version: 66.08
glider: 167
mission: 6
dive: 194
start: 10 16 110 19 34 27
data:
$ID,167
$MISSION,6
$DIVE,194
$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,-50755.91
$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,39
$R_STBD_OVSHOOT,109
$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
$GPS1,161010,150406,2248.702,12700.151,0,10000.0,0,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.4
$GPS2,161010,150406,2248.702,12700.151,901,99.0,901,-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,213.9,207826,-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,17,-0.87,-73.8,0.0,0.0,0,85,0.00,0.00,-65.43,0.000,6,0.000,0.000,111,824,3333,0,0,0,0,0,0
$GC,88,-0.88,-82.4,5.1,-10.3,9,105,9.32,0.90,-0.52,0.000,4,0.226,0.060,2534,166,3366,0,0,0,0,0,0
$GC,345,-0.88,-82.4,88.9,-30.6,56,353,0.00,0.80,0.00,0.000,6,0.000,0.021,2530,844,3368,0,0,0,0,0,0
$GC,673,-0.88,-82.4,162.7,-23.7,117,679,0.00,1.80,0.00,0.000,4,0.000,0.015,2520,2191,3370,0,0,0,0,0,0
$GC,932,-0.88,-82.4,211.2,-18.7,163,939,0.00,2.10,0.00,0.000,6,0.000,0.033,2521,771,3370,0,0,0,0,0,0
$GC,1272,-0.88,-82.4,275.3,-16.6,224,1279,0.00,0.82,0.00,0.000,4,0.000,0.041,2521,190,3369,0,0,0,0,0,0
$GC,1532,-0.88,-82.4,322.6,-16.0,270,1541,0.00,0.73,0.00,0.000,6,0.000,0.021,2516,817,3368,0,0,0,0,0,0
$GC,1874,-0.88,-82.4,374.9,-15.6,331,1880,0.00,0.90,0.00,0.000,4,0.000,0.041,2516,196,3366,0,0,0,0,0,0
$GC,2131,-0.88,-82.4,419.6,-16.4,377,2138,0.00,0.65,0.00,0.000,6,0.000,0.023,2512,766,3365,0,0,0,0,0,0
$GC,2470,-0.88,-82.4,469.7,-13.2,438,2479,0.00,0.82,0.00,0.000,4,0.000,0.041,2512,194,3363,0,0,0,0,0,0
$GC,2731,-0.88,-82.4,506.4,-13.8,480,2735,0.00,0.65,0.00,0.000,6,0.000,0.022,2508,764,3362,0,0,0,0,0,0
$GC,3064,-0.88,-82.4,549.5,-12.7,511,3068,0.12,0.85,0.00,0.000,4,0.195,0.044,2539,193,3360,0,0,0,0,0,0
$GC,3324,-0.88,-82.4,580.5,-11.3,534,3327,0.00,0.62,0.00,0.000,6,0.000,0.024,2536,721,3357,0,0,0,0,0,0
$GC,3652,-0.88,-82.4,618.3,-12.2,558,3656,0.00,0.77,0.00,0.000,4,0.000,0.044,2537,192,3354,0,0,0,0,0,0
$GC,3908,-0.88,-82.4,652.9,-12.5,569,3912,0.00,0.62,0.00,0.000,6,0.000,0.024,2533,711,3353,0,0,0,0,0,0
$GC,4232,-0.89,-91.0,688.0,-10.2,585,4236,0.00,0.75,0.00,0.000,4,0.000,0.045,2533,199,3349,0,0,0,0,0,0
$GC,4490,-0.89,-91.0,718.5,-11.8,596,4494,0.00,0.62,0.00,0.000,6,0.000,0.024,2532,702,3348,0,0,0,0,0,0
$GC,4814,-0.90,-97.8,752.0,-10.4,612,4817,0.00,0.75,0.00,0.000,4,0.000,0.045,2533,193,3344,0,0,0,0,0,0
$GC,5071,-0.90,-97.8,781.5,-11.4,623,5076,0.00,0.65,0.00,0.000,6,0.000,0.024,2530,716,3342,0,0,0,0,0,0
$GC,5396,-0.91,-108.5,813.9,-10.0,639,5399,0.00,2.00,0.00,0.000,4,0.000,0.018,2520,2121,3340,0,0,0,0,0,0
$GC,5535,-0.93,-122.1,827.7,-9.7,645,5539,0.00,2.08,0.00,0.000,6,0.000,0.037,2521,761,3339,0,0,0,0,0,0
$GC,5859,-0.93,-124.8,863.0,-10.8,661,5862,0.00,0.82,0.00,0.000,4,0.000,0.047,2521,199,3336,0,0,0,0,0,0
$GC,5977,-0.93,-127.3,876.3,-10.9,666,5980,0.00,0.62,0.00,0.000,6,0.000,0.025,2519,693,3335,0,0,0,0,0,0
$GC,6306,-0.97,-156.8,905.5,-8.1,682,6309,0.00,2.03,0.00,0.000,4,0.000,0.019,2519,2113,3332,0,0,0,0,0,0
$GC,6396,-1.02,-195.5,912.0,-7.2,686,6400,0.00,2.10,0.00,0.000,6,0.000,0.037,2519,749,3332,0,0,0,0,0,0
$GC,6725,-1.05,-219.1,938.9,-8.7,702,6728,0.00,0.82,0.00,0.000,4,0.000,0.047,2519,192,3330,0,0,0,0,0,0
$GC,6808,-1.06,-228.4,947.4,-10.2,705,6815,0.08,0.65,0.00,0.000,6,0.066,0.025,2476,694,3329,0,0,0,0,0,0
$GC,7124,-1.06,-228.4,984.6,-12.3,721,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,694,3328,0,0,0,0,0,0
$STATE,7266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7266,begin apogee
$GC,7274,-0.14,0.0,1002.1,11.9,728,7339,0.98,0.00,60.30,1.421,4,0.164,0.000,2766,963,3029,0,0,0,0,0,0
$STATE,7340,end apogee,CONTROL_FINISHED_OK
$STATE,7340,begin climb
$GC,7342,1.06,228.4,1004.4,0.0,731,7538,1.05,0.00,189.98,1.371,6,0.060,0.000,3161,963,2097,0,0,0,0,0,0
$GC,7868,1.06,228.4,891.7,26.1,756,7871,0.00,2.05,0.00,0.000,4,0.000,0.024,3162,2343,2085,0,0,0,0,0,0
$GC,8037,1.06,228.4,848.6,24.8,763,8041,0.00,2.03,0.00,0.000,6,0.000,0.034,3171,1021,2083,0,0,0,0,0,0
$GC,8359,1.06,228.4,761.6,28.3,779,8362,0.00,1.95,0.00,0.000,4,0.000,0.025,3171,2358,2080,0,0,0,0,0,0
$GC,8505,1.06,228.4,721.8,26.6,785,8509,0.00,2.03,0.00,0.000,6,0.000,0.035,3179,1028,2080,0,0,0,0,0,0
$GC,8827,1.06,228.4,634.1,27.3,801,8830,0.00,1.92,0.00,0.000,4,0.000,0.023,3179,2363,2079,0,0,0,0,0,0
$GC,8923,1.06,228.4,610.6,23.0,805,8927,0.00,2.03,0.00,0.000,6,0.000,0.035,3188,1031,2078,0,0,0,0,0,0
$GC,9249,1.06,228.4,528.7,25.3,833,9253,0.00,1.92,0.00,0.000,4,0.000,0.023,3188,2372,2078,0,0,0,0,0,0
$GC,9288,1.06,228.4,518.4,24.4,836,9296,0.12,2.00,0.00,0.000,6,0.212,0.034,3167,1052,2078,0,0,0,0,0,0
$GC,9624,1.06,228.4,441.9,23.3,890,9633,0.00,1.92,0.00,0.000,4,0.000,0.023,3167,2363,2076,0,0,0,0,0,0
$GC,9818,1.06,228.4,398.5,23.2,924,9826,0.00,1.98,0.00,0.000,6,0.000,0.035,3175,1074,2075,0,0,0,0,0,0
$GC,10161,1.06,228.4,323.2,21.5,985,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1074,2075,0,0,0,0,0,0
$GC,10501,1.06,228.4,255.2,21.2,1046,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1074,2075,0,0,0,0,0,0
$GC,10846,1.06,228.4,190.1,17.3,1107,10852,0.00,1.33,0.00,0.000,4,0.000,0.042,3182,188,2075,0,0,0,0,0,0
$GC,10908,1.06,228.4,179.2,18.9,1117,10914,0.00,1.17,0.00,0.000,6,0.000,0.021,3182,1077,2075,0,0,0,0,0,0
$GC,11241,1.06,228.4,123.3,16.7,1178,11250,0.00,1.85,0.00,0.000,4,0.000,0.021,3182,2372,2075,0,0,0,0,0,0
$GC,11364,1.06,228.4,104.9,14.5,1200,11372,0.00,1.98,0.00,0.000,6,0.000,0.033,3190,1070,2076,0,0,0,0,0,0
$GC,11690,1.07,241.3,64.2,9.8,1261,11706,0.00,1.30,8.52,0.614,4,0.000,0.040,3197,183,2043,0,0,0,0,0,0
$GC,11948,1.11,267.8,36.3,8.4,1308,11979,0.00,1.15,21.83,0.640,6,0.000,0.020,3197,1078,1936,0,0,0,0,0,0
$STATE,12222,end climb,SURFACE_DEPTH_REACHED
$STATE,12222,begin surface coast
$FINISH,0.6,1.021905
$STATE,12243,end surface coast,CONTROL_FINISHED_OK
$STATE,12243,begin surface
$SM_CCo,12260,106.20,0.564,1,0,1397,400.08
$SM_GC,1.46,0.00,0.00,106.20,0.000,0.000,0.564,113,772,1397,-8.46,-0.51,400.08
$IRIDIUM_FIX,2251.04,12700.15,161010,151519
$TT8_MAMPS,0.028462
$HUMID,39.84
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,23.8,35.666
$10V_AH,10.4,32.445
$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,19.650,56.250,280.625,106.200,0.000,24.492,38.027,198.690,0.000,0.000,903.152,3390.772,5070.439,466.975,4352.726,408.738,0.000,1695.996,0.000,3211.187,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,60.435,1420.605,563.805,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.351,1203.182,1669.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333588
$DATA_FILE_SIZE,80240,1361
$CAP_FILE_SIZE,138521,0
$CFSIZE,260165632,156561408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.427,183.4,1
$GPS,161010,150619,2251.042,12700.151,0,10000.0,0,-3.3