version: 66.08
glider: 167
mission: 6
dive: 212
start: 10 20 110 0 55 1
data:
$ID,167
$MISSION,6
$DIVE,212
$N_DIVES,225
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$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,-54389.844
$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,44
$R_STBD_OVSHOOT,102
$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
$GPS1,201010,004437,2223.383,12708.034,27,1.2,27,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.0
$GPS2,201010,005438,2223.365,12708.097,14,1.8,14,-3.2
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2130.000,12530.000
$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,240.6,195806,-15.8,-11.111
$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,-228.7,0.0,0.0,0,96,0.00,0.00,-74.35,0.000,2,0.000,0.000,113,780,3438,0,0,0,0,0,0
$GC,99,-0.72,-228.7,6.7,-15.7,10,124,9.55,0.90,-7.72,0.000,4,0.222,0.073,2581,182,3965,0,0,0,0,0,0
$GC,364,-0.72,-228.7,105.7,-27.4,58,372,0.00,0.77,0.00,0.000,6,0.000,0.020,2577,875,3967,0,0,0,0,0,0
$GC,697,-0.72,-228.7,181.0,-20.4,119,704,0.00,1.00,0.00,0.000,4,0.000,0.040,2577,194,3968,0,0,0,0,0,0
$GC,957,-0.72,-228.7,235.1,-19.8,165,963,0.00,0.73,0.00,0.000,6,0.000,0.021,2574,857,3968,0,0,0,0,0,0
$GC,1296,-0.72,-228.7,298.7,-17.2,226,1306,0.00,0.98,0.00,0.000,4,0.000,0.040,2573,191,3968,0,0,0,0,0,0
$GC,1556,-0.72,-228.7,345.2,-16.3,272,1565,0.00,0.73,0.00,0.000,6,0.000,0.021,2570,837,3968,0,0,0,0,0,0
$GC,1899,-0.72,-228.7,397.1,-15.6,333,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,837,3969,0,0,0,0,0,0
$GC,2236,-0.72,-228.7,447.1,-15.5,394,2244,0.00,0.95,0.00,0.000,4,0.000,0.041,2570,192,3966,0,0,0,0,0,0
$GC,2346,-0.72,-228.7,464.5,-16.3,413,2353,0.00,0.62,0.00,0.000,6,0.000,0.022,2567,744,3966,0,0,0,0,0,0
$GC,2688,-0.72,-228.7,515.2,-14.0,465,2692,0.00,1.92,0.00,0.000,4,0.000,0.016,2562,2133,3964,0,0,0,0,0,0
$GC,2751,-0.72,-228.7,523.2,-11.9,470,2757,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,780,3963,0,0,0,0,0,0
$GC,3076,-0.72,-228.7,565.6,-12.8,501,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,781,3961,0,0,0,0,0,0
$GC,3397,-0.72,-228.7,605.1,-12.2,529,3401,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2131,3959,0,0,0,0,0,0
$GC,3436,-0.72,-228.7,610.0,-10.3,530,3442,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,779,3959,0,0,0,0,0,0
$GC,3752,-0.72,-228.7,648.1,-12.3,546,3756,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2141,3956,0,0,0,0,0,0
$GC,3799,-0.72,-228.7,653.2,-11.1,548,3803,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,781,3956,0,0,0,0,0,0
$GC,4134,-0.72,-228.7,691.2,-11.1,564,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,781,3953,0,0,0,0,0,0
$GC,4444,-0.72,-228.7,726.8,-11.5,579,4447,0.00,1.90,0.00,0.000,4,0.000,0.018,2562,2132,3950,0,0,0,0,0,0
$GC,4483,-0.72,-228.7,731.2,-10.0,580,4490,0.00,2.05,0.00,0.000,6,0.000,0.037,2562,778,3950,0,0,0,0,0,0
$GC,4799,-0.72,-228.7,765.2,-10.9,596,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,778,3948,0,0,0,0,0,0
$GC,5110,-0.72,-228.7,799.4,-10.9,611,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,778,3945,0,0,0,0,0,0
$GC,5418,-0.72,-228.7,831.5,-10.2,626,5421,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2123,3943,0,0,0,0,0,0
$GC,5451,-0.72,-228.7,834.8,-8.9,627,5455,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,793,3942,0,0,0,0,0,0
$GC,5775,-0.72,-228.7,867.7,-10.5,643,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,793,3940,0,0,0,0,0,0
$GC,6082,-0.72,-228.7,901.0,-10.8,658,6086,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2121,3937,0,0,0,0,0,0
$GC,6115,-0.72,-228.7,904.5,-9.9,659,6119,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,792,3938,0,0,0,0,0,0
$GC,6439,-0.72,-228.7,937.7,-10.4,675,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,792,3935,0,0,0,0,0,0
$GC,6746,-0.72,-228.7,968.0,-9.4,690,6750,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2131,3933,0,0,0,0,0,0
$GC,6798,-0.72,-228.7,972.4,-8.2,692,6802,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,789,3932,0,0,0,0,0,0
$STATE,7123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7123,begin apogee
$GC,7129,-0.14,0.0,1001.7,8.9,708,7323,0.62,0.00,181.57,1.402,4,0.112,0.000,2772,964,3027,0,0,0,0,0,0
$STATE,7323,end apogee,CONTROL_FINISHED_OK
$STATE,7323,begin climb
$GC,7326,0.72,228.7,1010.0,0.0,717,7527,0.77,2.17,193.20,1.346,4,0.044,0.021,3061,2381,2096,0,0,0,0,0,0
$GC,7742,0.72,228.7,952.7,18.4,736,7746,0.00,2.17,0.00,0.000,6,0.000,0.037,3071,1004,2088,0,0,0,0,0,0
$GC,8063,0.72,228.7,888.5,20.1,752,8066,0.00,1.25,0.00,0.000,4,0.000,0.047,3078,187,2086,0,0,0,0,0,0
$GC,8254,0.72,228.7,847.5,22.3,760,8258,0.00,1.12,0.00,0.000,6,0.000,0.023,3078,1007,2085,0,0,0,0,0,0
$GC,8578,0.72,228.7,784.0,19.1,776,8581,0.00,2.00,0.00,0.000,4,0.000,0.024,3078,2375,2084,0,0,0,0,0,0
$GC,8627,0.72,228.7,773.7,18.7,778,8632,0.12,2.10,0.00,0.000,6,0.182,0.037,3056,1009,2083,0,0,0,0,0,0
$GC,8956,0.72,228.7,716.5,17.8,794,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1009,2082,0,0,0,0,0,0
$GC,9264,0.72,228.7,662.8,17.1,809,9268,0.00,1.98,0.00,0.000,4,0.000,0.024,3056,2374,2082,0,0,0,0,0,0
$GC,9360,0.72,228.7,646.6,16.4,813,9364,0.00,2.08,0.00,0.000,6,0.000,0.038,3064,1025,2081,0,0,0,0,0,0
$GC,9684,0.72,228.7,594.4,15.5,830,9688,0.00,1.98,0.00,0.000,4,0.000,0.022,3064,2380,2080,0,0,0,0,0,0
$GC,9764,0.72,228.7,582.3,15.4,837,9768,0.00,2.05,0.00,0.000,6,0.000,0.037,3072,1032,2080,0,0,0,0,0,0
$GC,10096,0.72,228.7,530.8,16.1,868,10099,0.00,1.27,0.00,0.000,4,0.000,0.046,3079,193,2080,0,0,0,0,0,0
$GC,10156,0.72,228.7,520.1,17.3,873,10163,0.00,1.15,0.00,0.000,6,0.000,0.024,3079,1024,2080,0,0,0,0,0,0
$GC,10492,0.72,228.7,464.4,17.2,923,10499,0.00,1.98,0.00,0.000,4,0.000,0.025,3079,2386,2079,0,0,0,0,0,0
$GC,10551,0.72,228.7,454.7,16.1,933,10559,0.12,2.03,0.00,0.000,6,0.179,0.037,3056,1037,2079,0,0,0,0,0,0
$GC,10895,0.72,228.7,407.2,13.2,994,10903,0.00,1.27,0.00,0.000,4,0.000,0.046,3061,190,2079,0,0,0,0,0,0
$GC,10940,0.72,228.7,400.9,13.8,1001,10946,0.00,1.17,0.00,0.000,6,0.000,0.024,3061,1060,2079,0,0,0,0,0,0
$GC,11278,0.72,228.7,355.5,12.4,1062,11286,0.00,1.92,0.00,0.000,4,0.000,0.021,3061,2389,2079,0,0,0,0,0,0
$GC,11404,0.72,228.7,340.1,12.1,1084,11413,0.00,2.08,0.00,0.000,6,0.000,0.037,3069,1035,2079,0,0,0,0,0,0
$GC,11748,0.72,228.7,293.7,14.6,1145,11754,0.00,1.95,0.00,0.000,4,0.000,0.021,3069,2396,2079,0,0,0,0,0,0
$GC,11776,0.72,228.7,290.1,13.2,1149,11782,0.00,2.03,0.00,0.000,6,0.000,0.035,3078,1042,2078,0,0,0,0,0,0
$GC,12115,0.72,228.7,246.0,12.6,1210,12123,0.00,1.27,0.00,0.000,4,0.000,0.044,3085,187,2079,0,0,0,0,0,0
$GC,12152,0.72,228.7,240.8,14.3,1216,12161,0.08,1.20,0.00,0.000,6,0.159,0.021,3061,1083,2079,0,0,0,0,0,0
$GC,12497,0.75,255.4,202.3,10.2,1277,12525,0.00,1.33,19.70,0.768,4,0.000,0.041,3066,189,1988,0,0,0,0,0,0
$GC,12550,0.75,255.4,196.3,11.2,1285,12557,0.00,1.17,0.00,0.000,6,0.000,0.021,3066,1084,1987,0,0,0,0,0,0
$GC,12894,0.80,289.9,158.2,10.0,1346,12928,0.00,0.00,28.80,0.734,6,0.000,0.000,3066,1084,1847,0,0,0,0,0,0
$GC,13249,0.81,302.6,119.2,10.7,1411,13266,0.00,1.92,11.23,0.653,4,0.000,0.019,3065,2397,1794,0,0,0,0,0,0
$GC,13318,0.91,378.8,112.9,8.6,1422,13387,0.08,2.08,61.38,0.695,6,0.057,0.034,3118,1046,1483,0,0,0,0,0,0
$GC,13707,0.98,442.8,63.3,9.0,1491,13766,0.00,1.33,50.08,0.644,4,0.000,0.044,3124,194,1222,0,0,0,0,0,0
$GC,13781,0.98,442.8,55.6,11.7,1501,13789,0.00,1.20,0.00,0.000,6,0.000,0.020,3124,1096,1221,0,0,0,0,0,0
$GC,14108,0.99,445.0,18.5,11.0,1562,14117,0.00,1.38,0.00,0.000,4,0.000,0.042,3128,190,1218,0,0,0,0,0,0
$GC,14161,0.99,445.0,11.8,12.4,1571,14169,0.00,1.17,0.00,0.000,6,0.000,0.019,3128,1109,1218,0,0,0,0,0,0
$STATE,14242,end climb,SURFACE_DEPTH_REACHED
$STATE,14243,begin surface coast
$FINISH,0.4,1.008210
$STATE,14274,end surface coast,CONTROL_FINISHED_OK
$STATE,14274,begin surface
$SM_CCo,14354,0.00,0.000,0,0,1215,444.73
$SM_GC,1.35,7.68,0.00,0.00,0.033,0.000,0.000,121,789,1215,-8.38,-0.03,444.73
$IRIDIUM_FIX,2213.68,12707.11,201010,000028
$TT8_MAMPS,0.028462
$HUMID,39.68
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,1
$24V_AH,23.2,39.141
$10V_AH,10.3,35.755
$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,19.025,84.750,545.950,0.000,0.000,55.860,58.231,233.728,0.250,0.000,15.760,3853.266,6181.973,590.008,3811.296,499.174,0.000,1994.336,0.000,3498.312,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,72.675,1402.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.502,1407.756,1890.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,93478,1591
$CAP_FILE_SIZE,160498,0
$CFSIZE,260165632,154906624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044, 92.5,1
$GPS,201010,045531,2222.072,12706.808,41,1.3,41,-3.2