version: 66.08
glider: 167
mission: 6
dive: 205
start: 10 18 110 19 8 48
data:
$ID,167
$MISSION,6
$DIVE,205
$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,-54381.047
$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,38
$R_STBD_OVSHOOT,92
$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
$GPS1,181010,185837,2239.822,12704.574,38,1.5,38,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.4
$GPS2,181010,190826,2239.823,12704.441,12,1.8,12,-3.2
$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,161.3,190079,-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,-228.7,0.0,0.0,0,91,0.00,0.00,-71.07,0.000,2,0.000,0.000,113,775,3403,0,0,0,0,0,0
$GC,94,-0.72,-228.7,6.3,-12.8,10,118,9.68,0.90,-8.55,0.000,4,0.226,0.076,2584,186,3964,0,0,0,0,0,0
$GC,358,-0.72,-228.7,99.6,-28.7,58,366,0.00,0.80,0.00,0.000,6,0.000,0.021,2580,872,3966,0,0,0,0,0,0
$GC,688,-0.72,-228.7,171.3,-22.6,119,695,0.00,1.00,0.00,0.000,4,0.000,0.041,2581,192,3968,0,0,0,0,0,0
$GC,920,-0.72,-228.7,219.9,-19.9,161,926,0.00,0.75,0.00,0.000,6,0.000,0.021,2576,851,3968,0,0,0,0,0,0
$GC,1252,-0.72,-228.7,284.6,-18.2,222,1260,0.00,0.98,0.00,0.000,4,0.000,0.040,2576,187,3968,0,0,0,0,0,0
$GC,1334,-0.72,-228.7,300.0,-19.7,236,1343,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,866,3968,0,0,0,0,0,0
$GC,1667,-0.72,-228.7,355.3,-15.5,297,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,865,3967,0,0,0,0,0,0
$GC,1996,-0.72,-228.7,406.3,-14.7,358,2004,0.00,1.00,0.00,0.000,4,0.000,0.041,2574,187,3967,0,0,0,0,0,0
$GC,2166,-0.72,-228.7,431.8,-15.4,388,2174,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,838,3967,0,0,0,0,0,0
$GC,2501,-0.72,-228.7,477.8,-13.8,449,2507,0.00,1.77,0.00,0.000,4,0.000,0.017,2573,2116,3965,0,0,0,0,0,0
$GC,2575,-0.72,-228.7,487.1,-11.5,462,2583,0.00,2.03,0.00,0.000,6,0.000,0.034,2573,775,3965,0,0,0,0,0,0
$GC,2909,-0.72,-228.7,531.7,-12.9,502,2913,0.00,1.90,0.00,0.000,4,0.000,0.017,2573,2109,3962,0,0,0,0,0,0
$GC,2947,-0.72,-228.7,536.3,-11.1,505,2954,0.00,2.00,0.00,0.000,6,0.000,0.034,2573,755,3962,0,0,0,0,0,0
$GC,3273,-0.72,-228.7,575.0,-11.7,536,3277,0.00,1.90,0.00,0.000,4,0.000,0.018,2573,2116,3960,0,0,0,0,0,0
$GC,3308,-0.72,-228.7,578.6,-10.1,539,3312,0.00,1.98,0.00,0.000,6,0.000,0.034,2573,798,3960,0,0,0,0,0,0
$GC,3637,-0.72,-228.7,618.2,-12.6,563,3641,0.00,0.88,0.00,0.000,4,0.000,0.044,2573,196,3957,0,0,0,0,0,0
$GC,3751,-0.72,-228.7,634.2,-13.6,568,3755,0.00,0.68,0.00,0.000,6,0.000,0.024,2573,748,3957,0,0,0,0,0,0
$GC,4086,-0.72,-228.7,674.7,-11.4,584,4090,0.00,1.98,0.00,0.000,4,0.000,0.018,2572,2146,3954,0,0,0,0,0,0
$GC,4110,-0.72,-228.7,677.4,-10.3,585,4114,0.00,2.03,0.00,0.000,6,0.000,0.036,2573,795,3954,0,0,0,0,0,0
$GC,4443,-0.72,-228.7,710.2,-9.8,601,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,795,3951,0,0,0,0,0,0
$GC,4755,-0.72,-228.7,741.6,-10.5,616,4758,0.00,1.92,0.00,0.000,4,0.000,0.019,2573,2153,3949,0,0,0,0,0,0
$GC,4788,-0.72,-228.7,745.2,-9.6,617,4792,0.00,2.05,0.00,0.000,6,0.000,0.037,2573,787,3949,0,0,0,0,0,0
$GC,5112,-0.72,-228.7,777.8,-9.9,633,5115,0.00,1.98,0.00,0.000,4,0.000,0.020,2573,2160,3946,0,0,0,0,0,0
$GC,5145,-0.72,-228.7,781.2,-8.6,634,5148,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,791,3946,0,0,0,0,0,0
$GC,5468,-0.72,-228.7,809.1,-8.6,650,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,791,3943,0,0,0,0,0,0
$GC,5778,-0.72,-228.7,836.8,-9.3,665,5781,0.00,1.98,0.00,0.000,4,0.000,0.020,2573,2156,3940,0,0,0,0,0,0
$GC,5824,-0.72,-228.7,840.9,-8.2,667,5828,0.00,2.05,0.00,0.000,6,0.000,0.039,2573,799,3940,0,0,0,0,0,0
$GC,6152,-0.72,-228.7,872.5,-9.6,683,6155,0.00,0.90,0.00,0.000,4,0.000,0.048,2573,194,3938,0,0,0,0,0,0
$GC,6199,-0.72,-228.7,877.1,-10.4,685,6203,0.00,0.75,0.00,0.000,6,0.000,0.024,2573,781,3938,0,0,0,0,0,0
$GC,6534,-0.72,-228.7,908.7,-9.7,701,6538,0.00,1.98,0.00,0.000,4,0.000,0.021,2573,2163,3936,0,0,0,0,0,0
$GC,6586,-0.72,-228.7,913.3,-8.4,703,6590,0.00,2.08,0.00,0.000,6,0.000,0.039,2573,796,3935,0,0,0,0,0,0
$GC,6908,-0.72,-228.7,943.1,-9.3,719,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,797,3933,0,0,0,0,0,0
$GC,7217,-0.72,-228.7,970.3,-8.6,734,7221,0.00,1.98,0.00,0.000,4,0.000,0.021,2573,2156,3931,0,0,0,0,0,0
$GC,7269,-0.72,-228.7,974.5,-7.8,736,7273,0.00,2.05,0.00,0.000,6,0.000,0.041,2573,805,3931,0,0,0,0,0,0
$STATE,7464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7464,begin apogee
$GC,7470,-0.14,0.0,991.7,8.8,746,7656,0.57,0.00,180.05,1.398,4,0.110,0.000,2771,994,3029,0,0,0,0,0,0
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7659,0.72,228.7,999.8,0.0,754,7860,0.80,2.15,192.65,1.341,4,0.046,0.021,3067,2386,2096,0,0,0,0,0,0
$GC,8103,0.72,228.7,934.7,19.8,774,8107,0.00,2.17,0.00,0.000,6,0.000,0.037,3075,999,2087,0,0,0,0,0,0
$GC,8425,0.72,228.7,868.7,20.2,790,8429,0.00,1.25,0.00,0.000,4,0.000,0.047,3081,187,2085,0,0,0,0,0,0
$GC,8621,0.72,228.7,828.7,20.5,798,8628,0.00,1.12,0.00,0.000,6,0.000,0.023,3081,1005,2084,0,0,0,0,0,0
$GC,8938,0.72,228.7,768.3,19.2,814,8941,0.00,1.98,0.00,0.000,4,0.000,0.024,3081,2367,2083,0,0,0,0,0,0
$GC,9117,0.72,228.7,735.0,18.4,822,9122,0.12,2.05,0.00,0.000,6,0.178,0.037,3058,1015,2082,0,0,0,0,0,0
$GC,9447,0.72,228.7,674.9,18.4,838,9451,0.00,1.95,0.00,0.000,4,0.000,0.024,3057,2372,2082,0,0,0,0,0,0
$GC,9502,0.72,228.7,664.5,17.1,840,9506,0.00,2.03,0.00,0.000,6,0.000,0.037,3066,1030,2081,0,0,0,0,0,0
$GC,9827,0.72,228.7,609.3,17.0,856,9830,0.00,1.95,0.00,0.000,4,0.000,0.023,3066,2373,2081,0,0,0,0,0,0
$GC,9876,0.72,228.7,600.1,17.9,858,9880,0.00,2.05,0.00,0.000,6,0.000,0.038,3068,1045,2081,0,0,0,0,0,0
$GC,10203,0.72,228.7,546.4,17.4,888,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1045,2080,0,0,0,0,0,0
$GC,10524,0.72,228.7,493.2,16.7,921,10531,0.00,1.92,0.00,0.000,4,0.000,0.023,3069,2375,2080,0,0,0,0,0,0
$GC,10692,0.72,228.7,467.1,15.2,951,10700,0.00,2.00,0.00,0.000,6,0.000,0.036,3075,1042,2079,0,0,0,0,0,0
$GC,11026,0.72,228.7,415.9,15.8,1012,11035,0.00,1.95,0.00,0.000,4,0.000,0.023,3075,2370,2079,0,0,0,0,0,0
$GC,11148,0.72,228.7,397.2,14.6,1034,11156,0.08,2.00,0.00,0.000,6,0.156,0.035,3060,1065,2079,0,0,0,0,0,0
$GC,11485,0.72,228.7,353.5,11.7,1095,11492,0.00,1.30,0.00,0.000,4,0.000,0.045,3065,197,2079,0,0,0,0,0,0
$GC,11566,0.72,228.7,343.2,12.4,1109,11573,0.00,1.17,0.00,0.000,6,0.000,0.024,3065,1062,2079,0,0,0,0,0,0
$GC,11901,0.72,228.7,300.6,12.8,1170,11909,0.00,1.90,0.00,0.000,4,0.000,0.021,3065,2380,2079,0,0,0,0,0,0
$GC,11977,0.72,228.7,290.9,12.7,1183,11984,0.00,1.98,0.00,0.000,6,0.000,0.037,3068,1060,2079,0,0,0,0,0,0
$GC,12310,0.72,228.7,246.9,12.5,1244,12317,0.00,1.30,0.00,0.000,4,0.000,0.045,3075,192,2079,0,0,0,0,0,0
$GC,12367,0.72,228.7,239.6,13.3,1254,12375,0.00,1.20,0.00,0.000,6,0.000,0.022,3074,1095,2080,0,0,0,0,0,0
$GC,12705,0.74,244.5,200.1,10.5,1315,12721,0.00,1.90,11.70,0.740,4,0.000,0.020,3074,2376,2031,0,0,0,0,0,0
$GC,12816,0.75,253.8,187.0,10.7,1334,12831,0.00,2.03,9.00,0.695,6,0.000,0.035,3080,1072,1993,0,0,0,0,0,0
$GC,13157,0.75,253.8,144.9,11.2,1396,13165,0.00,1.33,0.00,0.000,4,0.000,0.043,3087,187,1992,0,0,0,0,0,0
$GC,13186,0.75,253.8,141.5,11.7,1400,13194,0.00,1.20,0.00,0.000,6,0.000,0.019,3087,1110,1992,0,0,0,0,0,0
$GC,13515,0.84,327.8,108.1,8.6,1461,13580,0.00,0.00,58.80,0.702,6,0.000,0.000,3087,1110,1691,0,0,0,0,0,0
$GC,13904,0.92,395.9,74.4,8.8,1530,13963,0.00,1.48,53.45,0.659,4,0.000,0.043,3089,187,1414,0,0,0,0,0,0
$GC,14151,0.99,448.2,51.1,9.3,1573,14204,0.10,1.20,41.60,0.627,6,0.050,0.019,3153,1093,1200,0,0,0,0,0,0
$STATE,14491,end climb,SURFACE_DEPTH_REACHED
$STATE,14492,begin surface coast
$FINISH,0.6,1.021817
$STATE,14517,end surface coast,CONTROL_FINISHED_OK
$STATE,14517,begin surface
$SM_CCo,14597,0.00,0.000,0,0,1194,450.13
$SM_GC,1.36,7.68,0.00,0.00,0.028,0.000,0.000,130,789,1194,-8.35,-0.03,450.13
$IRIDIUM_FIX,2232.34,12706.21,181010,191948
$TT8_MAMPS,0.027713
$HUMID,39.25
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.2,37.783
$10V_AH,10.3,34.508
$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,19.025,91.000,547.250,0.000,0.000,59.665,60.659,209.956,0.000,0.000,13.620,3989.382,6124.927,577.308,3971.234,500.113,0.000,2042.114,0.000,3659.515,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,75.735,1397.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1115.220,1453.742,1971.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96835,1638
$CAP_FILE_SIZE,165681,0
$CFSIZE,260165632,155533312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,348.0,1
$GPS,181010,231307,2238.233,12705.480,27,1.0,27,-3.2