version: 66.08
glider: 167
mission: 6
dive: 213
start: 10 20 110 5 6 1
data:
$ID,167
$MISSION,6
$DIVE,213
$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,-54391.105
$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,41
$R_STBD_OVSHOOT,84
$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
$GPS1,201010,045531,2222.072,12706.808,41,1.3,41,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.2
$GPS2,201010,050538,2222.005,12706.914,14,1.3,14,-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,247.3,192779,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-68.30,0.000,2,0.000,0.000,113,789,3211,0,0,0,0,0,0
$GC,94,-0.72,-228.7,5.2,-10.6,9,119,9.52,0.93,-12.05,0.000,4,0.221,0.073,2580,176,3963,0,0,0,0,0,0
$GC,360,-0.72,-228.7,101.3,-25.5,57,368,0.00,0.82,0.00,0.000,6,0.000,0.019,2576,894,3966,0,0,0,0,0,0
$GC,689,-0.72,-228.7,173.4,-21.2,118,697,0.00,1.02,0.00,0.000,4,0.000,0.040,2576,195,3967,0,0,0,0,0,0
$GC,941,-0.72,-228.7,225.4,-20.2,164,949,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,881,3968,0,0,0,0,0,0
$GC,1276,-0.72,-228.7,285.7,-17.7,225,1283,0.00,1.02,0.00,0.000,4,0.000,0.040,2574,184,3968,0,0,0,0,0,0
$GC,1515,-0.72,-228.7,328.6,-17.3,269,1521,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,859,3968,0,0,0,0,0,0
$GC,1846,-0.72,-228.7,379.3,-13.8,330,1854,0.00,1.88,0.00,0.000,4,0.000,0.017,2574,2193,3967,0,0,0,0,0,0
$GC,1892,-0.72,-228.7,385.1,-11.5,338,1900,0.00,2.15,0.00,0.000,6,0.000,0.033,2574,763,3967,0,0,0,0,0,0
$GC,2228,-0.72,-228.7,432.2,-15.0,399,2236,0.00,0.82,0.00,0.000,4,0.000,0.042,2573,189,3965,0,0,0,0,0,0
$GC,2324,-0.72,-228.7,447.1,-15.5,416,2332,0.00,0.75,0.00,0.000,6,0.000,0.021,2571,840,3965,0,0,0,0,0,0
$GC,2659,-0.72,-228.7,494.7,-13.5,477,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,840,3963,0,0,0,0,0,0
$GC,2984,-0.72,-228.7,537.7,-12.6,511,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,840,3961,0,0,0,0,0,0
$GC,3306,-0.72,-228.7,577.2,-11.8,541,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,840,3958,0,0,0,0,0,0
$GC,3629,-0.72,-228.7,611.1,-10.0,567,3632,0.00,0.95,0.00,0.000,4,0.000,0.043,2571,196,3956,0,0,0,0,0,0
$GC,3663,-0.72,-228.7,614.9,-11.2,568,3667,0.00,0.62,0.00,0.000,6,0.000,0.024,2571,715,3956,0,0,0,0,0,0
$GC,3985,-0.72,-228.7,649.0,-10.9,584,3989,0.00,1.98,0.00,0.000,4,0.000,0.018,2571,2109,3953,0,0,0,0,0,0
$GC,4077,-0.72,-228.7,657.7,-9.0,588,4081,0.00,2.03,0.00,0.000,6,0.000,0.036,2571,768,3953,0,0,0,0,0,0
$GC,4413,-0.72,-228.7,691.7,-10.0,604,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,768,3950,0,0,0,0,0,0
$GC,4720,-0.72,-228.7,723.1,-10.0,619,4723,0.00,1.90,0.00,0.000,4,0.000,0.018,2571,2116,3947,0,0,0,0,0,0
$GC,4777,-0.72,-228.7,728.4,-8.7,621,4781,0.00,2.03,0.00,0.000,6,0.000,0.037,2571,769,3946,0,0,0,0,0,0
$GC,5098,-0.72,-228.7,760.2,-9.9,637,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,768,3943,0,0,0,0,0,0
$GC,5408,-0.72,-228.7,791.4,-10.3,652,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,768,3941,0,0,0,0,0,0
$GC,5719,-0.72,-228.7,822.6,-9.8,667,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,768,3939,0,0,0,0,0,0
$GC,6026,-0.72,-228.7,853.5,-10.2,682,6030,0.00,1.90,0.00,0.000,4,0.000,0.019,2571,2109,3936,0,0,0,0,0,0
$GC,6054,-0.72,-228.7,856.3,-9.9,683,6058,0.00,2.05,0.00,0.000,6,0.000,0.039,2571,755,3936,0,0,0,0,0,0
$GC,6383,-0.72,-228.7,888.5,-9.8,699,6387,0.00,1.95,0.00,0.000,4,0.000,0.019,2571,2113,3934,0,0,0,0,0,0
$GC,6444,-0.72,-228.7,894.2,-8.6,701,6451,0.00,2.05,0.00,0.000,6,0.000,0.038,2571,775,3934,0,0,0,0,0,0
$GC,6762,-0.72,-228.7,924.1,-9.6,717,6766,0.00,1.95,0.00,0.000,4,0.000,0.019,2571,2139,3931,0,0,0,0,0,0
$GC,6794,-0.72,-228.7,927.3,-8.8,718,6798,0.00,2.08,0.00,0.000,6,0.000,0.040,2571,785,3931,0,0,0,0,0,0
$GC,7118,-0.72,-228.7,956.4,-9.1,734,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,785,3929,0,0,0,0,0,0
$GC,7427,-0.72,-228.7,983.7,-8.7,749,7431,0.00,1.90,0.00,0.000,4,0.000,0.020,2571,2108,3928,0,0,0,0,0,0
$GC,7466,-0.72,-228.7,987.1,-7.5,750,7473,0.00,2.03,0.00,0.000,6,0.000,0.040,2571,791,3927,0,0,0,0,0,0
$STATE,7615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7615,begin apogee
$GC,7623,-0.14,0.0,1000.0,8.8,758,7808,0.60,0.00,180.60,1.403,4,0.112,0.000,2774,958,3029,0,0,0,0,0,0
$STATE,7809,end apogee,CONTROL_FINISHED_OK
$STATE,7809,begin climb
$GC,7811,0.72,228.7,1008.9,0.0,766,8012,0.73,1.27,193.38,1.346,4,0.049,0.050,3061,194,2096,0,0,0,0,0,0
$GC,8215,0.72,228.7,949.5,19.4,785,8219,0.00,1.12,0.00,0.000,6,0.000,0.026,3060,971,2087,0,0,0,0,0,0
$GC,8543,0.72,228.7,887.2,18.7,801,8547,0.00,1.20,0.00,0.000,4,0.000,0.046,3066,191,2084,0,0,0,0,0,0
$GC,8673,0.72,228.7,861.0,18.5,806,8680,0.00,1.15,0.00,0.000,6,0.000,0.025,3066,1012,2084,0,0,0,0,0,0
$GC,8990,0.72,228.7,802.6,18.3,822,8994,0.00,2.00,0.00,0.000,4,0.000,0.024,3066,2387,2082,0,0,0,0,0,0
$GC,9053,0.72,228.7,791.3,18.2,824,9061,0.00,2.12,0.00,0.000,6,0.000,0.036,3074,1011,2081,0,0,0,0,0,0
$GC,9369,0.72,228.7,734.3,18.0,840,9373,0.00,2.00,0.00,0.000,4,0.000,0.022,3074,2380,2080,0,0,0,0,0,0
$GC,9452,0.72,228.7,719.6,17.4,843,9459,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1013,2080,0,0,0,0,0,0
$GC,9770,0.72,228.7,660.3,19.5,859,9774,0.00,2.00,0.00,0.000,4,0.000,0.024,3083,2389,2080,0,0,0,0,0,0
$GC,9934,0.72,228.7,629.2,18.7,866,9939,0.15,2.05,0.00,0.000,6,0.181,0.036,3055,1029,2079,0,0,0,0,0,0
$GC,10262,0.72,228.7,579.8,15.0,888,10266,0.00,1.98,0.00,0.000,4,0.000,0.022,3053,2387,2079,0,0,0,0,0,0
$GC,10345,0.72,228.7,566.7,14.3,895,10352,0.00,2.05,0.00,0.000,6,0.000,0.036,3062,1043,2079,0,0,0,0,0,0
$GC,10671,0.72,228.7,515.2,16.2,926,10675,0.00,1.92,0.00,0.000,4,0.000,0.024,3061,2386,2078,0,0,0,0,0,0
$GC,10791,0.72,228.7,497.9,14.8,937,10798,0.00,2.03,0.00,0.000,6,0.000,0.037,3070,1055,2078,0,0,0,0,0,0
$GC,11132,0.72,228.7,444.5,15.9,998,11140,0.00,1.95,0.00,0.000,4,0.000,0.022,3070,2380,2078,0,0,0,0,0,0
$GC,11203,0.72,228.7,434.0,14.2,1010,11211,0.00,2.00,0.00,0.000,6,0.000,0.036,3078,1077,2078,0,0,0,0,0,0
$GC,11547,0.72,228.7,385.5,13.9,1071,11553,0.00,1.35,0.00,0.000,4,0.000,0.046,3085,190,2078,0,0,0,0,0,0
$GC,11588,0.72,228.7,378.9,15.6,1078,11596,0.08,1.23,0.00,0.000,6,0.166,0.024,3062,1075,2077,0,0,0,0,0,0
$GC,11932,0.72,228.7,333.9,13.3,1139,11938,0.00,1.88,0.00,0.000,4,0.000,0.022,3061,2398,2078,0,0,0,0,0,0
$GC,12016,0.72,228.7,322.2,12.0,1154,12024,0.00,2.03,0.00,0.000,6,0.000,0.035,3068,1074,2078,0,0,0,0,0,0
$GC,12358,0.72,228.7,277.5,12.4,1215,12364,0.00,1.90,0.00,0.000,4,0.000,0.021,3068,2404,2077,0,0,0,0,0,0
$GC,12398,0.72,228.7,272.8,12.9,1221,12404,0.00,2.00,0.00,0.000,6,0.000,0.035,3077,1078,2078,0,0,0,0,0,0
$GC,12737,0.72,228.7,228.1,13.1,1282,12745,0.00,1.33,0.00,0.000,4,0.000,0.044,3083,196,2078,0,0,0,0,0,0
$GC,12794,0.72,228.7,220.4,14.0,1291,12800,0.00,1.23,0.00,0.000,6,0.000,0.022,3083,1114,2079,0,0,0,0,0,0
$GC,13135,0.76,257.7,179.7,10.2,1352,13164,0.00,1.38,22.00,0.757,4,0.000,0.041,3090,185,1976,0,0,0,0,0,0
$GC,13257,0.76,257.7,164.3,14.0,1372,13266,0.00,1.23,0.00,0.000,6,0.000,0.021,3090,1113,1975,0,0,0,0,0,0
$GC,13594,0.76,260.0,124.9,11.0,1433,13602,0.00,1.83,0.00,0.000,4,0.000,0.019,3090,2395,1974,0,0,0,0,0,0
$GC,13662,0.76,260.0,116.6,12.5,1445,13670,0.00,2.03,0.00,0.000,6,0.000,0.034,3092,1072,1975,0,0,0,0,0,0
$GC,13991,0.85,336.1,84.5,8.6,1506,14059,0.00,2.00,62.15,0.680,4,0.000,0.018,3092,2405,1657,0,0,0,0,0,0
$GC,14138,0.94,409.4,72.0,8.7,1529,14204,0.00,2.08,57.75,0.655,6,0.000,0.035,3092,1071,1360,0,0,0,0,0,0
$GC,14526,1.03,480.4,41.2,8.8,1598,14593,0.17,1.40,56.15,0.620,4,0.072,0.042,3187,183,1069,0,0,0,0,0,0
$GC,14670,1.03,480.4,17.0,20.9,1621,14679,0.10,1.23,0.00,0.000,6,0.148,0.018,3153,1123,1066,0,0,0,0,0,0
$STATE,14761,end climb,SURFACE_DEPTH_REACHED
$STATE,14761,begin surface coast
$FINISH,0.4,1.021702
$STATE,14781,end surface coast,CONTROL_FINISHED_OK
$STATE,14781,begin surface
$SM_CCo,14859,0.00,0.000,0,0,1063,482.26
$SM_GC,1.24,7.82,0.00,0.00,0.035,0.000,0.000,121,774,1063,-8.38,-0.45,482.26
$IRIDIUM_FIX,2213.68,12707.11,201010,040425
$TT8_MAMPS,0.028462
$HUMID,39.01
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.1,39.340
$10V_AH,10.3,35.935
$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,19.175,91.975,572.025,0.000,0.000,57.968,61.401,236.431,0.000,0.000,14.968,3973.691,6398.643,615.039,3957.967,500.724,0.000,2079.286,0.000,3631.372,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,73.440,1403.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1115.629,1445.836,1948.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,96744,1640
$CAP_FILE_SIZE,167113,0
$CFSIZE,260165632,154808320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,112.1,1
$GPS,201010,091455,2220.712,12705.228,40,1.1,40,-3.2