version: 66.08
glider: 167
mission: 6
dive: 198
start: 10 17 110 13 16 9
data:
$ID,167
$MISSION,6
$DIVE,198
$N_DIVES,210
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$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,-54372.242
$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,31
$R_STBD_OVSHOOT,94
$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
$GPS1,171010,130521,2252.571,12659.537,766,3.4,785,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.7
$GPS2,171010,131546,2252.673,12659.433,16,3.5,35,-3.3
$SPEED_LIMITS,0.191,0.328
$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,156.6,215259,-15.7,-11.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,106,0.00,0.00,-86.62,0.000,2,0.000,0.000,110,780,3476,0,0,0,0,0,0
$GC,109,-0.72,-228.7,6.5,-14.0,12,132,9.57,0.85,-7.12,0.000,4,0.223,0.066,2578,172,3963,0,0,0,0,0,0
$GC,372,-0.72,-228.7,101.6,-24.2,60,380,0.00,0.80,0.00,0.000,6,0.000,0.020,2575,861,3964,0,0,0,0,0,0
$GC,703,-0.72,-228.7,173.8,-20.9,121,709,0.00,1.00,0.00,0.000,4,0.000,0.041,2575,183,3965,0,0,0,0,0,0
$GC,953,-0.72,-228.7,228.4,-20.6,167,960,0.00,0.77,0.00,0.000,6,0.000,0.020,2570,871,3965,0,0,0,0,0,0
$GC,1287,-0.72,-228.7,291.3,-18.1,228,1295,0.00,1.00,0.00,0.000,4,0.000,0.041,2570,189,3965,0,0,0,0,0,0
$GC,1527,-0.72,-228.7,335.0,-18.2,271,1534,0.00,0.75,0.00,0.000,6,0.000,0.021,2566,850,3965,0,0,0,0,0,0
$GC,1861,-0.72,-228.7,391.0,-15.7,332,1869,0.00,0.98,0.00,0.000,4,0.000,0.041,2566,187,3963,0,0,0,0,0,0
$GC,2049,-0.72,-228.7,424.6,-18.2,366,2058,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,816,3962,0,0,0,0,0,0
$GC,2383,-0.72,-228.7,476.9,-13.8,427,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,816,3959,0,0,0,0,0,0
$GC,2719,-0.72,-228.7,521.8,-13.1,473,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,816,3957,0,0,0,0,0,0
$GC,3041,-0.72,-228.7,563.1,-12.6,503,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,817,3955,0,0,0,0,0,0
$GC,3375,-0.72,-228.7,610.1,-14.4,532,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,817,3952,0,0,0,0,0,0
$GC,3686,-0.72,-228.7,651.2,-12.4,547,3689,0.00,0.95,0.00,0.000,4,0.000,0.044,2561,179,3949,0,0,0,0,0,0
$GC,3803,-0.72,-228.7,666.2,-12.6,552,3807,0.00,0.65,0.00,0.000,6,0.000,0.024,2562,722,3948,0,0,0,0,0,0
$GC,4133,-0.72,-228.7,701.6,-10.6,568,4137,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2111,3945,0,0,0,0,0,0
$GC,4183,-0.72,-228.7,707.0,-9.8,570,4187,0.00,2.08,0.00,0.000,6,0.000,0.037,2562,737,3944,0,0,0,0,0,0
$GC,4512,-0.72,-228.7,743.8,-11.4,586,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,737,3942,0,0,0,0,0,0
$GC,4821,-0.72,-228.7,780.4,-11.7,601,4825,0.10,2.00,0.00,0.000,4,0.168,0.018,2587,2107,3938,0,0,0,0,0,0
$GC,4849,-0.72,-228.7,783.5,-10.3,602,4853,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,730,3938,0,0,0,0,0,0
$GC,5177,-0.72,-228.7,813.6,-9.0,618,5180,0.00,2.00,0.00,0.000,4,0.000,0.019,2587,2117,3935,0,0,0,0,0,0
$GC,5246,-0.72,-228.7,819.3,-8.3,621,5250,0.00,2.10,0.00,0.000,6,0.000,0.039,2587,746,3935,0,0,0,0,0,0
$GC,5580,-0.72,-228.7,849.2,-9.0,637,5583,0.00,1.95,0.00,0.000,4,0.000,0.019,2587,2117,3932,0,0,0,0,0,0
$GC,5651,-0.72,-228.7,854.6,-7.4,640,5655,0.00,2.08,0.00,0.000,6,0.000,0.039,2587,761,3931,0,0,0,0,0,0
$GC,5980,-0.72,-228.7,882.8,-8.4,656,5984,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2114,3929,0,0,0,0,0,0
$GC,6036,-0.72,-228.7,887.4,-7.5,658,6040,0.00,2.05,0.00,0.000,6,0.000,0.040,2587,761,3928,0,0,0,0,0,0
$GC,6360,-0.72,-228.7,912.4,-7.7,674,6363,0.00,1.92,0.00,0.000,4,0.000,0.019,2586,2115,3926,0,0,0,0,0,0
$GC,6398,-0.72,-228.7,915.5,-6.6,675,6407,0.00,2.03,0.00,0.000,6,0.000,0.041,2587,776,3926,0,0,0,0,0,0
$GC,6716,-0.72,-228.7,939.4,-7.5,691,6720,0.00,1.95,0.00,0.000,4,0.000,0.020,2587,2113,3924,0,0,0,0,0,0
$GC,6750,-0.72,-228.7,942.0,-7.2,692,6753,0.00,2.05,0.00,0.000,6,0.000,0.041,2587,779,3922,0,0,0,0,0,0
$GC,7074,-0.72,-228.7,965.1,-7.2,708,7077,0.00,1.90,0.00,0.000,4,0.000,0.020,2587,2113,3922,0,0,0,0,0,0
$GC,7109,-0.72,-228.7,967.6,-6.5,709,7112,0.00,2.05,0.00,0.000,6,0.000,0.041,2587,774,3921,0,0,0,0,0,0
$STATE,7428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7428,begin apogee
$GC,7434,-0.14,0.0,990.8,7.2,725,7618,0.52,0.00,177.73,1.401,4,0.108,0.000,2769,950,3030,0,0,0,0,0,0
$STATE,7619,end apogee,CONTROL_FINISHED_OK
$STATE,7619,begin climb
$GC,7622,0.72,228.7,998.7,0.0,733,7821,0.75,0.00,192.35,1.340,6,0.054,0.000,3053,950,2095,0,0,0,0,0,0
$GC,8129,0.72,228.7,921.7,18.8,758,8133,0.00,2.10,0.00,0.000,4,0.000,0.023,3053,2361,2086,0,0,0,0,0,0
$GC,8254,0.72,228.7,899.2,17.9,763,8257,0.00,2.10,0.00,0.000,6,0.000,0.037,3062,1003,2085,0,0,0,0,0,0
$GC,8570,0.72,228.7,838.3,19.0,778,8573,0.00,2.00,0.00,0.000,4,0.000,0.022,3062,2366,2084,0,0,0,0,0,0
$GC,8665,0.72,228.7,820.7,17.8,782,8669,0.00,2.05,0.00,0.000,6,0.000,0.037,3071,1022,2083,0,0,0,0,0,0
$GC,8986,0.72,228.7,760.6,18.3,798,8990,0.00,1.95,0.00,0.000,4,0.000,0.022,3071,2373,2083,0,0,0,0,0,0
$GC,9130,0.72,228.7,736.3,16.2,804,9134,0.00,2.00,0.00,0.000,6,0.000,0.037,3080,1050,2082,0,0,0,0,0,0
$GC,9456,0.72,228.7,680.0,17.5,820,9459,0.00,1.92,0.00,0.000,4,0.000,0.022,3079,2374,2081,0,0,0,0,0,0
$GC,9517,0.72,228.7,669.1,15.0,822,9524,0.12,2.00,0.00,0.000,6,0.183,0.037,3057,1043,2081,0,0,0,0,0,0
$GC,9835,0.72,228.7,621.5,15.3,838,9838,0.00,1.27,0.00,0.000,4,0.000,0.047,3062,197,2080,0,0,0,0,0,0
$GC,9862,0.72,228.7,616.3,17.5,839,9866,0.00,1.17,0.00,0.000,6,0.000,0.026,3062,1042,2080,0,0,0,0,0,0
$GC,10189,0.72,228.7,563.2,17.1,864,10192,0.00,1.95,0.00,0.000,4,0.000,0.022,3062,2393,2080,0,0,0,0,0,0
$GC,10281,0.72,228.7,547.9,16.5,872,10285,0.00,2.00,0.00,0.000,6,0.000,0.038,3067,1067,2079,0,0,0,0,0,0
$GC,10610,0.72,228.7,491.9,16.2,906,10617,0.00,1.92,0.00,0.000,4,0.000,0.022,3068,2379,2079,0,0,0,0,0,0
$GC,10653,0.72,228.7,485.0,15.9,913,10659,0.00,1.95,0.00,0.000,6,0.000,0.037,3075,1077,2079,0,0,0,0,0,0
$GC,10984,0.72,228.7,433.0,16.0,974,10992,0.00,1.92,0.00,0.000,4,0.000,0.024,3075,2383,2078,0,0,0,0,0,0
$GC,11115,0.72,228.7,412.4,16.2,998,11124,0.08,2.00,0.00,0.000,6,0.162,0.036,3060,1079,2078,0,0,0,0,0,0
$GC,11452,0.72,228.7,366.0,13.8,1059,11460,0.00,1.35,0.00,0.000,4,0.000,0.046,3065,188,2078,0,0,0,0,0,0
$GC,11607,0.72,228.7,342.8,14.2,1087,11614,0.00,1.23,0.00,0.000,6,0.000,0.023,3065,1090,2078,0,0,0,0,0,0
$GC,11941,0.72,228.7,298.1,12.3,1148,11949,0.00,1.88,0.00,0.000,4,0.000,0.022,3065,2387,2078,0,0,0,0,0,0
$GC,11988,0.72,228.7,292.0,12.7,1156,11996,0.00,2.00,0.00,0.000,6,0.000,0.034,3073,1079,2078,0,0,0,0,0,0
$GC,12321,0.72,228.7,249.1,11.1,1217,12328,0.00,1.88,0.00,0.000,4,0.000,0.021,3074,2394,2078,0,0,0,0,0,0
$GC,12381,0.72,228.7,242.1,12.4,1227,12388,0.00,1.98,0.00,0.000,6,0.000,0.035,3081,1072,2079,0,0,0,0,0,0
$GC,12718,0.72,228.7,197.3,13.7,1288,12726,0.00,1.33,0.00,0.000,4,0.000,0.044,3087,186,2079,0,0,0,0,0,0
$GC,12792,0.72,228.7,187.0,13.6,1301,12799,0.10,1.23,0.00,0.000,6,0.156,0.021,3056,1107,2080,0,0,0,0,0,0
$GC,13130,0.82,316.9,152.4,8.2,1362,13201,0.00,0.00,67.22,0.748,6,0.000,0.000,3055,1107,1736,0,0,0,0,0,0
$GC,13523,0.86,344.6,111.3,10.1,1432,13553,0.12,0.00,22.35,0.684,6,0.085,0.000,3117,1107,1623,0,0,0,0,0,0
$GC,13875,0.90,379.3,60.7,9.9,1496,13912,0.00,1.42,28.30,0.649,4,0.000,0.044,3120,197,1481,0,0,0,0,0,0
$GC,13997,0.90,379.3,44.1,15.8,1516,14005,0.00,1.25,0.00,0.000,6,0.000,0.019,3121,1155,1478,0,0,0,0,0,0
$GC,14323,0.95,418.8,6.4,9.7,1577,14360,0.00,0.00,31.62,0.601,6,0.000,0.000,3119,1155,1319,0,0,0,0,0,0
$STATE,14366,end climb,SURFACE_DEPTH_REACHED
$STATE,14366,begin surface coast
$FINISH,0.4,0.998575
$STATE,14388,end surface coast,CONTROL_FINISHED_OK
$STATE,14388,begin surface
$SM_CCo,14466,0.00,0.000,0,0,1314,420.69
$SM_GC,1.21,7.80,0.00,0.00,0.039,0.000,0.000,121,786,1314,-8.36,-0.11,420.69
$IRIDIUM_FIX,2246.36,12658.74,171010,131320
$TT8_MAMPS,0.028462
$HUMID,40.23
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,23.2,36.431
$10V_AH,10.3,33.258
$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,19.175,87.200,519.575,0.000,0.000,50.140,61.162,227.923,0.000,0.000,37.588,3857.921,6320.488,567.752,3854.160,469.862,0.000,1979.171,0.000,3501.455,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,65.790,1401.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.783,1396.339,1862.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333580
$DATA_FILE_SIZE,93497,1587
$CAP_FILE_SIZE,159985,0
$CFSIZE,260165632,156176384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,325.4,1
$GPS,171010,171830,2251.508,12700.323,38,1.0,39,-3.3