version: 66.08
glider: 167
mission: 6
dive: 204
start: 10 18 110 14 55 7
data:
$ID,167
$MISSION,6
$DIVE,204
$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,-54379.789
$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,43
$R_STBD_OVSHOOT,86
$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
$GPS1,181010,144436,2241.165,12704.146,31,1.2,32,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.1
$GPS2,181010,145444,2241.129,12704.014,14,1.3,14,-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,158.7,192605,-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,-228.7,0.0,0.0,0,100,0.00,0.00,-79.60,0.000,2,0.000,0.000,112,778,3492,0,0,0,0,0,0
$GC,103,-0.72,-228.7,6.7,-13.8,11,128,9.55,0.88,-7.00,0.000,4,0.222,0.068,2583,183,3962,0,0,0,0,0,0
$GC,367,-0.72,-228.7,96.7,-27.7,59,375,0.00,0.80,0.00,0.000,6,0.000,0.021,2579,874,3965,0,0,0,0,0,0
$GC,695,-0.72,-228.7,168.2,-20.2,120,704,0.00,1.00,0.00,0.000,4,0.000,0.041,2579,196,3966,0,0,0,0,0,0
$GC,931,-0.72,-228.7,216.3,-20.3,162,940,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,859,3966,0,0,0,0,0,0
$GC,1274,-0.72,-228.7,279.7,-18.5,223,1281,0.00,0.98,0.00,0.000,4,0.000,0.040,2574,193,3966,0,0,0,0,0,0
$GC,1391,-0.72,-228.7,301.3,-17.9,243,1397,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,884,3966,0,0,0,0,0,0
$GC,1728,-0.72,-228.7,357.0,-15.3,304,1736,0.00,1.00,0.00,0.000,4,0.000,0.040,2573,201,3966,0,0,0,0,0,0
$GC,1917,-0.72,-228.7,388.5,-16.2,337,1924,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,867,3965,0,0,0,0,0,0
$GC,2257,-0.72,-228.7,437.8,-13.8,398,2267,0.00,1.00,0.00,0.000,4,0.000,0.041,2574,189,3964,0,0,0,0,0,0
$GC,2308,-0.72,-228.7,444.8,-13.8,406,2316,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,840,3963,0,0,0,0,0,0
$GC,2651,-0.72,-228.7,490.8,-13.0,467,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,840,3962,0,0,0,0,0,0
$GC,2984,-0.72,-228.7,536.0,-12.9,504,2988,0.00,0.95,0.00,0.000,4,0.000,0.042,2574,196,3960,0,0,0,0,0,0
$GC,3017,-0.72,-228.7,540.4,-13.5,507,3021,0.00,0.62,0.00,0.000,6,0.000,0.023,2574,732,3959,0,0,0,0,0,0
$GC,3348,-0.72,-228.7,579.6,-11.3,538,3352,0.00,1.92,0.00,0.000,4,0.000,0.017,2574,2116,3957,0,0,0,0,0,0
$GC,3384,-0.72,-228.7,583.1,-9.9,541,3388,0.00,2.03,0.00,0.000,6,0.000,0.034,2573,754,3956,0,0,0,0,0,0
$GC,3713,-0.72,-228.7,619.4,-11.3,564,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,753,3954,0,0,0,0,0,0
$GC,4019,-0.72,-228.7,652.7,-10.5,579,4023,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2114,3952,0,0,0,0,0,0
$GC,4082,-0.72,-228.7,658.3,-8.5,581,4089,0.00,2.05,0.00,0.000,6,0.000,0.035,2574,756,3951,0,0,0,0,0,0
$GC,4399,-0.72,-228.7,690.4,-10.8,597,4403,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2113,3949,0,0,0,0,0,0
$GC,4438,-0.72,-228.7,694.7,-9.6,598,4445,0.00,2.03,0.00,0.000,6,0.000,0.036,2574,774,3948,0,0,0,0,0,0
$GC,4756,-0.72,-228.7,730.7,-11.5,614,4759,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2123,3946,0,0,0,0,0,0
$GC,4806,-0.72,-228.7,736.4,-10.5,616,4810,0.00,2.08,0.00,0.000,6,0.000,0.037,2574,771,3945,0,0,0,0,0,0
$GC,5133,-0.72,-228.7,770.1,-9.8,632,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,771,3943,0,0,0,0,0,0
$GC,5444,-0.72,-228.7,798.4,-9.0,647,5448,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2114,3941,0,0,0,0,0,0
$GC,5468,-0.72,-228.7,800.5,-8.8,648,5472,0.00,2.03,0.00,0.000,6,0.000,0.038,2574,782,3941,0,0,0,0,0,0
$GC,5802,-0.72,-228.7,831.0,-9.5,664,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,782,3939,0,0,0,0,0,0
$GC,6110,-0.72,-228.7,861.6,-9.8,679,6114,0.00,1.88,0.00,0.000,4,0.000,0.019,2574,2107,3936,0,0,0,0,0,0
$GC,6137,-0.72,-228.7,864.4,-9.2,680,6141,0.00,2.03,0.00,0.000,6,0.000,0.039,2574,784,3936,0,0,0,0,0,0
$GC,6467,-0.72,-228.7,895.9,-9.7,696,6470,0.00,1.88,0.00,0.000,4,0.000,0.019,2574,2106,3934,0,0,0,0,0,0
$GC,6522,-0.72,-228.7,900.9,-8.2,698,6527,0.00,2.05,0.00,0.000,6,0.000,0.041,2574,787,3933,0,0,0,0,0,0
$GC,6845,-0.72,-228.7,930.2,-9.2,714,6848,0.00,1.90,0.00,0.000,4,0.000,0.020,2574,2104,3931,0,0,0,0,0,0
$GC,6879,-0.72,-228.7,933.4,-8.6,715,6883,0.00,2.03,0.00,0.000,6,0.000,0.041,2574,788,3931,0,0,0,0,0,0
$GC,7201,-0.72,-228.7,963.9,-9.6,731,7205,0.00,1.90,0.00,0.000,4,0.000,0.021,2574,2103,3929,0,0,0,0,0,0
$GC,7225,-0.72,-228.7,966.0,-9.2,732,7229,0.00,1.98,0.00,0.000,6,0.000,0.041,2574,805,3929,0,0,0,0,0,0
$STATE,7494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7494,begin apogee
$GC,7502,-0.14,0.0,991.6,9.3,745,7687,0.57,0.00,180.05,1.400,4,0.111,0.000,2771,957,3029,0,0,0,0,0,0
$STATE,7688,end apogee,CONTROL_FINISHED_OK
$STATE,7688,begin climb
$GC,7692,0.72,228.7,1001.2,0.0,753,7895,0.80,2.20,193.10,1.343,4,0.047,0.021,3064,2374,2096,0,0,0,0,0,0
$GC,8113,0.72,228.7,944.1,18.1,772,8117,0.00,2.15,0.00,0.000,6,0.000,0.037,3073,1001,2087,0,0,0,0,0,0
$GC,8436,0.72,228.7,880.5,19.4,788,8440,0.00,1.25,0.00,0.000,4,0.000,0.047,3079,186,2086,0,0,0,0,0,0
$GC,8643,0.72,228.7,836.9,21.4,797,8647,0.00,1.10,0.00,0.000,6,0.000,0.024,3079,990,2085,0,0,0,0,0,0
$GC,8973,0.72,228.7,770.3,20.3,813,8976,0.00,2.00,0.00,0.000,4,0.000,0.023,3079,2366,2084,0,0,0,0,0,0
$GC,9108,0.72,228.7,744.9,18.8,819,9113,0.12,2.05,0.00,0.000,6,0.182,0.037,3058,1022,2083,0,0,0,0,0,0
$GC,9438,0.72,228.7,690.6,16.6,835,9442,0.00,1.98,0.00,0.000,4,0.000,0.023,3057,2385,2082,0,0,0,0,0,0
$GC,9539,0.72,228.7,674.3,15.0,839,9543,0.00,2.05,0.00,0.000,6,0.000,0.037,3065,1031,2082,0,0,0,0,0,0
$GC,9856,0.72,228.7,620.6,17.1,854,9860,0.00,1.98,0.00,0.000,4,0.000,0.023,3065,2386,2081,0,0,0,0,0,0
$GC,9934,0.72,228.7,607.1,16.2,857,9938,0.00,2.03,0.00,0.000,6,0.000,0.036,3074,1043,2081,0,0,0,0,0,0
$GC,10264,0.72,228.7,555.1,16.3,886,10268,0.00,1.92,0.00,0.000,4,0.000,0.023,3074,2381,2081,0,0,0,0,0,0
$GC,10314,0.72,228.7,547.5,15.2,890,10321,0.00,2.03,0.00,0.000,6,0.000,0.036,3083,1049,2081,0,0,0,0,0,0
$GC,10644,0.72,228.7,495.2,16.5,923,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1049,2080,0,0,0,0,0,0
$GC,10981,0.72,228.7,440.3,17.6,984,10990,0.00,1.95,0.00,0.000,4,0.000,0.022,3082,2379,2080,0,0,0,0,0,0
$GC,11238,0.72,228.7,400.0,16.4,1030,11246,0.10,2.03,0.00,0.000,6,0.151,0.036,3060,1060,2080,0,0,0,0,0,0
$GC,11581,0.72,228.7,354.4,12.5,1091,11587,0.00,1.30,0.00,0.000,4,0.000,0.047,3065,194,2080,0,0,0,0,0,0
$GC,11663,0.72,228.7,343.0,14.0,1105,11670,0.00,1.17,0.00,0.000,6,0.000,0.023,3065,1056,2080,0,0,0,0,0,0
$GC,12006,0.72,228.7,294.3,15.4,1166,12014,0.00,1.92,0.00,0.000,4,0.000,0.021,3065,2386,2080,0,0,0,0,0,0
$GC,12116,0.72,228.7,279.8,13.0,1185,12122,0.00,1.98,0.00,0.000,6,0.000,0.035,3072,1065,2080,0,0,0,0,0,0
$GC,12455,0.72,228.7,235.7,11.8,1246,12462,0.00,1.33,0.00,0.000,4,0.000,0.045,3077,186,2080,0,0,0,0,0,0
$GC,12513,0.72,228.7,228.0,12.6,1256,12522,0.00,1.20,0.00,0.000,6,0.000,0.021,3077,1092,2081,0,0,0,0,0,0
$GC,12860,0.76,261.6,189.6,9.9,1317,12893,0.00,1.42,24.80,0.771,4,0.000,0.044,3083,180,1961,0,0,0,0,0,0
$GC,13034,0.76,261.6,166.6,13.0,1347,13041,0.00,1.17,0.00,0.000,6,0.000,0.021,3084,1072,1959,0,0,0,0,0,0
$GC,13366,0.76,261.6,124.9,11.4,1408,13375,0.00,1.88,0.00,0.000,4,0.000,0.018,3084,2388,1959,0,0,0,0,0,0
$GC,13395,0.76,261.6,121.6,11.6,1412,13404,0.00,2.05,0.00,0.000,6,0.000,0.034,3092,1045,1958,0,0,0,0,0,0
$GC,13725,0.86,348.4,87.0,8.2,1473,13798,0.00,0.00,68.15,0.685,6,0.000,0.000,3092,1045,1606,0,0,0,0,0,0
$GC,14121,0.97,432.3,48.5,8.3,1543,14195,0.12,1.33,65.55,0.636,4,0.090,0.041,3160,191,1264,0,0,0,0,0,0
$GC,14283,0.97,432.3,25.6,16.6,1569,14291,0.00,1.17,0.00,0.000,6,0.000,0.018,3160,1098,1261,0,0,0,0,0,0
$STATE,14436,end climb,SURFACE_DEPTH_REACHED
$STATE,14436,begin surface coast
$FINISH,0.6,1.014190
$STATE,14459,end surface coast,CONTROL_FINISHED_OK
$STATE,14459,begin surface
$SM_CCo,14537,0.00,0.000,0,0,1256,434.92
$SM_GC,1.42,7.88,0.00,0.00,0.037,0.000,0.000,122,780,1256,-8.37,-0.28,434.92
$IRIDIUM_FIX,2234.68,12704.34,181010,141434
$TT8_MAMPS,0.028462
$HUMID,39.32
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,23.2,37.590
$10V_AH,10.3,34.327
$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,19.150,90.800,531.650,0.000,0.000,52.572,81.522,213.543,0.000,0.000,15.432,3896.902,6258.747,581.181,3904.355,482.042,0.000,2017.514,0.000,3568.714,0.000,0.544,0.000
$DEVICE_MAMPS,221.850,71.145,1399.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.654,1412.106,1900.455,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333604
$DATA_FILE_SIZE,93671,1601
$CAP_FILE_SIZE,163038,0
$CFSIZE,260165632,155631616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,319.4,1
$GPS,181010,185837,2239.822,12704.574,38,1.5,38,-3.2