version: 66.08
glider: 167
mission: 6
dive: 202
start: 10 18 110 6 9 49
data:
$ID,167
$MISSION,6
$DIVE,202
$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,-54377.273
$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,36
$R_STBD_OVSHOOT,78
$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
$GPS1,181010,055937,2246.627,12703.528,42,1.0,42,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.2
$GPS2,181010,060926,2246.629,12703.539,14,1.3,14,-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,181.7,202708,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,92,0.00,0.00,-71.95,0.000,2,0.000,0.000,113,785,3303,0,0,0,0,0,0
$GC,95,-0.72,-228.7,5.7,-11.9,10,119,9.68,0.93,-10.32,0.000,4,0.226,0.073,2580,177,3965,0,0,0,0,0,0
$GC,357,-0.72,-228.7,99.7,-26.0,58,366,0.00,0.82,0.00,0.000,6,0.000,0.020,2577,895,3968,0,0,0,0,0,0
$GC,688,-0.72,-228.7,174.6,-21.6,119,695,0.00,1.05,0.00,0.000,4,0.000,0.040,2577,183,3969,0,0,0,0,0,0
$GC,829,-0.72,-228.7,206.0,-21.8,144,838,0.00,0.80,0.00,0.000,6,0.000,0.020,2574,907,3969,0,0,0,0,0,0
$GC,1174,-0.72,-228.7,268.1,-19.0,205,1181,0.00,1.05,0.00,0.000,4,0.000,0.040,2574,190,3969,0,0,0,0,0,0
$GC,1354,-0.72,-228.7,301.5,-19.1,237,1361,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,878,3969,0,0,0,0,0,0
$GC,1695,-0.72,-228.7,357.8,-15.6,298,1704,0.00,1.02,0.00,0.000,4,0.000,0.041,2574,180,3969,0,0,0,0,0,0
$GC,1776,-0.72,-228.7,371.4,-15.3,312,1785,0.00,0.77,0.00,0.000,6,0.000,0.021,2570,856,3969,0,0,0,0,0,0
$GC,2119,-0.72,-228.7,423.1,-15.2,373,2125,0.00,1.88,0.00,0.000,4,0.000,0.017,2561,2207,3968,0,0,0,0,0,0
$GC,2167,-0.72,-228.7,429.5,-11.8,381,2174,0.00,2.12,0.00,0.000,6,0.000,0.034,2562,763,3968,0,0,0,0,0,0
$GC,2509,-0.72,-228.7,477.4,-14.5,442,2517,0.00,0.82,0.00,0.000,4,0.000,0.044,2562,192,3966,0,0,0,0,0,0
$GC,2613,-0.72,-228.7,492.7,-16.0,460,2622,0.00,0.77,0.00,0.000,6,0.000,0.021,2561,859,3965,0,0,0,0,0,0
$GC,2948,-0.72,-228.7,539.4,-13.0,495,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,860,3963,0,0,0,0,0,0
$GC,3271,-0.72,-228.7,581.9,-13.1,525,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,860,3961,0,0,0,0,0,0
$GC,3601,-0.72,-228.7,623.0,-12.1,548,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,860,3958,0,0,0,0,0,0
$GC,3912,-0.72,-228.7,660.1,-11.8,563,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,860,3956,0,0,0,0,0,0
$GC,4219,-0.72,-228.7,697.1,-12.1,578,4223,0.00,1.00,0.00,0.000,4,0.000,0.044,2561,190,3954,0,0,0,0,0,0
$GC,4314,-0.72,-228.7,709.5,-13.3,582,4318,0.00,0.80,0.00,0.000,6,0.000,0.022,2560,830,3953,0,0,0,0,0,0
$GC,4645,-0.72,-228.7,747.0,-11.1,598,4647,0.10,0.00,0.00,0.000,6,0.175,0.000,2587,831,3950,0,0,0,0,0,0
$GC,4952,-0.72,-228.7,774.6,-8.5,613,4956,0.00,0.95,0.00,0.000,4,0.000,0.046,2587,197,3948,0,0,0,0,0,0
$GC,5022,-0.72,-228.7,780.8,-8.8,616,5026,0.00,0.73,0.00,0.000,6,0.000,0.024,2587,773,3948,0,0,0,0,0,0
$GC,5356,-0.72,-228.7,810.2,-8.9,632,5359,0.00,1.98,0.00,0.000,4,0.000,0.019,2587,2154,3945,0,0,0,0,0,0
$GC,5394,-0.72,-228.7,813.6,-8.2,633,5401,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,792,3944,0,0,0,0,0,0
$GC,5713,-0.72,-228.7,840.5,-8.5,649,5716,0.00,1.98,0.00,0.000,4,0.000,0.019,2587,2165,3942,0,0,0,0,0,0
$GC,5763,-0.72,-228.7,844.7,-7.4,651,5766,0.00,2.08,0.00,0.000,6,0.000,0.037,2587,790,3942,0,0,0,0,0,0
$GC,6092,-0.72,-228.7,870.2,-7.5,667,6096,0.00,1.98,0.00,0.000,4,0.000,0.019,2587,2174,3939,0,0,0,0,0,0
$GC,6142,-0.72,-228.7,873.9,-6.8,669,6146,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,800,3938,0,0,0,0,0,0
$GC,6465,-0.72,-228.7,897.9,-7.6,685,6469,0.00,1.95,0.00,0.000,4,0.000,0.020,2587,2156,3936,0,0,0,0,0,0
$GC,6516,-0.72,-228.7,901.5,-6.3,687,6520,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,799,3936,0,0,0,0,0,0
$GC,6839,-0.72,-228.7,924.5,-7.1,703,6842,0.00,1.98,0.00,0.000,4,0.000,0.020,2587,2179,3934,0,0,0,0,0,0
$GC,6894,-0.72,-228.7,928.1,-5.9,705,6897,0.00,2.08,0.00,0.000,6,0.000,0.039,2587,805,3934,0,0,0,0,0,0
$GC,7218,-0.72,-228.7,950.7,-7.4,721,7221,0.00,1.92,0.00,0.000,4,0.000,0.020,2587,2155,3932,0,0,0,0,0,0
$GC,7245,-0.72,-228.7,953.0,-7.1,722,7249,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,816,3932,0,0,0,0,0,0
$GC,7575,-0.72,-228.7,978.5,-8.3,738,7578,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2166,3929,0,0,0,0,0,0
$GC,7625,-0.72,-228.7,982.6,-7.9,740,7629,0.00,2.08,0.00,0.000,6,0.000,0.039,2587,806,3929,0,0,0,0,0,0
$STATE,7723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7723,begin apogee
$GC,7730,-0.14,0.0,990.7,8.2,745,7915,0.52,0.00,180.52,1.397,4,0.108,0.000,2770,993,3029,0,0,0,0,0,0
$STATE,7916,end apogee,CONTROL_FINISHED_OK
$STATE,7916,begin climb
$GC,7919,0.72,228.7,1000.3,0.0,753,8122,0.80,2.17,193.62,1.340,4,0.046,0.021,3066,2400,2095,0,0,0,0,0,0
$GC,8381,0.72,228.7,935.5,17.7,774,8385,0.00,2.17,0.00,0.000,6,0.000,0.037,3075,1004,2087,0,0,0,0,0,0
$GC,8708,0.72,228.7,871.6,20.0,790,8711,0.00,1.25,0.00,0.000,4,0.000,0.047,3082,187,2086,0,0,0,0,0,0
$GC,8897,0.72,228.7,830.9,20.8,798,8901,0.00,1.15,0.00,0.000,6,0.000,0.023,3081,1015,2085,0,0,0,0,0,0
$GC,9219,0.72,228.7,765.7,20.5,814,9223,0.00,1.95,0.00,0.000,4,0.000,0.023,3081,2373,2084,0,0,0,0,0,0
$GC,9283,0.72,228.7,753.4,18.8,816,9292,0.12,2.08,0.00,0.000,6,0.181,0.037,3058,1007,2083,0,0,0,0,0,0
$GC,9599,0.72,228.7,698.6,17.1,832,9603,0.00,2.00,0.00,0.000,4,0.000,0.023,3058,2375,2082,0,0,0,0,0,0
$GC,9668,0.72,228.7,687.3,16.5,835,9672,0.00,2.05,0.00,0.000,6,0.000,0.038,3066,1023,2082,0,0,0,0,0,0
$GC,9997,0.72,228.7,630.3,17.8,851,10000,0.00,1.98,0.00,0.000,4,0.000,0.023,3066,2381,2082,0,0,0,0,0,0
$GC,10043,0.72,228.7,621.6,17.3,853,10047,0.00,2.08,0.00,0.000,6,0.000,0.037,3074,1024,2081,0,0,0,0,0,0
$GC,10365,0.72,228.7,563.7,17.1,878,10369,0.00,1.98,0.00,0.000,4,0.000,0.023,3074,2380,2081,0,0,0,0,0,0
$GC,10478,0.72,228.7,544.4,16.3,888,10482,0.00,2.03,0.00,0.000,6,0.000,0.037,3082,1043,2081,0,0,0,0,0,0
$GC,10808,0.72,228.7,486.8,18.1,924,10817,0.00,1.98,0.00,0.000,4,0.000,0.024,3082,2386,2081,0,0,0,0,0,0
$GC,10945,0.72,228.7,464.5,17.6,948,10954,0.10,2.03,0.00,0.000,6,0.155,0.036,3059,1068,2080,0,0,0,0,0,0
$GC,11292,0.72,228.7,415.5,13.8,1009,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1069,2080,0,0,0,0,0,0
$GC,11630,0.72,228.7,364.5,13.8,1070,11638,0.00,1.90,0.00,0.000,4,0.000,0.021,3059,2380,2080,0,0,0,0,0,0
$GC,11732,0.72,228.7,351.4,13.1,1087,11738,0.00,1.95,0.00,0.000,6,0.000,0.036,3066,1076,2080,0,0,0,0,0,0
$GC,12072,0.72,228.7,302.5,13.4,1148,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1076,2080,0,0,0,0,0,0
$GC,12416,0.72,228.7,257.7,11.9,1209,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1076,2080,0,0,0,0,0,0
$GC,12753,0.72,228.7,218.1,12.5,1270,12761,0.00,1.88,0.00,0.000,4,0.000,0.019,3067,2382,2081,0,0,0,0,0,0
$GC,12830,0.72,228.7,208.5,13.7,1283,12837,0.00,1.95,0.00,0.000,6,0.000,0.035,3073,1072,2081,0,0,0,0,0,0
$GC,13172,0.72,228.7,166.5,11.1,1344,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1072,2082,0,0,0,0,0,0
$GC,13510,0.72,230.5,131.5,10.9,1405,13518,0.00,1.88,0.00,0.000,4,0.000,0.018,3072,2387,2084,0,0,0,0,0,0
$GC,13552,0.73,238.4,127.0,10.7,1412,13569,0.00,2.00,7.12,0.617,6,0.000,0.034,3080,1072,2059,0,0,0,0,0,0
$GC,13891,0.83,323.6,97.0,8.3,1474,13965,0.00,0.00,67.68,0.688,6,0.000,0.000,3080,1071,1707,0,0,0,0,0,0
$GC,14287,0.89,369.7,59.9,9.5,1544,14332,0.00,1.38,35.95,0.640,4,0.000,0.044,3086,190,1521,0,0,0,0,0,0
$GC,14426,0.94,408.5,46.0,9.7,1567,14464,0.08,1.23,31.83,0.620,6,0.060,0.020,3138,1115,1363,0,0,0,0,0,0
$GC,14783,0.94,413.4,4.5,10.8,1632,14793,0.00,1.45,4.60,0.435,4,0.000,0.042,3142,183,1342,0,0,0,0,0,0
$STATE,14799,end climb,SURFACE_DEPTH_REACHED
$STATE,14799,begin surface coast
$FINISH,0.6,1.009647
$STATE,14830,end surface coast,CONTROL_FINISHED_OK
$STATE,14830,begin surface
$SM_CCo,14910,0.00,0.000,0,0,1339,414.56
$SM_GC,1.44,7.70,0.00,0.00,0.031,0.000,0.000,120,812,1339,-8.37,0.65,414.56
$IRIDIUM_FIX,2239.35,12702.48,181010,010121
$TT8_MAMPS,0.028462
$HUMID,38.65
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,23.2,37.202
$10V_AH,10.3,33.969
$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,19.100,87.950,521.325,0.000,0.000,53.017,64.038,210.401,0.000,0.000,15.314,4001.674,6428.933,570.632,3985.547,490.197,0.000,2036.183,0.000,3671.619,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,73.440,1396.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1116.422,1449.170,1979.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333584
$DATA_FILE_SIZE,96857,1639
$CAP_FILE_SIZE,166499,0
$CFSIZE,260165632,155807744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,180.6,1
$GPS,181010,101936,2243.698,12703.854,36,1.2,42,-3.3