version: 66.08
glider: 167
mission: 6
dive: 187
start: 10 15 110 12 40 32
data:
$ID,167
$MISSION,6
$DIVE,187
$N_DIVES,199
$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,-39918.566
$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,40
$R_STBD_OVSHOOT,91
$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
$GPS1,151010,031801,2253.383,12701.561,0,10000.0,0,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.5
$GPS2,151010,031801,2253.383,12701.561,901,99.0,901,-3.4
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2100.000,12730.000
$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,149.5,215666,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-228.7,0.0,0.0,0,83,0.00,0.00,-65.07,0.000,2,0.000,0.000,110,782,3296,0,0,0,0,0,0
$GC,86,-0.72,-228.7,6.0,-13.5,9,111,9.57,0.90,-10.35,0.000,4,0.228,0.077,2581,180,3963,0,0,0,0,0,0
$GC,352,-0.72,-228.7,93.6,-28.3,57,360,0.00,0.80,0.00,0.000,6,0.000,0.021,2578,865,3965,0,0,0,0,0,0
$GC,679,-0.72,-228.7,169.9,-21.7,118,687,0.00,0.98,0.00,0.000,4,0.000,0.040,2578,193,3966,0,0,0,0,0,0
$GC,932,-0.72,-228.7,224.9,-20.3,164,940,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,880,3966,0,0,0,0,0,0
$GC,1268,-0.72,-228.7,288.6,-19.4,225,1275,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,192,3966,0,0,0,0,0,0
$GC,1523,-0.72,-228.7,338.8,-17.9,271,1530,0.00,0.73,0.00,0.000,6,0.000,0.021,2573,855,3964,0,0,0,0,0,0
$GC,1856,-0.72,-228.7,391.0,-13.6,332,1864,0.00,0.98,0.00,0.000,4,0.000,0.041,2573,189,3962,0,0,0,0,0,0
$GC,1955,-0.72,-228.7,405.3,-15.7,349,1961,0.00,0.75,0.00,0.000,6,0.000,0.021,2571,854,3962,0,0,0,0,0,0
$GC,2283,-0.72,-228.7,450.6,-13.9,410,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,856,3959,0,0,0,0,0,0
$GC,2619,-0.72,-228.7,498.9,-13.3,471,2626,0.00,0.98,0.00,0.000,4,0.000,0.042,2571,192,3957,0,0,0,0,0,0
$GC,2748,-0.72,-228.7,517.6,-14.6,483,2751,0.00,0.73,0.00,0.000,6,0.000,0.021,2570,821,3956,0,0,0,0,0,0
$GC,3079,-0.72,-228.7,563.5,-13.0,514,3082,0.00,0.93,0.00,0.000,4,0.000,0.043,2570,193,3953,0,0,0,0,0,0
$GC,3182,-0.72,-228.7,577.9,-13.8,523,3186,0.00,0.62,0.00,0.000,6,0.000,0.024,2569,729,3952,0,0,0,0,0,0
$GC,3510,-0.72,-228.7,617.1,-11.3,547,3514,0.00,1.92,0.00,0.000,4,0.000,0.017,2562,2121,3950,0,0,0,0,0,0
$GC,3545,-0.72,-228.7,620.8,-9.6,548,3549,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,756,3949,0,0,0,0,0,0
$GC,3868,-0.72,-228.7,654.8,-10.3,564,3872,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2120,3946,0,0,0,0,0,0
$GC,3891,-0.72,-228.7,657.3,-10.4,565,3895,0.00,2.05,0.00,0.000,6,0.000,0.036,2561,755,3946,0,0,0,0,0,0
$GC,4226,-0.72,-228.7,693.9,-11.4,581,4229,0.00,0.82,0.00,0.000,4,0.000,0.045,2561,190,3943,0,0,0,0,0,0
$GC,4304,-0.72,-228.7,703.6,-11.9,584,4308,0.00,0.62,0.00,0.000,6,0.000,0.024,2561,709,3942,0,0,0,0,0,0
$GC,4628,-0.72,-228.7,738.7,-10.9,600,4632,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2113,3940,0,0,0,0,0,0
$GC,4689,-0.72,-228.7,745.2,-9.9,602,4696,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,760,3939,0,0,0,0,0,0
$GC,5006,-0.72,-228.7,780.6,-11.7,618,5009,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2123,3936,0,0,0,0,0,0
$GC,5057,-0.72,-228.7,786.2,-10.3,620,5060,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,772,3935,0,0,0,0,0,0
$GC,5384,-0.72,-228.7,824.9,-11.8,636,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,772,3933,0,0,0,0,0,0
$GC,5695,-0.72,-228.7,859.2,-10.7,651,5699,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2117,3929,0,0,0,0,0,0
$GC,5744,-0.72,-228.7,864.4,-9.2,653,5748,0.00,2.05,0.00,0.000,6,0.000,0.038,2560,770,3929,0,0,0,0,0,0
$GC,6072,-0.72,-228.7,896.5,-9.7,669,6076,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2115,3927,0,0,0,0,0,0
$GC,6120,-0.72,-228.7,900.6,-8.9,671,6123,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,770,3925,0,0,0,0,0,0
$GC,6453,-0.72,-228.7,933.1,-9.8,687,6457,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2136,3924,0,0,0,0,0,0
$GC,6486,-0.72,-228.7,936.2,-9.2,688,6489,0.00,2.08,0.00,0.000,6,0.000,0.039,2561,777,3923,0,0,0,0,0,0
$GC,6810,-0.72,-228.7,965.8,-9.3,704,6813,0.00,1.92,0.00,0.000,4,0.000,0.020,2561,2116,3921,0,0,0,0,0,0
$GC,6860,-0.72,-228.7,970.4,-8.0,706,6863,0.00,2.05,0.00,0.000,6,0.000,0.040,2561,775,3921,0,0,0,0,0,0
$GC,7189,-0.72,-228.7,998.6,-8.6,722,7193,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2139,3918,0,0,0,0,0,0
$STATE,7202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7202,begin apogee
$GC,7210,-0.14,0.0,1000.1,8.2,722,7392,0.62,0.00,177.23,1.403,4,0.112,0.000,2772,997,3029,0,0,0,0,0,0
$STATE,7393,end apogee,CONTROL_FINISHED_OK
$STATE,7393,begin climb
$GC,7397,0.72,228.7,1006.5,0.0,731,7598,0.75,1.33,190.65,1.346,4,0.047,0.050,3064,193,2095,0,0,0,0,0,0
$GC,7779,0.72,228.7,945.3,21.3,749,7783,0.00,1.05,0.00,0.000,6,0.000,0.026,3064,923,2087,0,0,0,0,0,0
$GC,8114,0.72,228.7,880.1,18.3,765,8118,0.00,1.12,0.00,0.000,4,0.000,0.047,3068,190,2084,0,0,0,0,0,0
$GC,8274,0.72,228.7,848.3,19.0,772,8278,0.00,1.05,0.00,0.000,6,0.000,0.025,3068,944,2084,0,0,0,0,0,0
$GC,8608,0.72,228.7,786.8,18.2,788,8612,0.00,1.98,0.00,0.000,4,0.000,0.024,3068,2312,2082,0,0,0,0,0,0
$GC,8772,0.72,228.7,758.9,16.7,795,8775,0.00,1.95,0.00,0.000,6,0.000,0.037,3077,1025,2081,0,0,0,0,0,0
$GC,9101,0.72,228.7,697.9,18.8,811,9104,0.00,1.90,0.00,0.000,4,0.000,0.022,3077,2322,2080,0,0,0,0,0,0
$GC,9183,0.72,228.7,681.5,18.1,814,9191,0.05,1.98,0.00,0.000,6,0.174,0.037,3059,1035,2080,0,0,0,0,0,0
$GC,9500,0.72,228.7,626.2,17.2,830,9504,0.00,1.88,0.00,0.000,4,0.000,0.024,3059,2314,2079,0,0,0,0,0,0
$GC,9579,0.72,228.7,612.8,17.7,833,9582,0.00,1.90,0.00,0.000,6,0.000,0.037,3066,1048,2079,0,0,0,0,0,0
$GC,9912,0.72,228.7,553.5,17.6,861,9915,0.00,1.83,0.00,0.000,4,0.000,0.022,3066,2320,2079,0,0,0,0,0,0
$GC,9962,0.72,228.7,543.9,17.3,865,9969,0.00,1.92,0.00,0.000,6,0.000,0.037,3075,1052,2078,0,0,0,0,0,0
$GC,10290,0.72,228.7,483.8,18.5,904,10299,0.00,1.30,0.00,0.000,4,0.000,0.046,3081,187,2078,0,0,0,0,0,0
$GC,10348,0.72,228.7,474.2,18.8,913,10355,0.00,1.10,0.00,0.000,6,0.000,0.024,3081,998,2079,0,0,0,0,0,0
$GC,10686,0.72,228.7,418.5,14.5,974,10694,0.00,2.00,0.00,0.000,4,0.000,0.022,3081,2376,2078,0,0,0,0,0,0
$GC,10865,0.72,228.7,392.4,16.2,1006,10873,0.10,2.00,0.00,0.000,6,0.150,0.036,3058,1071,2078,0,0,0,0,0,0
$GC,11208,0.72,228.7,342.3,16.0,1067,11214,0.00,1.88,0.00,0.000,4,0.000,0.021,3058,2381,2078,0,0,0,0,0,0
$GC,11248,0.72,228.7,336.5,14.5,1073,11255,0.00,1.95,0.00,0.000,6,0.000,0.037,3066,1074,2077,0,0,0,0,0,0
$GC,11588,0.72,228.7,285.5,13.4,1134,11595,0.00,1.90,0.00,0.000,4,0.000,0.021,3066,2388,2077,0,0,0,0,0,0
$GC,11657,0.72,228.7,276.0,12.0,1146,11665,0.00,2.00,0.00,0.000,6,0.000,0.036,3074,1076,2077,0,0,0,0,0,0
$GC,12002,0.72,229.9,235.3,11.1,1207,12008,0.00,1.33,0.00,0.000,4,0.000,0.044,3081,190,2077,0,0,0,0,0,0
$GC,12027,0.72,229.9,231.9,11.9,1211,12034,0.00,1.23,0.00,0.000,6,0.000,0.021,3080,1122,2077,0,0,0,0,0,0
$GC,12367,0.72,229.9,190.1,13.0,1272,12376,0.00,1.42,0.00,0.000,4,0.000,0.044,3087,186,2079,0,0,0,0,0,0
$GC,12539,0.72,229.9,166.7,13.7,1301,12546,0.10,1.20,0.00,0.000,6,0.155,0.021,3055,1088,2079,0,0,0,0,0,0
$GC,12878,0.80,292.3,134.0,9.1,1362,12931,0.00,1.92,48.17,0.728,4,0.000,0.019,3055,2385,1837,0,0,0,0,0,0
$GC,12983,0.84,322.9,123.4,10.1,1378,13014,0.00,2.05,25.48,0.695,6,0.000,0.034,3062,1062,1711,0,0,0,0,0,0
$GC,13338,0.89,369.1,83.3,9.6,1442,13383,0.12,1.35,36.28,0.670,4,0.084,0.041,3128,186,1525,0,0,0,0,0,0
$GC,13465,0.89,369.1,63.9,17.1,1463,13473,0.00,1.25,0.00,0.000,6,0.000,0.018,3129,1138,1521,0,0,0,0,0,0
$GC,13790,0.89,369.1,19.5,11.2,1524,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1140,1519,0,0,0,0,0,0
$STATE,13959,end climb,SURFACE_DEPTH_REACHED
$STATE,13959,begin surface coast
$FINISH,0.4,1.009302
$STATE,13992,end surface coast,CONTROL_FINISHED_OK
$STATE,13992,begin surface
$SM_CCo,14010,32.90,0.420,1,0,1397,400.08
$SM_GC,2.01,0.00,0.00,32.90,0.000,0.000,0.420,113,781,1397,-8.47,-0.25,400.08
$IRIDIUM_FIX,2253.38,12700.15,151010,121218
$TT8_MAMPS,0.028462
$HUMID,41.06
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,23.4,34.581
$10V_AH,10.3,31.003
$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,19.100,93.475,477.800,32.900,0.000,60.768,80.938,207.439,0.000,0.000,901.589,3830.645,5881.008,574.760,4755.838,482.592,0.000,1979.722,0.000,3531.488,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,77.265,1403.010,419.985,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1064.814,1596.139,1877.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333584
$DATA_FILE_SIZE,90409,1561
$CAP_FILE_SIZE,162984,0
$CFSIZE,260165632,157134848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,3.938,114.4,1
$GPS,151010,121818,2253.383,12700.151,0,10000.0,0,-3.4