0,0,0,0,0
$GC,4767,-0.89,-90.0,724.4,-9.5,631,4771,0.00,0.82,0.00,0.000,4,0.000,0.045,2520,203,3311,0,0,0,0,0,0
$GC,4792,-0.89,-93.5,727.0,-10.8,632,4796,0.00,0.70,0.00,0.000,6,0.000,0.024,2519,770,3311,0,0,0,0,0,0
$GC,5125,-0.89,-93.5,765.2,-11.9,648,5129,0.00,0.85,0.00,0.000,4,0.000,0.045,2519,197,3308,0,0,0,0,0,0
$GC,5262,-0.89,-93.5,782.8,-14.0,654,5266,0.00,0.70,0.00,0.000,6,0.000,0.024,2517,757,3308,0,0,0,0,0,0
$GC,5594,-0.89,-93.5,826.6,-13.1,670,5598,0.00,2.00,0.00,0.000,4,0.000,0.019,2518,2156,3304,0,0,0,0,0,0
$GC,5678,-0.89,-93.5,836.7,-11.5,673,5685,0.00,2.12,0.00,0.000,6,0.000,0.037,2518,765,3304,0,0,0,0,0,0
$GC,5996,-0.89,-93.5,875.0,-11.4,689,6000,0.00,0.85,0.00,0.000,4,0.000,0.047,2518,189,3301,0,0,0,0,0,0
$GC,6200,-0.89,-95.7,898.0,-10.9,698,6203,0.00,0.73,0.00,0.000,6,0.000,0.024,2514,755,3300,0,0,0,0,0,0
$GC,6536,-0.93,-122.0,929.3,-8.5,714,6539,0.00,2.00,0.00,0.000,4,0.000,0.019,2508,2164,3298,0,0,0,0,0,0
$GC,6653,-0.97,-160.0,938.2,-7.3,719,6657,0.00,2.15,0.00,0.000,6,0.000,0.037,2508,761,3297,0,0,0,0,0,0
$GC,6977,-1.02,-198.5,962.2,-7.2,735,6981,0.00,0.82,0.00,0.000,4,0.000,0.047,2508,201,3296,0,0,0,0,0,0
$GC,7033,-1.06,-228.7,966.7,-7.8,737,7037,0.00,0.73,0.00,0.000,6,0.000,0.024,2505,770,3295,0,0,0,0,0,0
$GC,7357,-1.06,-228.7,989.1,-7.0,753,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,770,3293,0,0,0,0,0,0
$STATE,7517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7517,begin apogee
$GC,7524,-0.14,0.0,1000.4,6.8,761,7581,0.85,0.00,53.40,1.419,4,0.155,0.000,2766,1001,3029,0,0,0,0,0,0
$STATE,7582,end apogee,CONTROL_FINISHED_OK
$STATE,7582,begin climb
$GC,7586,1.06,228.7,1000.4,0.0,763,7784,1.10,2.05,190.30,1.370,4,0.058,0.021,3168,2382,2096,0,0,0,0,0,0
$GC,7992,1.06,228.7,914.8,25.4,782,7997,0.00,2.15,0.00,0.000,6,0.000,0.035,3178,992,2087,0,0,0,0,0,0
$GC,8320,1.06,228.7,826.6,27.6,798,8323,0.00,1.20,0.00,0.000,4,0.000,0.044,3184,195,2084,0,0,0,0,0,0
$GC,8504,1.06,228.7,774.0,28.7,806,8508,0.00,1.12,0.00,0.000,6,0.000,0.024,3184,1002,2082,0,0,0,0,0,0
$GC,8831,1.06,228.7,689.6,25.5,822,8835,0.00,2.03,0.00,0.000,4,0.000,0.025,3184,2379,2081,0,0,0,0,0,0
$GC,8933,1.06,228.7,664.2,25.2,826,8938,0.12,2.05,0.00,0.000,6,0.203,0.035,3163,1029,2080,0,0,0,0,0,0
$GC,9255,1.06,228.7,585.5,25.9,844,9259,0.00,1.98,0.00,0.000,4,0.000,0.023,3164,2395,2080,0,0,0,0,0,0
$GC,9363,1.06,228.7,560.9,22.2,853,9369,0.00,2.05,0.00,0.000,6,0.000,0.035,3172,1052,2079,0,0,0,0,0,0
$GC,9691,1.06,228.7,484.9,23.3,890,9700,0.00,1.98,0.00,0.000,4,0.000,0.024,3172,2392,2078,0,0,0,0,0,0
$GC,9783,1.06,228.7,465.6,21.2,905,9790,0.00,2.00,0.00,0.000,6,0.000,0.034,3181,1053,2077,0,0,0,0,0,0
$GC,10124,1.06,228.7,392.2,21.3,966,10133,0.00,1.95,0.00,0.000,4,0.000,0.021,3181,2393,2077,0,0,0,0,0,0
$GC,10343,1.06,228.7,347.6,19.7,1005,10350,0.00,1.95,0.00,0.000,6,0.000,0.034,3190,1097,2076,0,0,0,0,0,0
$GC,10683,1.06,228.7,277.5,19.4,1066,10691,0.00,1.35,0.00,0.000,4,0.000,0.042,3197,190,2076,0,0,0,0,0,0
$GC,10751,1.06,228.7,263.9,22.1,1077,10758,0.10,1.23,0.00,0.000,6,0.187,0.022,3167,1090,2076,0,0,0,0,0,0
$GC,11095,1.06,228.7,203.5,17.2,1138,11104,0.00,1.88,0.00,0.000,4,0.000,0.022,3167,2391,2076,0,0,0,0,0,0
$GC,11177,1.06,228.7,189.6,15.4,1152,11185,0.00,2.00,0.00,0.000,6,0.000,0.034,3175,1073,2076,0,0,0,0,0,0
$GC,11513,1.06,228.7,130.6,18.3,1213,11521,0.00,1.90,0.00,0.000,4,0.000,0.020,3175,2398,2077,0,0,0,0,0,0
$GC,11577,1.06,228.7,119.4,17.6,1224,11585,0.00,1.98,0.00,0.000,6,0.000,0.033,3183,1091,2077,0,0,0,0,0,0
$GC,11907,1.09,251.0,72.2,8.9,1285,11931,0.00,1.90,15.95,0.670,4,0.000,0.018,3184,2411,2004,0,0,0,0,0,0
$GC,11950,1.11,267.7,68.2,9.4,1291,11972,0.00,1.98,14.25,0.651,6,0.000,0.033,3191,1107,1937,0,0,0,0,0,0
$GC,12294,1.11,267.7,27.2,11.9,1354,12303,0.00,1.38,0.00,0.000,4,0.000,0.041,3199,187,1934,0,0,0,0,0,0
$STATE,12457,end climb,SURFACE_DEPTH_REACHED
$STATE,12458,begin surface coast
$FINISH,0.8,1.021915
$STATE,12480,end surface coast,CONTROL_FINISHED_OK
$STATE,12480,begin surface
$SM_CCo,12498,106.95,0.568,1,0,1397,400.08
$SM_GC,1.27,0.00,0.00,106.95,0.000,0.000,0.568,121,823,1397,-8.44,0.93,400.08
$IRIDIUM_FIX,2248.70,12700.15,161010,151506
$TT8_MAMPS,0.027713
$HUMID,39.99
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,26.90
$XPDR_PINGS,1
$24V_AH,23.8,35.532
$10V_AH,10.4,32.247
$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,19.600,75.600,273.900,106.950,0.000,53.581,66.502,214.593,0.250,0.000,901.659,3463.340,5219.455,492.468,4466.458,432.461,0.000,1752.821,0.000,3250.424,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,47.430,1419.075,568.395,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.715,1227.744,1666.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,80116,1388
$CAP_FILE_SIZE,146468,0
$CFSIZE,260165632,156635136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,13.721, 12.8,1
$GPS,161010,150406,2248.702,12700.151,0,10000.0,0,-3.3