version: 66.08
glider: 167
mission: 6
dive: 196
start: 10 17 110 4 14 45
data:
$ID,167
$MISSION,6
$DIVE,196
$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,-54369.723
$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,35
$R_STBD_OVSHOOT,157
$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
$GPS1,161010,191440,2251.042,12700.151,0,10000.0,0,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-62.5
$GPS2,161010,191440,2251.042,12700.151,901,99.0,901,-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,195.6,212027,-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,13,begin dive
$GC,15,-0.72,-228.7,0.0,0.0,0,91,0.00,0.00,-73.15,0.000,2,0.000,0.000,110,787,3408,0,0,0,0,0,0
$GC,94,-0.72,-228.7,5.8,-12.5,10,118,9.50,1.92,-8.77,0.000,4,0.225,0.032,2570,2150,3964,0,0,0,0,0,0
$GC,312,-0.72,-228.7,73.9,-20.6,49,320,0.00,2.05,0.00,0.000,6,0.000,0.034,2570,788,3966,0,0,0,0,0,0
$GC,637,-0.72,-228.7,153.3,-22.9,110,645,0.00,0.85,0.00,0.000,4,0.000,0.041,2570,193,3966,0,0,0,0,0,0
$GC,825,-0.72,-228.7,198.5,-23.0,144,833,0.00,0.65,0.00,0.000,6,0.000,0.021,2566,787,3966,0,0,0,0,0,0
$GC,1158,-0.72,-228.7,269.1,-19.9,205,1165,0.00,0.88,0.00,0.000,4,0.000,0.041,2565,182,3966,0,0,0,0,0,0
$GC,1250,-0.72,-228.7,288.7,-22.8,221,1257,0.00,0.65,0.00,0.000,6,0.000,0.022,2562,774,3966,0,0,0,0,0,0
$GC,1582,-0.72,-228.7,353.0,-18.8,282,1590,0.00,0.85,0.00,0.000,4,0.000,0.041,2562,188,3965,0,0,0,0,0,0
$GC,1645,-0.72,-228.7,365.2,-18.9,293,1652,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,782,3965,0,0,0,0,0,0
$GC,1975,-0.72,-228.7,419.8,-16.2,354,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,783,3963,0,0,0,0,0,0
$GC,2312,-0.72,-228.7,474.5,-16.3,415,2320,0.00,1.85,0.00,0.000,4,0.000,0.017,2559,2120,3961,0,0,0,0,0,0
$GC,2349,-0.72,-228.7,480.3,-14.5,421,2357,0.10,1.98,0.00,0.000,6,0.160,0.034,2585,773,3960,0,0,0,0,0,0
$GC,2678,-0.72,-228.7,523.5,-12.9,465,2682,0.00,0.82,0.00,0.000,4,0.000,0.043,2585,199,3958,0,0,0,0,0,0
$GC,2741,-0.72,-228.7,532.0,-14.0,470,2748,0.00,0.65,0.00,0.000,6,0.000,0.022,2584,759,3958,0,0,0,0,0,0
$GC,3066,-0.72,-228.7,573.8,-12.5,501,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,760,3955,0,0,0,0,0,0
$GC,3393,-0.72,-228.7,613.0,-12.1,527,3396,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2135,3952,0,0,0,0,0,0
$GC,3427,-0.72,-228.7,616.8,-10.0,528,3431,0.00,2.03,0.00,0.000,6,0.000,0.035,2585,784,3952,0,0,0,0,0,0
$GC,3750,-0.72,-228.7,650.5,-9.8,544,3753,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2137,3949,0,0,0,0,0,0
$GC,3777,-0.72,-228.7,653.0,-7.8,545,3781,0.00,2.03,0.00,0.000,6,0.000,0.036,2585,782,3949,0,0,0,0,0,0
$GC,4107,-0.72,-228.7,678.4,-7.3,561,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,782,3946,0,0,0,0,0,0
$GC,4415,-0.72,-228.7,700.7,-7.5,576,4418,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2140,3942,0,0,0,0,0,0
$GC,4438,-0.72,-228.7,702.5,-7.1,577,4443,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,792,3942,0,0,0,0,0,0
$GC,4773,-0.72,-228.7,728.6,-8.2,593,4777,0.00,0.88,0.00,0.000,4,0.000,0.047,2586,196,3939,0,0,0,0,0,0
$GC,4874,-0.72,-228.7,738.3,-9.3,597,4878,0.00,0.70,0.00,0.000,6,0.000,0.023,2585,761,3939,0,0,0,0,0,0
$GC,5198,-0.72,-228.7,770.0,-10.1,613,5202,0.00,2.00,0.00,0.000,4,0.000,0.018,2585,2154,3936,0,0,0,0,0,0
$GC,5236,-0.72,-228.7,773.9,-9.2,614,5243,0.00,2.08,0.00,0.000,6,0.000,0.037,2585,785,3935,0,0,0,0,0,0
$GC,5554,-0.72,-228.7,801.5,-8.1,630,5558,0.00,1.98,0.00,0.000,4,0.000,0.019,2585,2171,3933,0,0,0,0,0,0
$GC,5582,-0.72,-228.7,803.7,-7.1,631,5586,0.00,2.08,0.00,0.000,6,0.000,0.037,2585,788,3933,0,0,0,0,0,0
$GC,5910,-0.72,-228.7,831.1,-8.5,647,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,788,3931,0,0,0,0,0,0
$GC,6220,-0.72,-228.7,858.9,-9.5,662,6224,0.00,1.98,0.00,0.000,4,0.000,0.019,2585,2159,3928,0,0,0,0,0,0
$GC,6248,-0.72,-228.7,861.7,-9.0,663,6252,0.00,2.08,0.00,0.000,6,0.000,0.037,2586,785,3929,0,0,0,0,0,0
$GC,6576,-0.72,-228.7,889.2,-7.7,679,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,784,3925,0,0,0,0,0,0
$GC,6886,-0.72,-228.7,910.7,-6.8,694,6890,0.00,1.98,0.00,0.000,4,0.000,0.020,2586,2154,3924,0,0,0,0,0,0
$GC,6925,-0.72,-228.7,913.4,-6.3,695,6933,0.00,2.10,0.00,0.000,6,0.000,0.039,2585,781,3923,0,0,0,0,0,0
$GC,7242,-0.72,-228.7,935.7,-7.6,711,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,781,3921,0,0,0,0,0,0
$GC,7553,-0.72,-228.7,961.0,-8.6,726,7556,0.00,1.98,0.00,0.000,4,0.000,0.020,2585,2159,3919,0,0,0,0,0,0
$GC,7608,-0.72,-228.7,965.9,-8.3,728,7612,0.00,2.08,0.00,0.000,6,0.000,0.038,2585,798,3919,0,0,0,0,0,0
$GC,7932,-0.72,-228.7,992.3,-8.0,744,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,798,3918,0,0,0,0,0,0
$STATE,8030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8030,begin apogee
$GC,8036,-0.14,0.0,1000.2,7.6,749,8219,0.52,0.00,177.27,1.408,4,0.109,0.000,2769,983,3030,0,0,0,0,0,0
$STATE,8220,end apogee,CONTROL_FINISHED_OK
$STATE,8220,begin climb
$GC,8224,0.72,228.7,1007.5,0.0,757,8423,0.73,1.30,191.57,1.346,4,0.048,0.050,3058,197,2096,0,0,0,0,0,0
$GC,8613,0.72,228.7,946.7,20.2,775,8621,0.00,1.12,0.00,0.000,6,0.000,0.024,3058,989,2087,0,0,0,0,0,0
$GC,8931,0.72,228.7,887.3,19.0,791,8935,0.00,1.23,0.00,0.000,4,0.000,0.046,3063,192,2084,0,0,0,0,0,0
$GC,9071,0.72,228.7,859.0,20.1,797,9075,0.00,1.15,0.00,0.000,6,0.000,0.025,3064,1012,2085,0,0,0,0,0,0
$GC,9400,0.72,228.7,798.2,18.8,813,9404,0.00,2.00,0.00,0.000,4,0.000,0.023,3063,2381,2082,0,0,0,0,0,0
$GC,9522,0.72,228.7,775.8,17.4,818,9526,0.00,2.08,0.00,0.000,6,0.000,0.037,3072,1011,2081,0,0,0,0,0,0
$GC,9847,0.72,228.7,719.2,17.5,834,9851,0.00,2.00,0.00,0.000,4,0.000,0.024,3072,2386,2080,0,0,0,0,0,0
$GC,9897,0.72,228.7,709.8,17.1,836,9901,0.00,2.05,0.00,0.000,6,0.000,0.037,3080,1036,2080,0,0,0,0,0,0
$GC,10225,0.72,228.7,650.2,18.3,852,10229,0.00,1.98,0.00,0.000,4,0.000,0.024,3081,2388,2080,0,0,0,0,0,0
$GC,10299,0.72,228.7,636.4,17.5,855,10303,0.12,2.00,0.00,0.000,6,0.182,0.035,3058,1055,2080,0,0,0,0,0,0
$GC,10624,0.72,228.7,583.4,16.2,875,10627,0.00,1.92,0.00,0.000,4,0.000,0.023,3058,2394,2079,0,0,0,0,0,0
$GC,10685,0.72,228.7,573.5,15.6,880,10692,0.00,2.05,0.00,0.000,6,0.000,0.036,3066,1062,2079,0,0,0,0,0,0
$GC,11010,0.72,228.7,522.2,16.0,911,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1062,2079,0,0,0,0,0,0
$GC,11330,0.72,228.7,472.9,15.0,958,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1062,2078,0,0,0,0,0,0
$GC,11664,0.72,228.7,423.2,15.9,1019,11671,0.00,1.90,0.00,0.000,4,0.000,0.023,3066,2395,2078,0,0,0,0,0,0
$GC,11743,0.72,228.7,411.0,14.1,1033,11750,0.00,2.00,0.00,0.000,6,0.000,0.036,3076,1073,2078,0,0,0,0,0,0
$GC,12074,0.72,228.7,358.1,16.6,1094,12082,0.00,1.92,0.00,0.000,4,0.000,0.022,3076,2395,2078,0,0,0,0,0,0
$GC,12219,0.72,228.7,336.9,14.0,1120,12227,0.00,2.00,0.00,0.000,6,0.000,0.037,3084,1086,2078,0,0,0,0,0,0
$GC,12554,0.72,228.7,288.0,14.5,1181,12560,0.00,1.88,0.00,0.000,4,0.000,0.022,3084,2394,2078,0,0,0,0,0,0
$GC,12616,0.72,228.7,278.7,14.5,1192,12624,0.10,1.98,0.00,0.000,6,0.148,0.036,3061,1100,2078,0,0,0,0,0,0
$GC,12953,0.72,228.7,238.8,13.1,1253,12960,0.00,1.38,0.00,0.000,4,0.000,0.045,3066,191,2079,0,0,0,0,0,0
$GC,13044,0.72,228.7,227.2,12.6,1269,13050,0.00,1.25,0.00,0.000,6,0.000,0.021,3066,1150,2079,0,0,0,0,0,0
$GC,13376,0.72,228.7,188.8,11.7,1330,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1150,2080,0,0,0,0,0,0
$GC,13709,0.79,284.4,151.2,9.3,1391,13761,0.00,1.50,42.72,0.746,4,0.000,0.044,3072,188,1868,0,0,0,0,0,0
$GC,13856,0.79,284.4,134.3,12.7,1415,13865,0.00,1.27,0.00,0.000,6,0.000,0.019,3072,1157,1865,0,0,0,0,0,0
$GC,14185,0.79,284.4,92.2,12.1,1476,14192,0.00,1.48,0.00,0.000,4,0.000,0.043,3076,190,1864,0,0,0,0,0,0
$GC,14242,0.80,290.0,85.8,10.9,1486,14251,0.00,1.23,5.53,0.545,6,0.000,0.019,3075,1130,1846,0,0,0,0,0,0
$GC,14574,0.92,394.6,56.1,7.7,1547,14665,0.12,1.48,81.90,0.656,4,0.090,0.041,3141,192,1420,0,0,0,0,0,0
$GC,14765,0.92,394.6,34.4,13.0,1577,14772,0.00,1.25,0.00,0.000,6,0.000,0.018,3141,1149,1416,0,0,0,0,0,0
$STATE,15015,end climb,SURFACE_DEPTH_REACHED
$STATE,15015,begin surface coast
$FINISH,0.6,1.021947
$STATE,15043,end surface coast,CONTROL_FINISHED_OK
$STATE,15043,begin surface
$SM_CCo,15061,4.85,0.067,0,0,1398,400.08
$SM_GC,3.00,0.00,0.00,4.85,0.000,0.000,0.067,127,771,1398,-8.43,-0.57,400.08
$IRIDIUM_FIX,2248.70,12702.02,171010,030308
$TT8_MAMPS,0.028462
$HUMID,41.61
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,23.3,36.039
$10V_AH,10.3,32.884
$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,18.975,91.600,499.000,4.850,0.000,58.349,89.648,227.653,0.000,0.000,902.437,3979.271,6708.084,563.889,4839.029,481.813,0.000,2002.407,0.000,3589.135,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,49.725,1407.600,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1110.513,1422.250,1903.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93509,1629
$CAP_FILE_SIZE,168396,0
$CFSIZE,260165632,156344320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.703, 13.6,1
$GPS,171010,082937,2254.378,12701.123,183,1.7,184,-3.3