version: 66.08
glider: 167
mission: 6
dive: 203
start: 10 18 110 10 30 6
data:
$ID,167
$MISSION,6
$DIVE,203
$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,-54378.531
$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,37
$R_STBD_OVSHOOT,103
$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
$GPS1,181010,101936,2243.698,12703.854,36,1.2,42,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.3
$GPS2,181010,102944,2243.640,12703.837,15,1.4,15,-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,166.9,197200,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,81,0.00,0.00,-60.38,0.000,2,0.000,0.000,113,812,3125,0,0,0,0,0,0
$GC,85,-0.72,-228.7,5.0,-11.0,8,116,9.62,0.95,-13.80,0.000,4,0.225,0.068,2577,180,3963,0,0,0,0,0,0
$GC,356,-0.72,-228.7,97.8,-25.0,57,365,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,851,3964,0,0,0,0,0,0
$GC,686,-0.72,-228.7,177.5,-22.5,118,694,0.00,0.98,0.00,0.000,4,0.000,0.040,2574,189,3966,0,0,0,0,0,0
$GC,922,-0.72,-228.7,229.2,-20.8,161,929,0.00,0.75,0.00,0.000,6,0.000,0.021,2569,864,3966,0,0,0,0,0,0
$GC,1256,-0.72,-228.7,291.5,-17.0,222,1264,0.00,1.00,0.00,0.000,4,0.000,0.040,2569,182,3966,0,0,0,0,0,0
$GC,1377,-0.72,-228.7,312.5,-17.5,243,1384,0.00,0.75,0.00,0.000,6,0.000,0.021,2565,840,3966,0,0,0,0,0,0
$GC,1707,-0.72,-228.7,369.9,-16.0,304,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,840,3966,0,0,0,0,0,0
$GC,2043,-0.72,-228.7,421.4,-14.4,365,2050,0.00,0.98,0.00,0.000,4,0.000,0.041,2564,177,3964,0,0,0,0,0,0
$GC,2198,-0.72,-228.7,444.9,-13.7,393,2206,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,761,3963,0,0,0,0,0,0
$GC,2532,-0.72,-228.7,491.7,-13.7,454,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,761,3962,0,0,0,0,0,0
$GC,2861,-0.72,-228.7,537.3,-13.7,490,2864,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2135,3959,0,0,0,0,0,0
$GC,2895,-0.72,-228.7,541.7,-11.5,493,2899,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,766,3960,0,0,0,0,0,0
$GC,3228,-0.72,-228.7,585.7,-13.0,524,3232,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2133,3957,0,0,0,0,0,0
$GC,3262,-0.72,-228.7,590.1,-11.8,527,3266,0.00,2.03,0.00,0.000,6,0.000,0.035,2561,768,3957,0,0,0,0,0,0
$GC,3597,-0.72,-228.7,630.1,-11.1,547,3601,0.10,1.95,0.00,0.000,4,0.168,0.018,2587,2118,3954,0,0,0,0,0,0
$GC,3625,-0.72,-228.7,632.7,-8.4,548,3629,0.00,2.03,0.00,0.000,6,0.000,0.036,2587,769,3954,0,0,0,0,0,0
$GC,3953,-0.72,-228.7,660.9,-8.9,564,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,770,3951,0,0,0,0,0,0
$GC,4262,-0.72,-228.7,691.0,-9.9,579,4266,0.00,1.92,0.00,0.000,4,0.000,0.018,2587,2125,3948,0,0,0,0,0,0
$GC,4319,-0.72,-228.7,696.3,-8.5,581,4323,0.00,2.03,0.00,0.000,6,0.000,0.037,2587,777,3948,0,0,0,0,0,0
$GC,4641,-0.72,-228.7,727.8,-9.7,597,4645,0.00,1.90,0.00,0.000,4,0.000,0.018,2587,2125,3945,0,0,0,0,0,0
$GC,4675,-0.72,-228.7,730.9,-8.4,598,4679,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,772,3945,0,0,0,0,0,0
$GC,4997,-0.72,-228.7,760.1,-9.1,614,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,772,3943,0,0,0,0,0,0
$GC,5306,-0.72,-228.7,790.0,-10.0,629,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,772,3941,0,0,0,0,0,0
$GC,5618,-0.72,-228.7,819.4,-9.3,644,5622,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2127,3938,0,0,0,0,0,0
$GC,5674,-0.72,-228.7,824.4,-7.8,646,5677,0.00,2.03,0.00,0.000,6,0.000,0.038,2587,785,3937,0,0,0,0,0,0
$GC,5998,-0.72,-228.7,849.8,-7.6,662,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,785,3935,0,0,0,0,0,0
$GC,6305,-0.72,-228.7,873.7,-8.0,677,6309,0.00,1.90,0.00,0.000,4,0.000,0.019,2587,2124,3933,0,0,0,0,0,0
$GC,6388,-0.72,-228.7,880.1,-7.5,680,6395,0.00,2.03,0.00,0.000,6,0.000,0.039,2586,786,3933,0,0,0,0,0,0
$GC,6706,-0.72,-228.7,906.2,-8.4,696,6710,0.00,1.90,0.00,0.000,4,0.000,0.019,2587,2122,3930,0,0,0,0,0,0
$GC,6775,-0.72,-228.7,911.5,-7.6,699,6779,0.00,2.00,0.00,0.000,6,0.000,0.040,2587,802,3930,0,0,0,0,0,0
$GC,7110,-0.72,-228.7,939.1,-8.1,715,7113,0.00,1.88,0.00,0.000,4,0.000,0.020,2586,2122,3928,0,0,0,0,0,0
$GC,7160,-0.72,-228.7,943.0,-7.0,717,7164,0.00,2.03,0.00,0.000,6,0.000,0.041,2587,817,3928,0,0,0,0,0,0
$GC,7487,-0.72,-228.7,967.3,-7.3,733,7491,0.00,1.85,0.00,0.000,4,0.000,0.020,2587,2118,3927,0,0,0,0,0,0
$GC,7535,-0.72,-228.7,970.3,-6.0,735,7539,0.00,1.98,0.00,0.000,6,0.000,0.040,2587,816,3925,0,0,0,0,0,0
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7831,-0.14,0.0,991.4,7.2,749,8016,0.52,0.00,180.18,1.402,4,0.106,0.000,2770,958,3029,0,0,0,0,0,0
$STATE,8017,end apogee,CONTROL_FINISHED_OK
$STATE,8017,begin climb
$GC,8019,0.72,228.7,999.8,0.0,757,8221,0.80,2.22,194.02,1.343,4,0.048,0.021,3062,2386,2096,0,0,0,0,0,0
$GC,8350,0.72,228.7,958.5,18.4,772,8354,0.00,2.22,0.00,0.000,6,0.000,0.037,3071,1004,2089,0,0,0,0,0,0
$GC,8674,0.72,228.7,895.7,19.7,788,8677,0.00,1.27,0.00,0.000,4,0.000,0.047,3078,176,2086,0,0,0,0,0,0
$GC,8871,0.72,228.7,853.6,21.0,796,8878,0.00,1.15,0.00,0.000,6,0.000,0.025,3078,992,2085,0,0,0,0,0,0
$GC,9189,0.72,228.7,793.3,19.0,812,9192,0.00,2.03,0.00,0.000,4,0.000,0.023,3078,2377,2084,0,0,0,0,0,0
$GC,9258,0.72,228.7,780.6,17.1,815,9262,0.12,2.12,0.00,0.000,6,0.189,0.038,3055,1003,2084,0,0,0,0,0,0
$GC,9594,0.72,228.7,724.8,16.9,831,9597,0.00,1.23,0.00,0.000,4,0.000,0.047,3059,192,2084,0,0,0,0,0,0
$GC,9632,0.72,228.7,717.6,17.9,832,9639,0.00,1.15,0.00,0.000,6,0.000,0.024,3059,1019,2083,0,0,0,0,0,0
$GC,9949,0.72,228.7,663.8,16.7,848,9952,0.00,1.98,0.00,0.000,4,0.000,0.024,3059,2381,2082,0,0,0,0,0,0
$GC,10056,0.72,228.7,646.4,15.3,852,10063,0.00,2.08,0.00,0.000,6,0.000,0.037,3068,1012,2081,0,0,0,0,0,0
$GC,10373,0.72,228.7,594.3,16.0,869,10376,0.00,2.00,0.00,0.000,4,0.000,0.024,3068,2377,2081,0,0,0,0,0,0
$GC,10510,0.72,228.7,573.9,15.1,881,10514,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1022,2081,0,0,0,0,0,0
$GC,10836,0.72,228.7,520.2,16.5,911,10840,0.00,1.98,0.00,0.000,4,0.000,0.024,3077,2386,2080,0,0,0,0,0,0
$GC,10898,0.72,228.7,509.7,16.2,916,10905,0.12,2.05,0.00,0.000,6,0.184,0.037,3054,1025,2080,0,0,0,0,0,0
$GC,11236,0.72,228.7,459.5,14.6,971,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1026,2080,0,0,0,0,0,0
$GC,11575,0.72,228.7,410.8,14.7,1032,11583,0.00,2.00,0.00,0.000,4,0.000,0.022,3054,2396,2080,0,0,0,0,0,0
$GC,11752,0.72,228.7,388.3,12.6,1063,11759,0.00,2.05,0.00,0.000,6,0.000,0.036,3061,1043,2080,0,0,0,0,0,0
$GC,12094,0.72,228.7,342.0,13.4,1124,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1044,2080,0,0,0,0,0,0
$GC,12436,0.72,228.7,295.8,12.8,1185,12443,0.00,1.92,0.00,0.000,4,0.000,0.021,3061,2391,2079,0,0,0,0,0,0
$GC,12530,0.72,228.7,284.1,12.1,1201,12537,0.00,2.03,0.00,0.000,6,0.000,0.036,3069,1036,2080,0,0,0,0,0,0
$GC,12869,0.72,228.7,243.4,12.1,1262,12878,0.00,1.95,0.00,0.000,4,0.000,0.021,3069,2387,2080,0,0,0,0,0,0
$GC,12969,0.72,234.0,232.2,10.8,1279,12976,0.00,1.98,0.00,0.000,6,0.000,0.035,3077,1062,2081,0,0,0,0,0,0
$GC,13311,0.72,234.0,191.5,12.3,1340,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1063,2082,0,0,0,0,0,0
$GC,13656,0.72,234.0,151.2,11.3,1401,13662,0.00,1.30,0.00,0.000,4,0.000,0.044,3083,190,2083,0,0,0,0,0,0
$GC,13723,0.72,234.0,142.8,11.9,1413,13730,0.00,1.23,0.00,0.000,6,0.000,0.021,3083,1127,2083,0,0,0,0,0,0
$GC,14051,0.74,247.7,110.2,10.6,1474,14075,0.00,1.42,14.90,0.681,4,0.000,0.044,3089,196,2018,0,0,0,0,0,0
$GC,14153,0.74,247.7,98.9,11.0,1491,14160,0.00,1.23,0.00,0.000,6,0.000,0.020,3089,1128,2017,0,0,0,0,0,0
$GC,14479,0.85,335.2,68.2,8.2,1552,14554,0.00,1.50,68.50,0.667,4,0.000,0.043,3094,187,1661,0,0,0,0,0,0
$GC,14605,0.87,350.6,55.6,10.5,1571,14628,0.00,1.27,12.98,0.604,6,0.000,0.018,3094,1138,1597,0,0,0,0,0,0
$GC,14949,1.02,472.0,25.2,7.1,1634,15054,0.15,1.50,94.65,0.615,4,0.080,0.041,3175,190,1103,0,0,0,0,0,0
$GC,15086,1.02,472.0,6.3,17.3,1653,15094,0.00,1.25,0.00,0.000,6,0.000,0.018,3174,1133,1101,0,0,0,0,0,0
$STATE,15105,end climb,SURFACE_DEPTH_REACHED
$STATE,15105,begin surface coast
$FINISH,1.1,1.021627
$STATE,15123,end surface coast,CONTROL_FINISHED_OK
$STATE,15123,begin surface
$SM_CCo,15202,0.00,0.000,0,0,1098,473.92
$SM_GC,1.40,8.00,0.00,0.00,0.038,0.000,0.000,131,783,1098,-8.36,-0.20,473.92
$IRIDIUM_FIX,2232.34,12702.94,181010,101038
$TT8_MAMPS,0.028462
$HUMID,39.01
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,23.1,37.398
$10V_AH,10.2,34.151
$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,19.450,94.900,565.225,0.000,0.000,56.266,81.339,206.637,0.000,0.000,16.691,4034.524,6642.916,596.903,4027.895,485.698,0.000,2083.350,0.000,3685.134,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,71.145,1402.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.760,1461.656,1974.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333620
$DATA_FILE_SIZE,96863,1659
$CAP_FILE_SIZE,169279,0
$CFSIZE,260165632,155713536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,233.3,1
$GPS,181010,144436,2241.165,12704.146,31,1.2,32,-3.3