version: 66.08
glider: 167
mission: 6
dive: 216
start: 10 20 110 17 48 13
data:
$ID,167
$MISSION,6
$DIVE,216
$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,-54394.883
$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,109
$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
$GPS1,201010,173737,2218.010,12700.777,29,1.3,30,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.9
$GPS2,201010,174750,2218.124,12700.835,14,2.0,14,-3.1
$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,245.2,180116,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,91,0.00,0.00,-69.72,0.000,2,0.000,0.000,107,783,3268,0,0,0,0,0,0
$GC,94,-0.72,-228.7,5.6,-12.3,10,119,9.57,0.90,-11.05,0.000,4,0.220,0.074,2574,188,3964,0,0,0,0,0,0
$GC,359,-0.72,-228.7,98.1,-25.1,58,367,0.00,0.77,0.00,0.000,6,0.000,0.020,2570,871,3966,0,0,0,0,0,0
$GC,692,-0.72,-228.7,173.0,-20.9,119,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,871,3967,0,0,0,0,0,0
$GC,1033,-0.72,-228.7,242.0,-19.1,180,1042,0.00,1.00,0.00,0.000,4,0.000,0.039,2570,189,3968,0,0,0,0,0,0
$GC,1211,-0.72,-228.7,278.3,-20.4,211,1217,0.00,0.75,0.00,0.000,6,0.000,0.021,2566,851,3968,0,0,0,0,0,0
$GC,1553,-0.72,-228.7,342.2,-17.6,272,1563,0.00,0.95,0.00,0.000,4,0.000,0.041,2566,198,3968,0,0,0,0,0,0
$GC,1688,-0.72,-228.7,367.5,-18.8,295,1694,0.00,0.73,0.00,0.000,6,0.000,0.021,2562,833,3967,0,0,0,0,0,0
$GC,2028,-0.72,-228.7,423.1,-15.1,356,2038,0.00,0.95,0.00,0.000,4,0.000,0.041,2562,188,3966,0,0,0,0,0,0
$GC,2077,-0.72,-228.7,431.1,-16.2,364,2086,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,787,3966,0,0,0,0,0,0
$GC,2424,-0.72,-228.7,482.4,-14.4,425,2431,0.00,0.88,0.00,0.000,4,0.000,0.042,2561,190,3964,0,0,0,0,0,0
$GC,2509,-0.72,-228.7,495.8,-15.0,440,2518,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,761,3963,0,0,0,0,0,0
$GC,2840,-0.72,-228.7,542.1,-13.7,473,2843,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2134,3961,0,0,0,0,0,0
$GC,2912,-0.72,-228.7,550.6,-10.6,479,2918,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,779,3961,0,0,0,0,0,0
$GC,3239,-0.72,-228.7,593.1,-13.1,510,3242,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2128,3958,0,0,0,0,0,0
$GC,3277,-0.72,-228.7,597.9,-10.7,513,3284,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,777,3958,0,0,0,0,0,0
$GC,3594,-0.72,-228.7,636.1,-11.9,530,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,778,3956,0,0,0,0,0,0
$GC,3905,-0.72,-228.7,670.9,-11.3,545,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,777,3953,0,0,0,0,0,0
$GC,4212,-0.72,-228.7,707.3,-11.8,560,4216,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2129,3950,0,0,0,0,0,0
$GC,4269,-0.72,-228.7,713.3,-10.0,562,4273,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,772,3950,0,0,0,0,0,0
$GC,4590,-0.72,-228.7,749.4,-11.1,578,4594,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2121,3947,0,0,0,0,0,0
$GC,4619,-0.72,-228.7,752.4,-10.1,579,4623,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,787,3947,0,0,0,0,0,0
$GC,4949,-0.72,-228.7,787.0,-10.5,595,4952,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2121,3944,0,0,0,0,0,0
$GC,4998,-0.72,-228.7,792.3,-9.1,597,5002,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,788,3943,0,0,0,0,0,0
$GC,5326,-0.72,-228.7,827.9,-11.1,613,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,788,3941,0,0,0,0,0,0
$GC,5637,-0.72,-228.7,861.3,-10.5,628,5640,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2129,3938,0,0,0,0,0,0
$GC,5664,-0.72,-228.7,864.3,-9.4,629,5668,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,802,3938,0,0,0,0,0,0
$GC,5994,-0.72,-228.7,897.7,-10.4,645,5997,0.00,1.90,0.00,0.000,4,0.000,0.019,2560,2128,3935,0,0,0,0,0,0
$GC,6021,-0.72,-228.7,900.7,-9.4,646,6025,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,805,3935,0,0,0,0,0,0
$GC,6349,-0.72,-228.7,930.7,-8.8,662,6353,0.00,1.90,0.00,0.000,4,0.000,0.019,2560,2129,3933,0,0,0,0,0,0
$GC,6384,-0.72,-228.7,933.7,-8.2,663,6387,0.00,2.03,0.00,0.000,6,0.000,0.039,2561,805,3933,0,0,0,0,0,0
$GC,6706,-0.72,-228.7,961.7,-8.8,679,6709,0.00,1.88,0.00,0.000,4,0.000,0.019,2561,2125,3930,0,0,0,0,0,0
$GC,6753,-0.72,-228.7,965.5,-8.1,681,6756,0.00,2.00,0.00,0.000,6,0.000,0.039,2561,817,3930,0,0,0,0,0,0
$GC,7088,-0.72,-228.7,995.4,-9.3,697,7092,0.00,1.85,0.00,0.000,4,0.000,0.020,2561,2118,3928,0,0,0,0,0,0
$STATE,7136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7136,begin apogee
$GC,7143,-0.14,0.0,1000.2,9.2,699,7329,0.62,0.00,180.52,1.407,4,0.108,0.000,2774,996,3029,0,0,0,0,0,0
$STATE,7330,end apogee,CONTROL_FINISHED_OK
$STATE,7330,begin climb
$GC,7332,0.72,228.7,1008.3,0.0,708,7534,0.80,2.08,193.68,1.345,4,0.046,0.021,3071,2341,2095,0,0,0,0,0,0
$GC,7776,0.72,228.7,941.2,20.2,728,7781,0.00,2.12,0.00,0.000,6,0.000,0.037,3080,994,2088,0,0,0,0,0,0
$GC,8092,0.72,228.7,872.8,21.8,743,8096,0.00,1.23,0.00,0.000,4,0.000,0.047,3086,190,2086,0,0,0,0,0,0
$GC,8273,0.72,228.7,832.0,23.4,751,8277,0.10,1.08,0.00,0.000,6,0.178,0.026,3057,950,2085,0,0,0,0,0,0
$GC,8605,0.72,228.7,769.1,18.4,767,8609,0.00,2.10,0.00,0.000,4,0.000,0.022,3056,2398,2084,0,0,0,0,0,0
$GC,8772,0.72,228.7,740.2,17.0,774,8779,0.00,2.10,0.00,0.000,6,0.000,0.037,3065,1025,2082,0,0,0,0,0,0
$GC,9088,0.72,228.7,682.7,17.8,790,9092,0.00,2.00,0.00,0.000,4,0.000,0.022,3065,2391,2082,0,0,0,0,0,0
$GC,9158,0.72,228.7,671.3,16.9,793,9162,0.00,2.05,0.00,0.000,6,0.000,0.037,3074,1051,2081,0,0,0,0,0,0
$GC,9492,0.72,228.7,610.6,18.3,809,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1052,2081,0,0,0,0,0,0
$GC,9808,0.72,228.7,554.5,16.8,836,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1052,2080,0,0,0,0,0,0
$GC,10130,0.72,228.7,501.9,16.0,866,10134,0.00,1.95,0.00,0.000,4,0.000,0.022,3073,2399,2080,0,0,0,0,0,0
$GC,10224,0.72,228.7,486.9,14.6,882,10233,0.00,2.05,0.00,0.000,6,0.000,0.037,3081,1071,2080,0,0,0,0,0,0
$GC,10565,0.72,228.7,431.5,16.4,943,10572,0.00,1.33,0.00,0.000,4,0.000,0.045,3088,191,2079,0,0,0,0,0,0
$GC,10597,0.72,228.7,425.9,18.5,948,10606,0.10,1.25,0.00,0.000,6,0.168,0.024,3057,1088,2079,0,0,0,0,0,0
$GC,10943,0.72,228.7,377.2,13.0,1009,10950,0.00,1.88,0.00,0.000,4,0.000,0.023,3057,2409,2079,0,0,0,0,0,0
$GC,11080,0.72,228.7,359.9,12.2,1033,11087,0.00,2.03,0.00,0.000,6,0.000,0.036,3065,1066,2079,0,0,0,0,0,0
$GC,11419,0.72,228.7,316.3,12.3,1094,11427,0.00,1.33,0.00,0.000,4,0.000,0.045,3072,186,2079,0,0,0,0,0,0
$GC,11476,0.72,228.7,308.8,14.9,1103,11482,0.00,1.25,0.00,0.000,6,0.000,0.021,3071,1117,2079,0,0,0,0,0,0
$GC,11817,0.72,228.7,263.2,12.1,1164,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1118,2079,0,0,0,0,0,0
$GC,12161,0.72,228.7,220.1,11.7,1225,12167,0.00,1.40,0.00,0.000,4,0.000,0.043,3078,191,2080,0,0,0,0,0,0
$GC,12223,0.72,228.7,212.7,13.6,1235,12229,0.00,1.23,0.00,0.000,6,0.000,0.022,3078,1105,2080,0,0,0,0,0,0
$GC,12568,0.76,259.0,176.0,10.1,1296,12596,0.00,1.42,22.67,0.752,4,0.000,0.043,3085,190,1973,0,0,0,0,0,0
$GC,12694,0.76,260.5,162.0,11.1,1317,12701,0.00,1.23,0.00,0.000,6,0.000,0.021,3085,1109,1970,0,0,0,0,0,0
$GC,13028,0.84,329.8,128.5,8.9,1378,13095,0.00,1.92,56.67,0.716,4,0.000,0.020,3085,2406,1683,0,0,0,0,0,0
$GC,13254,0.88,355.6,105.9,10.3,1416,13285,0.00,2.05,20.70,0.664,6,0.000,0.034,3090,1079,1578,0,0,0,0,0,0
$GC,13605,0.99,448.0,70.8,8.1,1480,13686,0.15,0.00,73.25,0.649,6,0.080,0.000,3164,1079,1201,0,0,0,0,0,0
$GC,14009,0.99,448.0,9.6,15.3,1551,14017,0.00,1.33,0.00,0.000,4,0.000,0.041,3169,194,1197,0,0,0,0,0,0
$STATE,14049,end climb,SURFACE_DEPTH_REACHED
$STATE,14050,begin surface coast
$FINISH,0.5,1.021589
$STATE,14067,end surface coast,CONTROL_FINISHED_OK
$STATE,14067,begin surface
$SM_CCo,14146,0.00,0.000,0,0,1194,450.13
$SM_GC,1.33,7.82,0.00,0.00,0.034,0.000,0.000,118,834,1194,-8.37,1.24,450.13
$IRIDIUM_FIX,2209.02,12701.04,201010,171733
$TT8_MAMPS,0.028462
$HUMID,39.13
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.2,39.921
$10V_AH,10.3,36.463
$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,19.175,86.450,547.500,0.000,0.000,54.692,63.741,236.318,0.000,0.000,14.915,3787.138,6079.176,582.032,3790.520,497.635,0.000,1978.983,0.000,3470.884,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,74.205,1406.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.215,1382.537,1857.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334028
$DATA_FILE_SIZE,90113,1561
$CAP_FILE_SIZE,158806,0
$CFSIZE,260165632,154550272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,305.8,1
$GPS,201010,214507,2217.270,12658.386,33,1.6,33,-3.1