version: 66.08
glider: 167
mission: 6
dive: 199
start: 10 17 110 17 28 48
data:
$ID,167
$MISSION,6
$DIVE,199
$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,-54373.5
$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,34
$R_STBD_OVSHOOT,87
$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
$GPS1,171010,171830,2251.508,12700.323,38,1.0,39,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.3
$GPS2,171010,172826,2251.559,12700.190,15,1.2,15,-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,163.0,212938,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,93,0.00,0.00,-72.62,0.000,2,0.000,0.000,112,780,3523,0,0,0,0,0,0
$GC,96,-0.72,-228.7,6.4,-12.6,10,120,9.55,0.85,-6.62,0.000,4,0.222,0.067,2584,179,3962,0,0,0,0,0,0
$GC,361,-0.72,-228.7,94.8,-20.7,58,369,0.00,0.80,0.00,0.000,6,0.000,0.021,2581,861,3965,0,0,0,0,0,0
$GC,692,-0.72,-228.7,166.1,-21.1,119,699,0.00,1.00,0.00,0.000,4,0.000,0.041,2581,185,3966,0,0,0,0,0,0
$GC,939,-0.72,-228.7,219.1,-21.6,163,946,0.00,0.77,0.00,0.000,6,0.000,0.021,2576,865,3966,0,0,0,0,0,0
$GC,1281,-0.72,-228.7,283.9,-18.1,224,1289,0.00,1.00,0.00,0.000,4,0.000,0.041,2576,186,3966,0,0,0,0,0,0
$GC,1476,-0.72,-228.7,319.4,-19.3,258,1484,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,884,3966,0,0,0,0,0,0
$GC,1819,-0.72,-228.7,373.6,-14.4,319,1825,0.00,1.02,0.00,0.000,4,0.000,0.041,2574,188,3967,0,0,0,0,0,0
$GC,1948,-0.72,-228.7,395.5,-16.5,342,1956,0.00,0.75,0.00,0.000,6,0.000,0.021,2571,848,3966,0,0,0,0,0,0
$GC,2292,-0.72,-228.7,449.6,-15.8,403,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,848,3965,0,0,0,0,0,0
$GC,2631,-0.72,-228.7,497.5,-13.4,464,2640,0.00,1.90,0.00,0.000,4,0.000,0.018,2570,2189,3963,0,0,0,0,0,0
$GC,2653,-0.72,-228.7,500.2,-12.7,467,2660,0.00,2.12,0.00,0.000,6,0.000,0.034,2570,761,3963,0,0,0,0,0,0
$GC,2979,-0.72,-228.7,541.4,-13.4,498,2982,0.00,2.03,0.00,0.000,4,0.000,0.017,2570,2180,3961,0,0,0,0,0,0
$GC,3024,-0.72,-228.7,547.0,-11.7,502,3028,0.00,2.10,0.00,0.000,6,0.000,0.034,2570,776,3960,0,0,0,0,0,0
$GC,3349,-0.72,-228.7,589.9,-13.2,532,3353,0.00,1.98,0.00,0.000,4,0.000,0.017,2570,2181,3958,0,0,0,0,0,0
$GC,3376,-0.72,-228.7,593.5,-12.0,534,3383,0.00,2.12,0.00,0.000,6,0.000,0.035,2570,776,3957,0,0,0,0,0,0
$GC,3706,-0.72,-228.7,633.7,-12.2,553,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,776,3956,0,0,0,0,0,0
$GC,4014,-0.72,-228.7,670.8,-12.3,568,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,776,3953,0,0,0,0,0,0
$GC,4323,-0.72,-228.7,707.9,-11.7,583,4326,0.00,2.00,0.00,0.000,4,0.000,0.018,2570,2184,3951,0,0,0,0,0,0
$GC,4371,-0.72,-228.7,712.5,-9.7,585,4375,0.00,2.12,0.00,0.000,6,0.000,0.036,2570,776,3950,0,0,0,0,0,0
$GC,4700,-0.72,-228.7,744.2,-9.1,601,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,776,3948,0,0,0,0,0,0
$GC,5008,-0.72,-228.7,772.2,-9.3,616,5012,0.00,2.00,0.00,0.000,4,0.000,0.018,2570,2178,3945,0,0,0,0,0,0
$GC,5048,-0.72,-228.7,775.6,-7.8,617,5055,0.00,2.12,0.00,0.000,6,0.000,0.037,2570,776,3945,0,0,0,0,0,0
$GC,5365,-0.72,-228.7,807.2,-10.5,633,5369,0.00,2.03,0.00,0.000,4,0.000,0.019,2570,2174,3942,0,0,0,0,0,0
$GC,5412,-0.72,-228.7,811.5,-9.0,635,5416,0.00,2.10,0.00,0.000,6,0.000,0.038,2570,788,3942,0,0,0,0,0,0
$GC,5745,-0.72,-228.7,846.8,-10.3,651,5748,0.00,1.98,0.00,0.000,4,0.000,0.019,2569,2173,3940,0,0,0,0,0,0
$GC,5783,-0.72,-228.7,850.8,-9.4,652,5792,0.00,2.12,0.00,0.000,6,0.000,0.038,2569,790,3940,0,0,0,0,0,0
$GC,6101,-0.72,-228.7,882.1,-10.1,668,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,790,3938,0,0,0,0,0,0
$GC,6409,-0.72,-228.7,912.7,-10.3,683,6413,0.00,2.00,0.00,0.000,4,0.000,0.020,2570,2176,3935,0,0,0,0,0,0
$GC,6437,-0.72,-228.7,915.5,-9.4,684,6441,0.00,2.12,0.00,0.000,6,0.000,0.039,2570,777,3935,0,0,0,0,0,0
$GC,6760,-0.72,-228.7,948.5,-10.4,700,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,778,3934,0,0,0,0,0,0
$GC,7068,-0.72,-228.7,982.1,-11.2,715,7072,0.00,2.05,0.00,0.000,4,0.000,0.020,2569,2199,3931,0,0,0,0,0,0
$GC,7130,-0.72,-228.7,988.4,-10.3,717,7137,0.00,2.17,0.00,0.000,6,0.000,0.040,2570,782,3931,0,0,0,0,0,0
$STATE,7155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7155,begin apogee
$GC,7161,-0.14,0.0,991.2,10.1,719,7346,0.60,0.00,180.05,1.396,4,0.116,0.000,2772,1032,3029,0,0,0,0,0,0
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7351,0.72,228.7,1002.4,0.0,727,7553,0.80,2.08,192.82,1.341,4,0.047,0.020,3069,2378,2095,0,0,0,0,0,0
$GC,7567,0.72,228.7,983.2,17.0,737,7574,0.00,2.28,0.00,0.000,6,0.000,0.036,3079,1004,2091,0,0,0,0,0,0
$GC,7883,0.72,228.7,920.1,20.5,753,7887,0.00,2.00,0.00,0.000,4,0.000,0.021,3079,2354,2086,0,0,0,0,0,0
$GC,7976,0.72,228.7,901.9,19.7,757,7981,0.12,2.12,0.00,0.000,6,0.181,0.037,3058,994,2085,0,0,0,0,0,0
$GC,8304,0.72,228.7,838.5,19.6,773,8307,0.00,2.00,0.00,0.000,4,0.000,0.023,3058,2361,2084,0,0,0,0,0,0
$GC,8411,0.72,228.7,818.4,18.2,777,8417,0.00,2.05,0.00,0.000,6,0.000,0.037,3065,1020,2084,0,0,0,0,0,0
$GC,8727,0.72,228.7,756.9,19.1,793,8731,0.00,1.95,0.00,0.000,4,0.000,0.024,3065,2364,2082,0,0,0,0,0,0
$GC,8840,0.72,228.7,735.9,19.0,798,8844,0.00,2.00,0.00,0.000,6,0.000,0.037,3074,1042,2082,0,0,0,0,0,0
$GC,9175,0.72,228.7,678.5,15.6,814,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1041,2081,0,0,0,0,0,0
$GC,9483,0.72,228.7,627.0,16.9,829,9486,0.00,1.30,0.00,0.000,4,0.000,0.047,3081,188,2080,0,0,0,0,0,0
$GC,9555,0.72,228.7,613.6,18.7,832,9559,0.00,1.15,0.00,0.000,6,0.000,0.024,3080,1024,2080,0,0,0,0,0,0
$GC,9883,0.72,228.7,556.5,16.4,859,9886,0.00,1.98,0.00,0.000,4,0.000,0.024,3080,2386,2080,0,0,0,0,0,0
$GC,9955,0.72,228.7,544.2,15.8,865,9962,0.12,2.03,0.00,0.000,6,0.181,0.037,3057,1044,2079,0,0,0,0,0,0
$GC,10283,0.72,228.7,497.5,14.2,897,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1043,2079,0,0,0,0,0,0
$GC,10622,0.72,228.7,448.6,14.1,958,10630,0.00,1.98,0.00,0.000,4,0.000,0.022,3057,2393,2078,0,0,0,0,0,0
$GC,10721,0.72,228.7,435.4,13.6,975,10727,0.00,2.03,0.00,0.000,6,0.000,0.037,3061,1048,2078,0,0,0,0,0,0
$GC,11061,0.72,228.7,390.2,11.8,1036,11070,0.00,1.30,0.00,0.000,4,0.000,0.047,3068,191,2078,0,0,0,0,0,0
$GC,11188,0.72,228.7,374.3,12.9,1058,11196,0.00,1.17,0.00,0.000,6,0.000,0.024,3068,1057,2079,0,0,0,0,0,0
$GC,11532,0.72,228.7,333.9,11.6,1119,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1057,2078,0,0,0,0,0,0
$GC,11869,0.72,228.7,295.3,11.3,1180,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1057,2078,0,0,0,0,0,0
$GC,12214,0.74,245.7,254.9,10.5,1241,12234,0.00,1.33,12.35,0.783,4,0.000,0.045,3073,193,2026,0,0,0,0,0,0
$GC,12265,0.74,245.7,247.9,13.3,1249,12271,0.00,1.15,0.00,0.000,6,0.000,0.023,3074,1058,2026,0,0,0,0,0,0
$GC,12606,0.74,245.7,207.6,11.6,1310,12614,0.00,1.90,0.00,0.000,4,0.000,0.020,3074,2389,2025,0,0,0,0,0,0
$GC,12675,0.76,267.9,200.6,10.3,1321,12703,0.00,2.03,19.20,0.758,6,0.000,0.034,3081,1040,1934,0,0,0,0,0,0
$GC,13037,0.76,267.9,158.5,12.5,1385,13044,0.00,1.27,0.00,0.000,4,0.000,0.044,3087,188,1933,0,0,0,0,0,0
$GC,13089,0.76,267.9,151.6,12.2,1394,13097,0.00,1.15,0.00,0.000,6,0.000,0.021,3087,1076,1933,0,0,0,0,0,0
$GC,13417,0.76,267.9,111.0,11.9,1455,13424,0.00,1.88,0.00,0.000,4,0.000,0.019,3087,2396,1932,0,0,0,0,0,0
$GC,13498,0.79,285.3,101.8,10.4,1469,13521,0.00,2.05,15.27,0.664,6,0.000,0.034,3094,1049,1865,0,0,0,0,0,0
$GC,13845,0.92,397.3,69.2,7.4,1532,13943,0.00,1.35,87.45,0.659,4,0.000,0.045,3099,190,1408,0,0,0,0,0,0
$GC,14035,0.97,437.9,51.2,9.7,1562,14073,0.08,1.20,32.45,0.624,6,0.065,0.020,3151,1092,1243,0,0,0,0,0,0
$STATE,14380,end climb,SURFACE_DEPTH_REACHED
$STATE,14380,begin surface coast
$FINISH,0.5,1.013173
$STATE,14404,end surface coast,CONTROL_FINISHED_OK
$STATE,14404,begin surface
$SM_CCo,14484,0.00,0.000,0,0,1234,440.31
$SM_GC,1.26,7.78,0.00,0.00,0.034,0.000,0.000,125,774,1234,-8.36,-0.42,440.31
$IRIDIUM_FIX,2244.02,12700.61,171010,171734
$TT8_MAMPS,0.029211
$HUMID,39.84
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,23.2,36.623
$10V_AH,10.3,33.436
$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,19.050,89.475,539.600,0.000,0.000,58.736,61.550,212.654,0.000,0.000,15.934,3926.656,6181.260,596.346,3867.222,487.778,0.000,2007.523,0.000,3553.988,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,67.320,1396.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.674,1449.478,1956.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333608
$DATA_FILE_SIZE,93551,1629
$CAP_FILE_SIZE,161140,0
$CFSIZE,260165632,156086272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,356.0,1
$GPS,171010,213125,2250.116,12701.320,38,1.8,38,-3.3