version: 66.08
glider: 167
mission: 6
dive: 201
start: 10 18 110 1 53 42
data:
$ID,167
$MISSION,6
$DIVE,201
$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,-54376.016
$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,33
$R_STBD_OVSHOOT,105
$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
$GPS1,181010,014307,2248.575,12702.632,32,1.0,32,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.2
$GPS2,181010,015320,2248.613,12702.698,13,1.2,13,-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,183.1,206615,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,95,0.00,0.00,-74.07,0.000,2,0.000,0.000,112,788,3270,0,0,0,0,0,0
$GC,98,-0.72,-228.7,6.1,-13.3,10,123,9.57,0.95,-10.77,0.000,4,0.223,0.076,2581,172,3964,0,0,0,0,0,0
$GC,362,-0.72,-228.7,99.4,-25.9,58,370,0.00,0.80,0.00,0.000,6,0.000,0.021,2577,869,3966,0,0,0,0,0,0
$GC,693,-0.72,-228.7,170.5,-21.2,119,700,0.00,1.00,0.00,0.000,4,0.000,0.041,2577,190,3967,0,0,0,0,0,0
$GC,951,-0.72,-228.7,228.8,-21.3,165,957,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,863,3968,0,0,0,0,0,0
$GC,1292,-0.72,-228.7,297.1,-19.6,226,1301,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,183,3968,0,0,0,0,0,0
$GC,1552,-0.72,-228.7,347.1,-19.0,272,1561,0.00,0.75,0.00,0.000,6,0.000,0.021,2569,835,3969,0,0,0,0,0,0
$GC,1896,-0.72,-228.7,404.5,-16.1,333,1903,0.00,0.95,0.00,0.000,4,0.000,0.041,2569,189,3968,0,0,0,0,0,0
$GC,1966,-0.72,-228.7,415.9,-17.0,345,1973,0.00,0.65,0.00,0.000,6,0.000,0.023,2565,758,3967,0,0,0,0,0,0
$GC,2309,-0.72,-228.7,472.4,-15.8,406,2317,0.00,1.95,0.00,0.000,4,0.000,0.018,2562,2135,3966,0,0,0,0,0,0
$GC,2377,-0.72,-228.7,481.2,-12.6,417,2384,0.00,2.05,0.00,0.000,6,0.000,0.034,2562,755,3966,0,0,0,0,0,0
$GC,2708,-0.72,-228.7,526.8,-12.2,459,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,755,3963,0,0,0,0,0,0
$GC,3030,-0.72,-228.7,569.4,-14.1,489,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,755,3961,0,0,0,0,0,0
$GC,3352,-0.72,-228.7,614.5,-13.2,515,3356,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2132,3959,0,0,0,0,0,0
$GC,3381,-0.72,-228.7,617.9,-11.3,516,3385,0.00,2.03,0.00,0.000,6,0.000,0.035,2561,773,3959,0,0,0,0,0,0
$GC,3709,-0.72,-228.7,655.0,-10.9,532,3713,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2133,3956,0,0,0,0,0,0
$GC,3733,-0.72,-228.7,657.5,-10.6,533,3737,0.00,2.03,0.00,0.000,6,0.000,0.036,2561,774,3956,0,0,0,0,0,0
$GC,4069,-0.72,-228.7,693.9,-11.0,549,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,773,3953,0,0,0,0,0,0
$GC,4375,-0.72,-228.7,728.4,-11.4,564,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,773,3950,0,0,0,0,0,0
$GC,4686,-0.72,-228.7,764.0,-11.6,579,4691,0.10,1.95,0.00,0.000,4,0.166,0.019,2587,2114,3948,0,0,0,0,0,0
$GC,4748,-0.72,-228.7,770.2,-8.8,581,4755,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,774,3947,0,0,0,0,0,0
$GC,5065,-0.72,-228.7,799.2,-9.1,597,5068,0.00,1.92,0.00,0.000,4,0.000,0.018,2587,2122,3944,0,0,0,0,0,0
$GC,5139,-0.72,-228.7,805.2,-7.7,600,5143,0.00,2.05,0.00,0.000,6,0.000,0.038,2587,772,3944,0,0,0,0,0,0
$GC,5466,-0.72,-228.7,831.5,-7.7,616,5470,0.00,1.95,0.00,0.000,4,0.000,0.019,2587,2130,3941,0,0,0,0,0,0
$GC,5539,-0.72,-228.7,836.5,-6.6,619,5543,0.00,2.05,0.00,0.000,6,0.000,0.038,2587,785,3941,0,0,0,0,0,0
$GC,5867,-0.72,-228.7,861.3,-7.9,635,5871,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2125,3939,0,0,0,0,0,0
$GC,5928,-0.72,-228.7,866.1,-8.0,637,5935,0.00,2.03,0.00,0.000,6,0.000,0.038,2587,799,3938,0,0,0,0,0,0
$GC,6247,-0.72,-228.7,893.6,-9.0,653,6251,0.00,1.92,0.00,0.000,4,0.000,0.020,2587,2121,3936,0,0,0,0,0,0
$GC,6298,-0.72,-228.7,898.0,-8.4,655,6301,0.00,2.00,0.00,0.000,6,0.000,0.039,2587,800,3935,0,0,0,0,0,0
$GC,6627,-0.72,-228.7,925.5,-8.3,671,6631,0.00,1.90,0.00,0.000,4,0.000,0.019,2587,2122,3933,0,0,0,0,0,0
$GC,6674,-0.72,-228.7,929.1,-7.4,673,6678,0.00,2.00,0.00,0.000,6,0.000,0.039,2587,801,3933,0,0,0,0,0,0
$GC,7008,-0.72,-228.7,954.7,-7.4,689,7012,0.00,1.88,0.00,0.000,4,0.000,0.020,2587,2120,3931,0,0,0,0,0,0
$GC,7049,-0.72,-228.7,957.7,-6.8,690,7056,0.00,1.98,0.00,0.000,6,0.000,0.039,2588,817,3930,0,0,0,0,0,0
$GC,7365,-0.72,-228.7,980.9,-7.5,706,7369,0.00,1.85,0.00,0.000,4,0.000,0.020,2587,2119,3929,0,0,0,0,0,0
$GC,7426,-0.72,-228.7,985.3,-6.6,708,7435,0.00,1.95,0.00,0.000,6,0.000,0.039,2587,825,3928,0,0,0,0,0,0
$STATE,7493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7493,begin apogee
$GC,7501,-0.14,0.0,990.3,7.4,712,7691,0.52,0.00,180.77,1.394,4,0.107,0.000,2770,956,3028,0,0,0,0,0,0
$STATE,7692,end apogee,CONTROL_FINISHED_OK
$STATE,7692,begin climb
$GC,7696,0.72,228.7,998.4,0.0,721,7896,0.80,2.20,192.35,1.340,4,0.047,0.021,3065,2379,2096,0,0,0,0,0,0
$GC,8038,0.72,228.7,953.6,18.6,737,8042,0.00,2.20,0.00,0.000,6,0.000,0.037,3072,995,2088,0,0,0,0,0,0
$GC,8365,0.72,228.7,889.4,19.6,753,8368,0.00,1.23,0.00,0.000,4,0.000,0.047,3078,194,2086,0,0,0,0,0,0
$GC,8549,0.72,228.7,850.0,21.2,761,8552,0.00,1.12,0.00,0.000,6,0.000,0.026,3078,993,2086,0,0,0,0,0,0
$GC,8878,0.72,228.7,785.3,19.9,777,8881,0.00,2.05,0.00,0.000,4,0.000,0.023,3079,2385,2084,0,0,0,0,0,0
$GC,8984,0.72,228.7,764.6,18.6,781,8992,0.12,2.10,0.00,0.000,6,0.187,0.037,3056,1016,2084,0,0,0,0,0,0
$GC,9300,0.72,228.7,709.7,17.7,797,9304,0.00,2.00,0.00,0.000,4,0.000,0.024,3057,2391,2083,0,0,0,0,0,0
$GC,9351,0.72,228.7,700.8,17.0,799,9355,0.00,2.08,0.00,0.000,6,0.000,0.037,3064,1031,2082,0,0,0,0,0,0
$GC,9673,0.72,228.7,645.4,16.8,815,9677,0.00,1.98,0.00,0.000,4,0.000,0.023,3064,2390,2082,0,0,0,0,0,0
$GC,9744,0.72,228.7,633.2,16.2,818,9748,0.00,2.03,0.00,0.000,6,0.000,0.037,3071,1044,2081,0,0,0,0,0,0
$GC,10067,0.72,228.7,578.6,17.5,839,10070,0.00,1.30,0.00,0.000,4,0.000,0.047,3078,190,2080,0,0,0,0,0,0
$GC,10090,0.72,228.7,574.0,18.1,841,10094,0.00,1.20,0.00,0.000,6,0.000,0.024,3078,1067,2081,0,0,0,0,0,0
$GC,10421,0.72,228.7,517.6,16.9,872,10425,0.00,1.92,0.00,0.000,4,0.000,0.024,3078,2399,2081,0,0,0,0,0,0
$GC,10551,0.72,228.7,497.1,14.8,885,10560,0.12,2.03,0.00,0.000,6,0.184,0.036,3054,1066,2080,0,0,0,0,0,0
$GC,10887,0.72,228.7,448.1,14.9,946,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1066,2080,0,0,0,0,0,0
$GC,11222,0.72,228.7,399.6,15.4,1007,11228,0.00,1.92,0.00,0.000,4,0.000,0.024,3054,2401,2080,0,0,0,0,0,0
$GC,11367,0.72,228.7,380.3,13.0,1033,11375,0.00,2.03,0.00,0.000,6,0.000,0.036,3062,1059,2080,0,0,0,0,0,0
$GC,11703,0.72,228.7,335.8,12.8,1094,11711,0.00,1.95,0.00,0.000,4,0.000,0.022,3062,2401,2080,0,0,0,0,0,0
$GC,11768,0.72,228.7,326.9,12.6,1105,11775,0.00,2.00,0.00,0.000,6,0.000,0.036,3068,1064,2080,0,0,0,0,0,0
$GC,12103,0.72,228.7,282.6,12.0,1166,12111,0.00,1.30,0.00,0.000,4,0.000,0.045,3075,193,2080,0,0,0,0,0,0
$GC,12240,0.72,228.7,265.1,12.8,1190,12248,0.00,1.20,0.00,0.000,6,0.000,0.023,3074,1084,2080,0,0,0,0,0,0
$GC,12573,0.72,228.7,226.7,12.4,1251,12579,0.00,1.88,0.00,0.000,4,0.000,0.020,3075,2413,2081,0,0,0,0,0,0
$GC,12641,0.72,228.7,218.3,12.2,1263,12648,0.00,2.03,0.00,0.000,6,0.000,0.035,3079,1066,2081,0,0,0,0,0,0
$GC,12974,0.72,228.7,179.9,11.3,1324,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1066,2083,0,0,0,0,0,0
$GC,13307,0.72,228.7,139.8,12.0,1385,13316,0.00,1.92,0.00,0.000,4,0.000,0.018,3080,2410,2084,0,0,0,0,0,0
$GC,13381,0.74,245.7,131.6,10.5,1398,13404,0.00,2.03,13.38,0.687,6,0.000,0.034,3088,1076,2025,0,0,0,0,0,0
$GC,13726,0.76,262.3,94.3,10.5,1461,13750,0.00,1.35,14.18,0.658,4,0.000,0.044,3093,187,1958,0,0,0,0,0,0
$GC,13765,0.76,262.3,90.0,11.1,1466,13773,0.00,1.25,0.00,0.000,6,0.000,0.019,3093,1150,1957,0,0,0,0,0,0
$GC,14094,0.86,345.5,58.8,8.3,1527,14169,0.00,1.50,65.05,0.655,4,0.000,0.043,3098,193,1618,0,0,0,0,0,0
$GC,14279,0.99,454.7,42.3,7.5,1557,14375,0.10,1.23,84.97,0.627,6,0.057,0.020,3158,1120,1176,0,0,0,0,0,0
$STATE,14578,end climb,SURFACE_DEPTH_REACHED
$STATE,14578,begin surface coast
$FINISH,0.5,1.021663
$STATE,14601,end surface coast,CONTROL_FINISHED_OK
$STATE,14601,begin surface
$SM_CCo,14678,0.00,0.000,0,0,1168,456.50
$SM_GC,1.22,7.80,0.00,0.00,0.031,0.000,0.000,121,789,1168,-8.36,-0.03,456.50
$IRIDIUM_FIX,2239.35,12700.61,181010,010107
$TT8_MAMPS,0.028462
$HUMID,39.21
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,23.2,37.015
$10V_AH,10.3,33.788
$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,19.150,99.725,550.700,0.000,0.000,52.282,89.218,211.808,0.000,0.000,13.997,3915.817,6315.419,607.909,3936.210,492.861,0.000,2063.313,0.000,3602.153,0.000,0.545,0.000
$DEVICE_MAMPS,223.380,89.505,1393.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1097.120,1423.756,1925.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93582,1612
$CAP_FILE_SIZE,165990,0
$CFSIZE,260165632,155901952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,107.0,1
$GPS,181010,055937,2246.627,12703.528,42,1.0,42,-3.3