version: 66.08
glider: 167
mission: 6
dive: 197
start: 10 17 110 8 39 54
data:
$ID,167
$MISSION,6
$DIVE,197
$N_DIVES,210
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$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,-54370.98
$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,50
$R_STBD_OVSHOOT,85
$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
$GPS1,171010,082937,2254.378,12701.123,183,1.7,184,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-62.3
$GPS2,171010,083932,2254.396,12700.994,14,1.9,14,-3.3
$SPEED_LIMITS,0.191,0.328
$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,215.0,217716,-15.7,-11.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,78,0.00,0.00,-58.17,0.000,2,0.000,0.000,112,769,3112,0,0,0,0,0,0
$GC,82,-0.72,-228.7,5.0,-10.6,8,113,9.70,0.85,-13.88,0.000,4,0.228,0.076,2577,204,3963,0,0,0,0,0,0
$GC,355,-0.72,-228.7,95.1,-26.7,57,363,0.00,0.77,0.00,0.000,6,0.000,0.021,2573,886,3964,0,0,0,0,0,0
$GC,684,-0.72,-228.7,168.2,-20.9,118,693,0.00,1.00,0.00,0.000,4,0.000,0.041,2573,207,3966,0,0,0,0,0,0
$GC,942,-0.72,-228.7,222.8,-20.4,164,950,0.00,0.75,0.00,0.000,6,0.000,0.021,2569,867,3966,0,0,0,0,0,0
$GC,1284,-0.72,-228.7,283.0,-17.9,225,1291,0.00,0.98,0.00,0.000,4,0.000,0.041,2569,203,3966,0,0,0,0,0,0
$GC,1530,-0.72,-228.7,326.9,-18.3,269,1536,0.00,0.75,0.00,0.000,6,0.000,0.020,2564,862,3966,0,0,0,0,0,0
$GC,1871,-0.72,-228.7,386.5,-18.4,330,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,862,3965,0,0,0,0,0,0
$GC,2213,-0.72,-228.7,441.9,-14.4,391,2220,0.00,0.98,0.00,0.000,4,0.000,0.041,2564,200,3964,0,0,0,0,0,0
$GC,2354,-0.72,-228.7,463.7,-15.0,416,2362,0.00,0.77,0.00,0.000,6,0.000,0.021,2562,873,3963,0,0,0,0,0,0
$GC,2698,-0.72,-228.7,511.4,-13.0,470,2702,0.00,1.00,0.00,0.000,4,0.000,0.042,2561,199,3961,0,0,0,0,0,0
$GC,2864,-0.72,-228.7,533.4,-12.6,484,2870,0.00,0.77,0.00,0.000,6,0.000,0.021,2561,855,3960,0,0,0,0,0,0
$GC,3189,-0.72,-228.7,576.9,-13.6,515,3193,0.00,0.98,0.00,0.000,4,0.000,0.043,2561,198,3958,0,0,0,0,0,0
$GC,3248,-0.72,-228.7,585.1,-14.6,520,3251,0.00,0.77,0.00,0.000,6,0.000,0.021,2561,845,3958,0,0,0,0,0,0
$GC,3573,-0.72,-228.7,626.6,-12.0,541,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,846,3955,0,0,0,0,0,0
$GC,3885,-0.72,-228.7,662.9,-11.7,556,3889,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2185,3953,0,0,0,0,0,0
$GC,3941,-0.72,-228.7,669.4,-10.1,558,3944,0.00,2.10,0.00,0.000,6,0.000,0.036,2561,792,3952,0,0,0,0,0,0
$GC,4262,-0.72,-228.7,709.2,-12.6,574,4264,0.10,0.00,0.00,0.000,6,0.170,0.000,2587,792,3950,0,0,0,0,0,0
$GC,4573,-0.72,-228.7,737.6,-8.5,589,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,792,3948,0,0,0,0,0,0
$GC,4881,-0.72,-228.7,763.5,-7.9,604,4885,0.00,2.00,0.00,0.000,4,0.000,0.019,2587,2181,3945,0,0,0,0,0,0
$GC,4927,-0.72,-228.7,766.7,-6.9,606,4931,0.00,2.15,0.00,0.000,6,0.000,0.037,2587,772,3944,0,0,0,0,0,0
$GC,5258,-0.72,-228.7,791.9,-7.9,622,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,771,3942,0,0,0,0,0,0
$GC,5564,-0.72,-228.7,818.1,-8.5,637,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,772,3940,0,0,0,0,0,0
$GC,5877,-0.72,-228.7,843.9,-8.2,652,5880,0.00,2.03,0.00,0.000,4,0.000,0.020,2585,2172,3938,0,0,0,0,0,0
$GC,5923,-0.72,-228.7,847.4,-7.1,654,5927,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,782,3937,0,0,0,0,0,0
$GC,6250,-0.72,-228.7,871.0,-7.2,670,6254,0.00,2.03,0.00,0.000,4,0.000,0.020,2586,2178,3935,0,0,0,0,0,0
$GC,6284,-0.72,-228.7,873.3,-6.6,671,6288,0.00,2.15,0.00,0.000,6,0.000,0.038,2587,782,3934,0,0,0,0,0,0
$GC,6601,-0.72,-228.7,895.2,-6.6,686,6604,0.00,2.03,0.00,0.000,4,0.000,0.020,2586,2179,3932,0,0,0,0,0,0
$GC,6650,-0.72,-228.7,898.2,-5.5,688,6654,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,789,3932,0,0,0,0,0,0
$GC,6979,-0.72,-228.7,920.5,-7.2,704,6983,0.00,2.03,0.00,0.000,4,0.000,0.021,2586,2182,3930,0,0,0,0,0,0
$GC,7012,-0.72,-228.7,923.0,-6.5,705,7016,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,798,3929,0,0,0,0,0,0
$GC,7331,-0.72,-228.7,944.8,-6.9,720,7334,0.00,2.00,0.00,0.000,4,0.000,0.020,2586,2177,3928,0,0,0,0,0,0
$GC,7381,-0.72,-228.7,948.1,-5.8,722,7384,0.00,2.12,0.00,0.000,6,0.000,0.039,2587,796,3928,0,0,0,0,0,0
$GC,7703,-0.72,-228.7,970.0,-7.0,738,7706,0.00,1.98,0.00,0.000,4,0.000,0.021,2586,2173,3926,0,0,0,0,0,0
$GC,7737,-0.72,-228.7,972.2,-7.0,739,7741,0.00,2.12,0.00,0.000,6,0.000,0.040,2587,798,3926,0,0,0,0,0,0
$STATE,7989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7989,begin apogee
$GC,7996,-0.14,0.0,990.3,7.2,751,8181,0.55,0.00,180.38,1.403,4,0.109,0.000,2775,1020,3028,0,0,0,0,0,0
$STATE,8182,end apogee,CONTROL_FINISHED_OK
$STATE,8182,begin climb
$GC,8185,0.72,228.7,998.7,0.0,759,8385,0.77,2.12,192.90,1.345,4,0.045,0.021,3064,2392,2096,0,0,0,0,0,0
$GC,8628,0.72,228.7,937.3,18.3,780,8632,0.00,2.20,0.00,0.000,6,0.000,0.037,3074,1001,2087,0,0,0,0,0,0
$GC,8950,0.72,228.7,875.0,19.9,796,8954,0.00,1.25,0.00,0.000,4,0.000,0.047,3079,187,2086,0,0,0,0,0,0
$GC,9175,0.72,228.7,827.6,21.5,806,9178,0.00,1.15,0.00,0.000,6,0.000,0.024,3079,1018,2085,0,0,0,0,0,0
$GC,9507,0.72,228.7,763.5,19.1,822,9511,0.00,1.98,0.00,0.000,4,0.000,0.023,3079,2377,2084,0,0,0,0,0,0
$GC,9531,0.72,228.7,758.9,18.7,823,9536,0.12,2.10,0.00,0.000,6,0.185,0.037,3058,1007,2083,0,0,0,0,0,0
$GC,9862,0.72,228.7,702.5,16.6,839,9866,0.00,2.00,0.00,0.000,4,0.000,0.023,3058,2370,2083,0,0,0,0,0,0
$GC,9917,0.72,228.7,692.7,15.2,841,9921,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1020,2083,0,0,0,0,0,0
$GC,10241,0.72,228.7,638.7,16.0,857,10244,0.00,1.95,0.00,0.000,4,0.000,0.024,3066,2373,2082,0,0,0,0,0,0
$GC,10324,0.72,228.7,624.6,15.6,860,10331,0.00,2.05,0.00,0.000,6,0.000,0.037,3073,1028,2081,0,0,0,0,0,0
$GC,10650,0.72,228.7,569.3,17.7,884,10654,0.00,1.95,0.00,0.000,4,0.000,0.024,3073,2375,2081,0,0,0,0,0,0
$GC,10710,0.72,228.7,557.7,16.8,889,10717,0.00,2.05,0.00,0.000,6,0.000,0.037,3082,1026,2081,0,0,0,0,0,0
$GC,11039,0.72,228.7,501.1,18.1,920,11043,0.00,1.95,0.00,0.000,4,0.000,0.022,3083,2381,2080,0,0,0,0,0,0
$GC,11132,0.72,228.7,484.8,18.2,935,11139,0.15,2.03,0.00,0.000,6,0.178,0.036,3052,1047,2080,0,0,0,0,0,0
$GC,11473,0.72,228.7,434.5,14.6,996,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1047,2080,0,0,0,0,0,0
$GC,11819,0.72,228.7,387.7,13.9,1057,11825,0.00,1.27,0.00,0.000,4,0.000,0.045,3058,196,2079,0,0,0,0,0,0
$GC,11844,0.72,228.7,383.8,14.3,1061,11851,0.00,1.17,0.00,0.000,6,0.000,0.024,3058,1061,2079,0,0,0,0,0,0
$GC,12185,0.72,228.7,338.7,12.4,1122,12194,0.00,1.90,0.00,0.000,4,0.000,0.021,3058,2382,2080,0,0,0,0,0,0
$GC,12286,0.72,228.7,326.7,11.9,1139,12293,0.00,1.98,0.00,0.000,6,0.000,0.035,3066,1073,2080,0,0,0,0,0,0
$GC,12627,0.72,228.7,282.6,11.5,1200,12635,0.00,1.90,0.00,0.000,4,0.000,0.020,3066,2388,2080,0,0,0,0,0,0
$GC,12682,0.72,228.7,275.1,13.2,1209,12689,0.00,1.98,0.00,0.000,6,0.000,0.034,3075,1073,2080,0,0,0,0,0,0
$GC,13022,0.72,228.7,226.9,13.5,1270,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1074,2081,0,0,0,0,0,0
$GC,13369,0.72,230.6,187.0,10.9,1331,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1073,2082,0,0,0,0,0,0
$GC,13711,0.74,245.3,148.1,10.5,1392,13726,0.00,0.00,12.57,0.706,6,0.000,0.000,3075,1073,2029,0,0,0,0,0,0
$GC,14045,0.78,277.7,114.3,10.0,1454,14075,0.00,0.00,26.88,0.704,6,0.000,0.000,3075,1074,1896,0,0,0,0,0,0
$GC,14398,0.86,346.1,78.8,8.8,1518,14460,0.00,0.00,53.67,0.675,6,0.000,0.000,3076,1074,1617,0,0,0,0,0,0
$GC,14778,1.08,523.2,47.5,5.3,1586,14927,0.25,1.38,138.38,0.630,4,0.059,0.040,3209,183,893,0,0,0,0,0,0
$GC,14992,1.08,523.2,6.4,19.8,1618,15002,0.12,1.25,0.00,0.000,6,0.147,0.018,3169,1105,890,0,0,0,0,0,0
$STATE,15008,end climb,SURFACE_DEPTH_REACHED
$STATE,15008,begin surface coast
$FINISH,0.4,1.021701
$STATE,15027,end surface coast,CONTROL_FINISHED_OK
$STATE,15027,begin surface
$SM_CCo,15106,0.00,0.000,0,0,887,525.43
$SM_GC,1.16,8.02,0.00,0.00,0.040,0.000,0.000,122,786,887,-8.37,-0.11,525.43
$IRIDIUM_FIX,2244.02,12658.74,171010,080842
$TT8_MAMPS,0.028462
$HUMID,40.15
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,23.1,36.242
$10V_AH,10.3,33.065
$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,19.800,83.750,604.775,0.000,0.000,61.977,59.611,211.316,0.000,0.000,15.553,3948.503,6725.976,597.965,3928.455,476.789,0.000,2059.499,0.000,3603.432,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,76.500,1403.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.982,1424.777,1905.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93519,1623
$CAP_FILE_SIZE,164538,0
$CFSIZE,260165632,156262400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,268.8,1
$GPS,171010,130521,2252.571,12659.537,766,3.4,785,-3.3