version: 66.08
glider: 167
mission: 6
dive: 217
start: 10 20 110 21 55 54
data:
$ID,167
$MISSION,6
$DIVE,217
$N_DIVES,230
$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,-54396.145
$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,36
$R_STBD_OVSHOOT,111
$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
$GPS1,201010,214507,2217.270,12658.386,33,1.6,33,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.7
$GPS2,201010,215532,2217.320,12658.478,14,1.4,14,-3.1
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,217.0,142859,-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,18,begin dive
$GC,20,-0.72,-228.7,0.0,0.0,0,93,0.00,0.00,-70.53,0.000,2,0.000,0.000,114,834,3290,0,0,0,0,0,0
$GC,96,-0.72,-228.7,5.9,-13.3,10,120,9.55,0.00,-10.50,0.000,6,0.220,0.000,2579,834,3965,0,0,0,0,0,0
$GC,436,-0.72,-228.7,116.6,-24.0,73,444,0.00,0.95,0.00,0.000,4,0.000,0.040,2579,189,3967,0,0,0,0,0,0
$GC,468,-0.72,-228.7,124.8,-25.1,78,475,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,867,3967,0,0,0,0,0,0
$GC,803,-0.72,-228.7,199.7,-19.9,139,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,868,3968,0,0,0,0,0,0
$GC,1134,-0.72,-228.7,261.7,-17.4,200,1142,0.00,1.00,0.00,0.000,4,0.000,0.041,2575,187,3969,0,0,0,0,0,0
$GC,1302,-0.72,-228.7,292.4,-18.7,229,1308,0.00,0.75,0.00,0.000,6,0.000,0.020,2573,870,3968,0,0,0,0,0,0
$GC,1634,-0.72,-228.7,347.2,-15.5,290,1642,0.00,1.00,0.00,0.000,4,0.000,0.041,2573,189,3968,0,0,0,0,0,0
$GC,1774,-0.72,-228.7,369.0,-15.6,315,1781,0.00,0.73,0.00,0.000,6,0.000,0.021,2571,829,3968,0,0,0,0,0,0
$GC,2108,-0.72,-228.7,417.8,-13.8,376,2115,0.00,1.80,0.00,0.000,4,0.000,0.016,2570,2115,3968,0,0,0,0,0,0
$GC,2172,-0.72,-228.7,425.5,-10.9,387,2180,0.00,1.98,0.00,0.000,6,0.000,0.033,2569,785,3968,0,0,0,0,0,0
$GC,2509,-0.72,-228.7,471.6,-13.9,448,2517,0.00,0.85,0.00,0.000,4,0.000,0.042,2570,193,3965,0,0,0,0,0,0
$GC,2575,-0.72,-228.7,480.9,-14.7,459,2583,0.00,0.68,0.00,0.000,6,0.000,0.021,2570,776,3965,0,0,0,0,0,0
$GC,2910,-0.72,-228.7,524.3,-11.1,503,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,777,3963,0,0,0,0,0,0
$GC,3233,-0.72,-228.7,565.0,-12.9,533,3236,0.00,1.90,0.00,0.000,4,0.000,0.018,2570,2132,3960,0,0,0,0,0,0
$GC,3268,-0.72,-228.7,569.7,-11.1,536,3272,0.00,2.03,0.00,0.000,6,0.000,0.034,2570,798,3960,0,0,0,0,0,0
$GC,3600,-0.72,-228.7,610.6,-12.2,563,3604,0.00,0.88,0.00,0.000,4,0.000,0.044,2570,193,3957,0,0,0,0,0,0
$GC,3627,-0.72,-228.7,614.6,-12.8,564,3631,0.00,0.70,0.00,0.000,6,0.000,0.022,2571,769,3956,0,0,0,0,0,0
$GC,3959,-0.72,-228.7,651.9,-11.0,580,3962,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2149,3953,0,0,0,0,0,0
$GC,4005,-0.72,-228.7,657.1,-10.0,582,4009,0.00,2.05,0.00,0.000,6,0.000,0.035,2570,791,3953,0,0,0,0,0,0
$GC,4332,-0.72,-228.7,694.0,-11.5,598,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,791,3950,0,0,0,0,0,0
$GC,4643,-0.72,-228.7,728.6,-11.2,613,4647,0.00,0.88,0.00,0.000,4,0.000,0.046,2570,195,3948,0,0,0,0,0,0
$GC,4698,-0.72,-228.7,735.4,-11.8,615,4703,0.00,0.75,0.00,0.000,6,0.000,0.023,2570,790,3947,0,0,0,0,0,0
$GC,5021,-0.72,-228.7,770.5,-10.5,631,5024,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2159,3945,0,0,0,0,0,0
$GC,5084,-0.72,-228.7,776.6,-8.9,633,5090,0.00,2.08,0.00,0.000,6,0.000,0.037,2570,795,3944,0,0,0,0,0,0
$GC,5400,-0.72,-228.7,806.4,-9.2,649,5404,0.00,1.98,0.00,0.000,4,0.000,0.019,2569,2154,3941,0,0,0,0,0,0
$GC,5438,-0.72,-228.7,809.6,-8.2,650,5445,0.00,2.05,0.00,0.000,6,0.000,0.037,2570,802,3941,0,0,0,0,0,0
$GC,5756,-0.72,-228.7,837.0,-8.7,666,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,802,3939,0,0,0,0,0,0
$GC,6064,-0.72,-228.7,865.0,-9.3,681,6068,0.00,1.98,0.00,0.000,4,0.000,0.019,2570,2158,3936,0,0,0,0,0,0
$GC,6111,-0.72,-228.7,869.0,-8.3,683,6115,0.00,2.05,0.00,0.000,6,0.000,0.038,2569,806,3935,0,0,0,0,0,0
$GC,6444,-0.72,-228.7,900.1,-9.2,699,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,806,3934,0,0,0,0,0,0
$GC,6753,-0.72,-228.7,927.4,-8.9,714,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,806,3932,0,0,0,0,0,0
$GC,7064,-0.72,-228.7,957.7,-10.4,729,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,806,3930,0,0,0,0,0,0
$GC,7374,-0.72,-228.7,989.0,-9.7,744,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,806,3928,0,0,0,0,0,0
$STATE,7493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7493,begin apogee
$GC,7501,-0.14,0.0,1000.7,9.5,750,7686,0.60,0.00,180.57,1.404,4,0.112,0.000,2773,993,3029,0,0,0,0,0,0
$STATE,7687,end apogee,CONTROL_FINISHED_OK
$STATE,7687,begin climb
$GC,7689,0.72,228.7,1009.2,0.0,758,7891,0.80,2.15,193.90,1.346,4,0.046,0.021,3071,2392,2096,0,0,0,0,0,0
$GC,7901,0.72,228.7,987.9,18.0,768,7905,0.00,2.35,0.00,0.000,6,0.000,0.036,3080,998,2093,0,0,0,0,0,0
$GC,8229,0.72,228.7,916.9,21.9,784,8233,0.00,2.05,0.00,0.000,4,0.000,0.023,3081,2367,2086,0,0,0,0,0,0
$GC,8275,0.72,228.7,906.4,20.8,786,8280,0.15,2.15,0.00,0.000,6,0.175,0.036,3050,1001,2087,0,0,0,0,0,0
$GC,8604,0.72,228.7,843.2,19.2,802,8607,0.00,2.00,0.00,0.000,4,0.000,0.021,3051,2371,2085,0,0,0,0,0,0
$GC,8653,0.72,228.7,833.3,18.3,804,8657,0.00,2.10,0.00,0.000,6,0.000,0.037,3059,1017,2085,0,0,0,0,0,0
$GC,8981,0.72,228.7,772.3,18.0,820,8984,0.00,1.98,0.00,0.000,4,0.000,0.024,3059,2378,2084,0,0,0,0,0,0
$GC,9077,0.72,228.7,756.2,16.8,824,9081,0.00,2.10,0.00,0.000,6,0.000,0.038,3065,1017,2083,0,0,0,0,0,0
$GC,9400,0.72,228.7,702.0,16.4,840,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1017,2082,0,0,0,0,0,0
$GC,9709,0.72,228.7,652.0,16.6,855,9712,0.00,2.00,0.00,0.000,4,0.000,0.024,3066,2380,2082,0,0,0,0,0,0
$GC,9849,0.72,228.7,628.7,17.1,861,9853,0.00,2.08,0.00,0.000,6,0.000,0.037,3074,1023,2081,0,0,0,0,0,0
$GC,10173,0.72,228.7,573.9,16.0,883,10177,0.00,1.95,0.00,0.000,4,0.000,0.022,3074,2382,2080,0,0,0,0,0,0
$GC,10200,0.72,228.7,568.5,16.6,885,10207,0.00,2.08,0.00,0.000,6,0.000,0.037,3083,1026,2080,0,0,0,0,0,0
$GC,10528,0.72,228.7,511.3,17.2,916,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1026,2080,0,0,0,0,0,0
$GC,10849,0.72,228.7,456.8,15.6,969,10855,0.00,1.98,0.00,0.000,4,0.000,0.021,3083,2392,2080,0,0,0,0,0,0
$GC,11005,0.72,228.7,432.8,14.7,997,11012,0.12,2.10,0.00,0.000,6,0.177,0.036,3059,1013,2080,0,0,0,0,0,0
$GC,11341,0.72,228.7,388.2,13.9,1058,11348,0.00,2.00,0.00,0.000,4,0.000,0.022,3059,2380,2079,0,0,0,0,0,0
$GC,11459,0.72,228.7,372.1,13.0,1079,11466,0.00,2.05,0.00,0.000,6,0.000,0.037,3063,1033,2079,0,0,0,0,0,0
$GC,11791,0.72,228.7,325.1,12.3,1140,11799,0.00,1.98,0.00,0.000,4,0.000,0.022,3063,2387,2079,0,0,0,0,0,0
$GC,11829,0.72,228.7,319.9,13.0,1146,11837,0.00,2.05,0.00,0.000,6,0.000,0.036,3071,1050,2080,0,0,0,0,0,0
$GC,12167,0.72,229.9,277.7,11.1,1207,12175,0.00,1.27,0.00,0.000,4,0.000,0.044,3077,197,2080,0,0,0,0,0,0
$GC,12226,0.72,229.9,269.3,12.2,1217,12233,0.00,1.15,0.00,0.000,6,0.000,0.023,3078,1053,2080,0,0,0,0,0,0
$GC,12556,0.72,229.9,229.2,12.6,1278,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1053,2080,0,0,0,0,0,0
$GC,12891,0.74,245.5,189.9,10.6,1339,12912,0.00,1.92,12.55,0.737,4,0.000,0.021,3078,2380,2027,0,0,0,0,0,0
$GC,12991,0.77,268.2,179.7,10.4,1356,13019,0.00,2.08,19.40,0.747,6,0.000,0.035,3085,1025,1934,0,0,0,0,0,0
$GC,13346,0.77,271.2,141.2,11.0,1420,13354,0.00,0.00,3.65,0.459,6,0.000,0.000,3085,1026,1923,0,0,0,0,0,0
$GC,13675,0.84,323.1,107.2,9.4,1481,13727,0.00,2.03,42.35,0.694,4,0.000,0.019,3085,2395,1709,0,0,0,0,0,0
$GC,13810,0.91,383.2,94.1,9.1,1503,13868,0.00,2.08,48.00,0.672,6,0.000,0.035,3085,1059,1465,0,0,0,0,0,0
$GC,14191,1.08,519.4,62.3,6.7,1571,14310,0.22,2.00,106.43,0.636,4,0.060,0.018,3192,2385,909,0,0,0,0,0,0
$GC,14335,1.08,519.4,39.3,18.4,1591,14344,0.08,2.08,0.00,0.000,6,0.139,0.034,3174,1063,907,0,0,0,0,0,0
$STATE,14557,end climb,SURFACE_DEPTH_REACHED
$STATE,14557,begin surface coast
$FINISH,0.5,1.010533
$STATE,14575,end surface coast,CONTROL_FINISHED_OK
$STATE,14575,begin surface
$SM_CCo,14653,0.00,0.000,0,0,903,521.51
$SM_GC,1.21,7.88,0.00,0.00,0.035,0.000,0.000,114,789,903,-8.38,-0.03,521.51
$IRIDIUM_FIX,2209.02,12657.78,201010,212102
$TT8_MAMPS,0.027713
$HUMID,39.32
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.40
$XPDR_PINGS,1
$24V_AH,23.1,40.128
$10V_AH,10.3,36.641
$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,19.400,85.975,606.850,0.000,0.000,55.887,81.526,236.005,0.250,0.000,15.539,3931.347,6319.496,628.564,3871.358,506.823,0.000,2057.760,0.000,3534.752,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,55.080,1403.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.250,1449.874,1935.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93569,1635
$CAP_FILE_SIZE,163462,0
$CFSIZE,260165632,154456064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,297.1,1
$GPS,211010,020125,2215.313,12656.724,42,1.1,43,-3.1