version: 66.08
glider: 167
mission: 6
dive: 211
start: 10 19 110 20 48 11
data:
$ID,167
$MISSION,6
$DIVE,211
$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,-54388.586
$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,46
$R_STBD_OVSHOOT,80
$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
$GPS1,191010,203730,2225.312,12709.459,37,1.0,43,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.3
$GPS2,191010,204749,2225.290,12709.510,16,2.0,33,-3.2
$SPEED_LIMITS,0.191,0.328
$TGT_NAME,PICKUP
$TGT_LATLONG,2100.000,12530.000
$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,225.0,233564,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.72,-228.7,0.0,0.0,0,92,0.00,0.00,-70.40,0.000,2,0.000,0.000,113,775,3407,0,0,0,0,0,0
$GC,95,-0.72,-228.7,6.5,-15.1,10,120,9.50,0.90,-8.27,0.000,4,0.220,0.074,2580,182,3966,0,0,0,0,0,0
$GC,361,-0.72,-228.7,104.2,-25.5,58,369,0.00,0.82,0.00,0.000,6,0.000,0.021,2577,886,3968,0,0,0,0,0,0
$GC,694,-0.72,-228.7,179.0,-21.4,119,701,0.00,1.02,0.00,0.000,4,0.000,0.041,2577,190,3969,0,0,0,0,0,0
$GC,954,-0.72,-228.7,235.2,-20.2,165,960,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,883,3969,0,0,0,0,0,0
$GC,1295,-0.72,-228.7,296.6,-16.5,226,1305,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,199,3969,0,0,0,0,0,0
$GC,1479,-0.72,-228.7,328.6,-17.5,258,1487,0.00,0.73,0.00,0.000,6,0.000,0.021,2572,857,3969,0,0,0,0,0,0
$GC,1820,-0.72,-228.7,382.2,-14.5,319,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,857,3969,0,0,0,0,0,0
$GC,2157,-0.72,-228.7,432.1,-14.1,380,2166,0.00,0.98,0.00,0.000,4,0.000,0.041,2573,195,3968,0,0,0,0,0,0
$GC,2271,-0.72,-228.7,449.5,-15.5,399,2278,0.00,0.75,0.00,0.000,6,0.000,0.021,2570,847,3968,0,0,0,0,0,0
$GC,2608,-0.72,-228.7,496.7,-14.5,460,2617,0.00,1.90,0.00,0.000,4,0.000,0.018,2562,2195,3966,0,0,0,0,0,0
$GC,2639,-0.72,-228.7,501.1,-13.1,464,2647,0.00,2.15,0.00,0.000,6,0.000,0.034,2562,758,3965,0,0,0,0,0,0
$GC,2964,-0.72,-228.7,546.0,-14.0,495,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,758,3963,0,0,0,0,0,0
$GC,3288,-0.72,-228.7,590.0,-13.4,525,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,758,3960,0,0,0,0,0,0
$GC,3606,-0.72,-228.7,631.1,-12.0,544,3609,0.00,2.05,0.00,0.000,4,0.000,0.018,2561,2180,3958,0,0,0,0,0,0
$GC,3689,-0.72,-228.7,639.6,-9.3,547,3696,0.00,2.15,0.00,0.000,6,0.000,0.035,2562,769,3957,0,0,0,0,0,0
$GC,4007,-0.72,-228.7,674.1,-11.1,563,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,769,3955,0,0,0,0,0,0
$GC,4314,-0.72,-228.7,709.6,-11.7,578,4318,0.00,2.03,0.00,0.000,4,0.000,0.019,2562,2187,3952,0,0,0,0,0,0
$GC,4347,-0.72,-228.7,713.3,-10.8,579,4351,0.00,2.15,0.00,0.000,6,0.000,0.035,2561,764,3952,0,0,0,0,0,0
$GC,4665,-0.72,-228.7,748.2,-11.1,594,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,763,3949,0,0,0,0,0,0
$GC,4973,-0.72,-228.7,783.6,-11.3,609,4977,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2172,3946,0,0,0,0,0,0
$GC,5025,-0.72,-228.7,788.9,-9.6,611,5029,0.00,2.15,0.00,0.000,6,0.000,0.037,2561,768,3946,0,0,0,0,0,0
$GC,5352,-0.72,-228.7,823.6,-10.5,627,5356,0.00,2.05,0.00,0.000,4,0.000,0.019,2561,2176,3944,0,0,0,0,0,0
$GC,5385,-0.72,-228.7,827.1,-9.5,628,5389,0.00,2.15,0.00,0.000,6,0.000,0.037,2561,777,3943,0,0,0,0,0,0
$GC,5704,-0.72,-228.7,860.1,-10.6,643,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,776,3941,0,0,0,0,0,0
$GC,6011,-0.72,-228.7,892.3,-10.5,658,6015,0.00,2.05,0.00,0.000,4,0.000,0.020,2561,2181,3939,0,0,0,0,0,0
$GC,6057,-0.72,-228.7,896.8,-9.4,660,6061,0.00,2.17,0.00,0.000,6,0.000,0.037,2561,768,3938,0,0,0,0,0,0
$GC,6387,-0.72,-228.7,931.3,-10.7,676,6390,0.00,2.05,0.00,0.000,4,0.000,0.020,2561,2171,3936,0,0,0,0,0,0
$GC,6420,-0.72,-228.7,934.8,-9.3,677,6424,0.00,2.15,0.00,0.000,6,0.000,0.038,2561,780,3936,0,0,0,0,0,0
$GC,6738,-0.72,-228.7,964.7,-9.1,692,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3934,0,0,0,0,0,0
$STATE,7022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7022,begin apogee
$GC,7028,-0.14,0.0,990.9,9.0,706,7219,0.62,0.00,181.38,1.391,4,0.113,0.000,2772,1026,3028,0,0,0,0,0,0
$STATE,7220,end apogee,CONTROL_FINISHED_OK
$STATE,7220,begin climb
$GC,7223,0.72,228.7,997.8,0.0,715,7421,0.75,0.00,192.88,1.334,6,0.047,0.000,3061,1026,2096,0,0,0,0,0,0
$GC,7744,0.72,228.7,910.8,20.5,740,7747,0.00,1.98,0.00,0.000,4,0.000,0.024,3061,2364,2086,0,0,0,0,0,0
$GC,7868,0.72,228.7,886.6,19.0,745,7872,0.00,2.12,0.00,0.000,6,0.000,0.036,3068,997,2085,0,0,0,0,0,0
$GC,8184,0.72,228.7,825.9,18.6,760,8187,0.00,2.00,0.00,0.000,4,0.000,0.023,3069,2365,2083,0,0,0,0,0,0
$GC,8267,0.72,228.7,810.6,18.7,763,8274,0.00,2.08,0.00,0.000,6,0.000,0.036,3078,1018,2083,0,0,0,0,0,0
$GC,8585,0.72,228.7,752.4,18.7,779,8589,0.00,2.00,0.00,0.000,4,0.000,0.024,3077,2381,2083,0,0,0,0,0,0
$GC,8662,0.72,228.7,738.0,17.2,782,8666,0.12,2.08,0.00,0.000,6,0.185,0.037,3055,1019,2082,0,0,0,0,0,0
$GC,8983,0.72,228.7,684.8,16.8,798,8987,0.00,1.98,0.00,0.000,4,0.000,0.024,3055,2363,2081,0,0,0,0,0,0
$GC,9096,0.72,228.7,666.4,15.9,803,9100,0.00,2.03,0.00,0.000,6,0.000,0.038,3062,1039,2081,0,0,0,0,0,0
$GC,9430,0.72,228.7,612.4,15.4,819,9434,0.00,1.95,0.00,0.000,4,0.000,0.024,3062,2374,2080,0,0,0,0,0,0
$GC,9548,0.72,228.7,594.0,15.2,825,9554,0.00,2.03,0.00,0.000,6,0.000,0.037,3070,1045,2080,0,0,0,0,0,0
$GC,9875,0.72,228.7,541.5,17.2,856,9879,0.00,1.95,0.00,0.000,4,0.000,0.023,3070,2375,2079,0,0,0,0,0,0
$GC,9969,0.72,228.7,525.8,15.9,864,9976,0.00,2.00,0.00,0.000,6,0.000,0.037,3079,1062,2079,0,0,0,0,0,0
$GC,10305,0.72,228.7,471.2,17.5,911,10312,0.00,1.88,0.00,0.000,4,0.000,0.024,3079,2366,2079,0,0,0,0,0,0
$GC,10409,0.72,228.7,454.9,14.6,929,10417,0.12,1.95,0.00,0.000,6,0.174,0.037,3056,1076,2078,0,0,0,0,0,0
$GC,10750,0.72,228.7,409.2,14.0,990,10758,0.00,1.35,0.00,0.000,4,0.000,0.046,3062,188,2078,0,0,0,0,0,0
$GC,10883,0.72,228.7,389.3,15.4,1013,10889,0.00,1.17,0.00,0.000,6,0.000,0.021,3062,1070,2078,0,0,0,0,0,0
$GC,11226,0.72,228.7,341.7,13.4,1074,11234,0.00,1.88,0.00,0.000,4,0.000,0.024,3062,2364,2078,0,0,0,0,0,0
$GC,11385,0.72,228.7,321.5,12.2,1102,11392,0.00,1.98,0.00,0.000,6,0.000,0.036,3069,1073,2078,0,0,0,0,0,0
$GC,11729,0.72,228.7,277.6,12.1,1163,11736,0.00,1.33,0.00,0.000,4,0.000,0.045,3076,189,2078,0,0,0,0,0,0
$GC,11844,0.72,228.7,262.1,12.6,1183,11851,0.00,1.17,0.00,0.000,6,0.000,0.021,3076,1081,2078,0,0,0,0,0,0
$GC,12185,0.72,228.7,218.8,12.7,1244,12193,0.00,1.85,0.00,0.000,4,0.000,0.020,3076,2375,2079,0,0,0,0,0,0
$GC,12285,0.72,228.7,207.0,11.4,1261,12292,0.00,2.00,0.00,0.000,6,0.000,0.035,3083,1046,2080,0,0,0,0,0,0
$GC,12624,0.72,228.7,166.5,11.1,1322,12632,0.00,1.90,0.00,0.000,4,0.000,0.019,3083,2372,2081,0,0,0,0,0,0
$GC,12696,0.78,281.4,159.4,9.3,1334,12745,0.00,1.98,40.42,0.746,6,0.000,0.034,3089,1073,1880,0,0,0,0,0,0
$GC,13068,0.78,281.4,115.9,11.4,1401,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1073,1876,0,0,0,0,0,0
$GC,13398,0.90,374.7,82.6,8.0,1462,13480,0.00,1.95,72.78,0.673,4,0.000,0.017,3089,2383,1500,0,0,0,0,0,0
$GC,13506,0.99,448.2,72.7,8.6,1477,13573,0.10,2.05,58.53,0.649,6,0.055,0.035,3152,1073,1200,0,0,0,0,0,0
$GC,13893,0.99,448.2,21.1,13.2,1546,13901,0.00,1.33,0.00,0.000,4,0.000,0.043,3158,194,1195,0,0,0,0,0,0
$GC,13937,0.99,448.2,15.7,12.5,1553,13945,0.00,1.17,0.00,0.000,6,0.000,0.018,3158,1126,1195,0,0,0,0,0,0
$STATE,14019,end climb,SURFACE_DEPTH_REACHED
$STATE,14019,begin surface coast
$FINISH,0.4,1.021734
$STATE,14044,end surface coast,CONTROL_FINISHED_OK
$STATE,14044,begin surface
$SM_CCo,14122,0.00,0.000,0,0,1193,450.37
$SM_GC,1.32,7.70,0.00,0.00,0.028,0.000,0.000,121,785,1193,-8.36,-0.14,450.37
$IRIDIUM_FIX,2218.34,12710.38,191010,202031
$TT8_MAMPS,0.028462
$HUMID,39.13
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.00
$XPDR_PINGS,1
$24V_AH,23.2,38.945
$10V_AH,10.3,35.581
$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,18.925,88.050,545.975,0.000,0.000,51.757,58.939,231.088,0.250,0.000,34.003,3788.541,6065.303,591.787,3780.149,493.658,0.000,1976.657,0.000,3453.921,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,74.205,1390.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.277,1396.745,1877.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,90247,1572
$CAP_FILE_SIZE,156168,0
$CFSIZE,260165632,155000832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,295.3,1
$GPS,201010,004437,2223.383,12708.034,27,1.2,27,-3.2