version: 66.08
glider: 167
mission: 6
dive: 207
start: 10 19 110 3 41 57
data:
$ID,167
$MISSION,6
$DIVE,207
$N_DIVES,219
$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,-54383.559
$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,97
$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
$GPS1,191010,033136,2235.943,12707.120,39,1.8,45,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.2
$GPS2,191010,034134,2235.997,12707.230,11,2.2,30,-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,184.6,182092,-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,-72.35,0.000,2,0.000,0.000,108,785,3281,0,0,0,0,0,0
$GC,95,-0.72,-228.7,5.7,-11.9,10,120,9.65,0.93,-10.62,0.000,4,0.224,0.076,2582,177,3964,0,0,0,0,0,0
$GC,334,-0.72,-228.7,90.0,-28.7,53,342,0.00,0.80,0.00,0.000,6,0.000,0.020,2578,867,3966,0,0,0,0,0,0
$GC,661,-0.72,-228.7,164.1,-19.8,114,671,0.00,1.00,0.00,0.000,4,0.000,0.041,2578,190,3968,0,0,0,0,0,0
$GC,805,-0.72,-228.7,194.4,-19.9,139,812,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,851,3968,0,0,0,0,0,0
$GC,1145,-0.72,-228.7,259.5,-17.8,200,1154,0.00,0.98,0.00,0.000,4,0.000,0.041,2574,187,3968,0,0,0,0,0,0
$GC,1267,-0.72,-228.7,282.8,-20.1,221,1274,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,853,3968,0,0,0,0,0,0
$GC,1609,-0.72,-228.7,343.8,-17.2,282,1617,0.00,0.98,0.00,0.000,4,0.000,0.041,2573,189,3968,0,0,0,0,0,0
$GC,1759,-0.72,-228.7,370.1,-16.7,308,1768,0.00,0.73,0.00,0.000,6,0.000,0.021,2572,824,3967,0,0,0,0,0,0
$GC,2102,-0.72,-228.7,422.3,-14.6,369,2109,0.00,0.95,0.00,0.000,4,0.000,0.042,2572,179,3967,0,0,0,0,0,0
$GC,2164,-0.72,-228.7,432.5,-15.9,380,2174,0.00,0.65,0.00,0.000,6,0.000,0.023,2570,750,3966,0,0,0,0,0,0
$GC,2508,-0.72,-228.7,481.7,-13.4,441,2514,0.00,1.92,0.00,0.000,4,0.000,0.017,2570,2130,3964,0,0,0,0,0,0
$GC,2562,-0.72,-228.7,487.5,-9.3,450,2570,0.00,2.08,0.00,0.000,6,0.000,0.034,2570,755,3964,0,0,0,0,0,0
$GC,2901,-0.72,-228.7,526.5,-12.2,491,2905,0.00,1.92,0.00,0.000,4,0.000,0.017,2570,2129,3962,0,0,0,0,0,0
$GC,2982,-0.72,-228.7,535.3,-11.5,498,2985,0.00,2.00,0.00,0.000,6,0.000,0.034,2570,779,3961,0,0,0,0,0,0
$GC,3313,-0.72,-228.7,582.6,-14.2,529,3317,0.00,0.85,0.00,0.000,4,0.000,0.044,2570,192,3959,0,0,0,0,0,0
$GC,3431,-0.72,-228.7,599.7,-14.0,539,3438,0.00,0.68,0.00,0.000,6,0.000,0.024,2570,751,3957,0,0,0,0,0,0
$GC,3748,-0.72,-228.7,636.4,-10.9,555,3752,0.00,2.00,0.00,0.000,4,0.000,0.018,2570,2150,3956,0,0,0,0,0,0
$GC,3795,-0.72,-228.7,640.9,-8.5,557,3799,0.00,2.08,0.00,0.000,6,0.000,0.035,2570,765,3955,0,0,0,0,0,0
$GC,4130,-0.72,-228.7,674.9,-10.4,573,4134,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2147,3953,0,0,0,0,0,0
$GC,4155,-0.72,-228.7,677.5,-10.0,574,4159,0.00,2.08,0.00,0.000,6,0.000,0.036,2570,774,3952,0,0,0,0,0,0
$GC,4485,-0.72,-228.7,712.0,-10.4,590,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,774,3950,0,0,0,0,0,0
$GC,4793,-0.72,-228.7,744.4,-10.6,605,4796,0.00,1.98,0.00,0.000,4,0.000,0.019,2570,2151,3947,0,0,0,0,0,0
$GC,4831,-0.72,-228.7,748.5,-9.7,606,4838,0.00,2.08,0.00,0.000,6,0.000,0.037,2570,785,3947,0,0,0,0,0,0
$GC,5149,-0.72,-228.7,782.5,-10.9,622,5153,0.00,1.95,0.00,0.000,4,0.000,0.019,2570,2145,3944,0,0,0,0,0,0
$GC,5188,-0.72,-228.7,786.7,-10.0,623,5195,0.00,2.08,0.00,0.000,6,0.000,0.037,2570,778,3944,0,0,0,0,0,0
$GC,5506,-0.72,-228.7,818.9,-10.1,639,5510,0.00,1.98,0.00,0.000,4,0.000,0.019,2570,2138,3941,0,0,0,0,0,0
$GC,5534,-0.72,-228.7,821.9,-9.4,640,5538,0.00,2.03,0.00,0.000,6,0.000,0.037,2570,792,3941,0,0,0,0,0,0
$GC,5863,-0.72,-228.7,853.1,-9.5,656,5867,0.00,1.92,0.00,0.000,4,0.000,0.020,2570,2145,3938,0,0,0,0,0,0
$GC,5892,-0.72,-228.7,855.9,-9.0,657,5896,0.00,2.05,0.00,0.000,6,0.000,0.037,2570,798,3938,0,0,0,0,0,0
$GC,6220,-0.72,-228.7,886.5,-9.4,673,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,798,3936,0,0,0,0,0,0
$GC,6530,-0.72,-228.7,914.6,-9.2,688,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,798,3934,0,0,0,0,0,0
$GC,6840,-0.72,-228.7,944.0,-10.0,703,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,798,3932,0,0,0,0,0,0
$GC,7147,-0.72,-228.7,974.9,-10.0,718,7151,0.00,1.95,0.00,0.000,4,0.000,0.021,2570,2145,3929,0,0,0,0,0,0
$GC,7203,-0.72,-228.7,980.1,-8.5,720,7206,0.00,2.05,0.00,0.000,6,0.000,0.038,2570,789,3929,0,0,0,0,0,0
$STATE,7316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7316,begin apogee
$GC,7324,-0.14,0.0,990.6,9.3,726,7509,0.60,0.00,180.32,1.398,4,0.112,0.000,2773,972,3028,0,0,0,0,0,0
$STATE,7510,end apogee,CONTROL_FINISHED_OK
$STATE,7510,begin climb
$GC,7514,0.72,228.7,998.8,0.0,734,7715,0.77,2.20,192.60,1.336,4,0.044,0.021,3063,2396,2095,0,0,0,0,0,0
$GC,7968,0.72,228.7,929.9,18.9,754,7975,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,1001,2088,0,0,0,0,0,0
$GC,8286,0.72,228.7,867.9,19.1,770,8289,0.00,1.25,0.00,0.000,4,0.000,0.047,3077,183,2086,0,0,0,0,0,0
$GC,8414,0.72,228.7,841.4,21.1,775,8421,0.00,1.17,0.00,0.000,6,0.000,0.022,3076,1041,2085,0,0,0,0,0,0
$GC,8732,0.72,228.7,783.4,18.3,791,8736,0.00,1.92,0.00,0.000,4,0.000,0.022,3076,2364,2084,0,0,0,0,0,0
$GC,8838,0.72,228.7,764.2,17.5,795,8846,0.12,2.03,0.00,0.000,6,0.183,0.037,3054,1026,2083,0,0,0,0,0,0
$GC,9154,0.72,228.7,713.4,15.8,811,9158,0.00,1.95,0.00,0.000,4,0.000,0.022,3052,2376,2082,0,0,0,0,0,0
$GC,9224,0.72,228.7,703.0,15.2,814,9227,0.00,2.03,0.00,0.000,6,0.000,0.036,3061,1033,2082,0,0,0,0,0,0
$GC,9557,0.72,228.7,650.0,15.9,830,9560,0.00,1.92,0.00,0.000,4,0.000,0.024,3061,2370,2081,0,0,0,0,0,0
$GC,9653,0.72,228.7,634.6,15.2,834,9656,0.00,1.98,0.00,0.000,6,0.000,0.036,3069,1057,2081,0,0,0,0,0,0
$GC,9973,0.72,228.7,580.7,16.8,854,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1056,2081,0,0,0,0,0,0
$GC,10294,0.72,228.7,529.3,16.1,884,10298,0.00,1.92,0.00,0.000,4,0.000,0.024,3069,2362,2080,0,0,0,0,0,0
$GC,10333,0.72,228.7,522.7,14.7,887,10340,0.00,2.00,0.00,0.000,6,0.000,0.037,3078,1063,2080,0,0,0,0,0,0
$GC,10667,0.72,228.7,470.4,16.6,934,10674,0.00,1.90,0.00,0.000,4,0.000,0.023,3077,2365,2080,0,0,0,0,0,0
$GC,10776,0.72,228.7,453.8,15.6,953,10784,0.12,1.95,0.00,0.000,6,0.181,0.036,3054,1061,2079,0,0,0,0,0,0
$GC,11116,0.72,228.7,408.2,12.8,1014,11124,0.00,1.90,0.00,0.000,4,0.000,0.023,3054,2362,2079,0,0,0,0,0,0
$GC,11154,0.72,228.7,403.6,12.6,1020,11163,0.00,2.00,0.00,0.000,6,0.000,0.037,3061,1062,2079,0,0,0,0,0,0
$GC,11499,0.72,228.7,358.7,14.0,1081,11505,0.00,1.90,0.00,0.000,4,0.000,0.022,3061,2377,2079,0,0,0,0,0,0
$GC,11594,0.72,228.7,345.5,12.9,1098,11602,0.00,2.00,0.00,0.000,6,0.000,0.037,3067,1074,2079,0,0,0,0,0,0
$GC,11935,0.72,228.7,300.6,13.2,1159,11941,0.00,1.33,0.00,0.000,4,0.000,0.045,3074,193,2079,0,0,0,0,0,0
$GC,11976,0.72,228.7,294.1,15.8,1166,11983,0.00,1.20,0.00,0.000,6,0.000,0.023,3075,1086,2079,0,0,0,0,0,0
$GC,12318,0.72,228.7,249.7,13.1,1227,12324,0.00,1.83,0.00,0.000,4,0.000,0.020,3075,2380,2080,0,0,0,0,0,0
$GC,12423,0.72,228.7,237.0,11.7,1245,12429,0.00,1.92,0.00,0.000,6,0.000,0.034,3082,1082,2080,0,0,0,0,0,0
$GC,12763,0.72,228.7,193.7,11.6,1306,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1082,2081,0,0,0,0,0,0
$GC,13107,0.72,228.7,153.2,11.5,1367,13114,0.00,1.83,0.00,0.000,4,0.000,0.019,3082,2380,2083,0,0,0,0,0,0
$GC,13206,0.72,228.7,141.7,11.2,1385,13215,0.10,1.98,0.00,0.000,6,0.138,0.034,3056,1077,2083,0,0,0,0,0,0
$GC,13538,0.87,350.0,112.9,7.1,1446,13636,0.12,1.98,92.45,0.705,4,0.085,0.018,3119,2378,1601,0,0,0,0,0,0
$GC,13691,0.87,350.0,92.8,14.9,1468,13700,0.00,2.00,0.00,0.000,6,0.000,0.033,3127,1094,1597,0,0,0,0,0,0
$GC,14019,0.93,400.5,50.9,9.4,1529,14064,0.00,1.92,40.03,0.637,4,0.000,0.018,3127,2382,1395,0,0,0,0,0,0
$GC,14131,0.93,400.5,38.0,11.5,1547,14139,0.00,2.00,0.00,0.000,6,0.000,0.035,3131,1094,1392,0,0,0,0,0,0
$STATE,14448,end climb,SURFACE_DEPTH_REACHED
$STATE,14448,begin surface coast
$FINISH,0.9,1.021557
$STATE,14483,end surface coast,CONTROL_FINISHED_OK
$STATE,14483,begin surface
$SM_CCo,14563,0.00,0.000,0,0,1387,402.78
$SM_GC,1.52,7.62,0.00,0.00,0.028,0.000,0.000,115,780,1387,-8.38,-0.28,402.78
$IRIDIUM_FIX,2225.34,12706.66,191010,030338
$TT8_MAMPS,0.028462
$HUMID,39.68
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,23.2,38.163
$10V_AH,10.2,34.863
$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,19.125,98.900,505.400,0.000,0.000,54.434,57.550,206.395,0.000,0.000,32.701,3931.313,6241.836,570.882,3905.342,489.330,0.000,2004.210,0.000,3584.972,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,75.735,1397.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1098.374,1430.476,1936.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93579,1613
$CAP_FILE_SIZE,164858,0
$CFSIZE,260165632,155357184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,122.9,1
$GPS,191010,074555,2233.289,12707.889,40,1.3,40,-3.2