version: 66.08
glider: 167
mission: 6
dive: 206
start: 10 18 110 23 23 37
data:
$ID,167
$MISSION,6
$DIVE,206
$N_DIVES,219
$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,-54382.301
$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,96
$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
$GPS1,181010,231307,2238.233,12705.480,27,1.0,27,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.0
$GPS2,181010,232314,2238.278,12705.488,16,1.5,16,-3.2
$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,170.3,186879,-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,-228.7,0.0,0.0,0,89,0.00,0.00,-68.43,0.000,2,0.000,0.000,112,785,3175,0,0,0,0,0,0
$GC,92,-0.72,-228.7,5.1,-11.1,9,123,9.73,0.90,-13.00,0.000,4,0.228,0.076,2580,186,3964,0,0,0,0,0,0
$GC,331,-0.72,-228.7,88.2,-32.5,52,340,0.00,0.77,0.00,0.000,6,0.000,0.020,2576,880,3965,0,0,0,0,0,0
$GC,663,-0.72,-228.7,165.9,-21.5,113,670,0.00,1.02,0.00,0.000,4,0.000,0.040,2577,184,3967,0,0,0,0,0,0
$GC,890,-0.72,-228.7,216.3,-20.4,153,896,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,867,3968,0,0,0,0,0,0
$GC,1228,-0.72,-228.7,281.9,-19.5,214,1237,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,184,3968,0,0,0,0,0,0
$GC,1365,-0.72,-228.7,307.9,-20.4,237,1372,0.00,0.75,0.00,0.000,6,0.000,0.020,2573,864,3967,0,0,0,0,0,0
$GC,1707,-0.72,-228.7,366.8,-16.8,298,1716,0.00,1.00,0.00,0.000,4,0.000,0.041,2573,180,3967,0,0,0,0,0,0
$GC,1829,-0.72,-228.7,386.8,-16.3,319,1836,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,844,3967,0,0,0,0,0,0
$GC,2169,-0.72,-228.7,439.2,-15.0,380,2177,0.00,0.95,0.00,0.000,4,0.000,0.042,2573,193,3966,0,0,0,0,0,0
$GC,2257,-0.72,-228.7,451.9,-13.6,395,2264,0.00,0.70,0.00,0.000,6,0.000,0.021,2573,806,3965,0,0,0,0,0,0
$GC,2599,-0.72,-228.7,497.6,-13.5,456,2606,0.00,1.85,0.00,0.000,4,0.000,0.017,2573,2121,3963,0,0,0,0,0,0
$GC,2683,-0.72,-228.7,506.9,-10.4,465,2687,0.00,2.03,0.00,0.000,6,0.000,0.034,2573,748,3963,0,0,0,0,0,0
$GC,3016,-0.72,-228.7,548.9,-12.5,496,3019,0.00,1.92,0.00,0.000,4,0.000,0.017,2573,2128,3960,0,0,0,0,0,0
$GC,3067,-0.72,-228.7,554.7,-10.2,500,3073,0.00,2.05,0.00,0.000,6,0.000,0.035,2573,762,3960,0,0,0,0,0,0
$GC,3393,-0.72,-228.7,594.5,-12.9,531,3397,0.00,0.82,0.00,0.000,4,0.000,0.044,2574,194,3958,0,0,0,0,0,0
$GC,3444,-0.72,-228.7,601.3,-12.9,535,3447,0.00,0.65,0.00,0.000,6,0.000,0.023,2573,735,3957,0,0,0,0,0,0
$GC,3771,-0.72,-228.7,640.2,-11.6,551,3775,0.00,1.92,0.00,0.000,4,0.000,0.018,2573,2118,3955,0,0,0,0,0,0
$GC,3799,-0.72,-228.7,643.3,-10.3,552,3803,0.00,2.03,0.00,0.000,6,0.000,0.035,2573,761,3954,0,0,0,0,0,0
$GC,4129,-0.72,-228.7,677.8,-10.6,568,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,761,3952,0,0,0,0,0,0
$GC,4436,-0.72,-228.7,710.2,-10.4,583,4440,0.00,1.92,0.00,0.000,4,0.000,0.018,2573,2119,3949,0,0,0,0,0,0
$GC,4475,-0.72,-228.7,714.0,-8.5,584,4482,0.00,2.03,0.00,0.000,6,0.000,0.036,2573,763,3949,0,0,0,0,0,0
$GC,4793,-0.72,-228.7,744.6,-9.5,600,4797,0.00,1.90,0.00,0.000,4,0.000,0.018,2573,2119,3946,0,0,0,0,0,0
$GC,4839,-0.72,-228.7,748.7,-7.8,602,4843,0.00,2.03,0.00,0.000,6,0.000,0.037,2573,767,3945,0,0,0,0,0,0
$GC,5174,-0.72,-228.7,780.5,-9.8,618,5178,0.00,1.92,0.00,0.000,4,0.000,0.018,2573,2116,3943,0,0,0,0,0,0
$GC,5212,-0.72,-228.7,784.5,-8.8,619,5219,0.00,2.05,0.00,0.000,6,0.000,0.037,2573,766,3943,0,0,0,0,0,0
$GC,5529,-0.72,-228.7,815.1,-9.7,635,5533,0.00,1.92,0.00,0.000,4,0.000,0.018,2572,2123,3940,0,0,0,0,0,0
$GC,5558,-0.72,-228.7,817.9,-9.0,636,5562,0.00,2.05,0.00,0.000,6,0.000,0.038,2573,767,3940,0,0,0,0,0,0
$GC,5880,-0.72,-228.7,847.7,-9.1,652,5884,0.00,1.92,0.00,0.000,4,0.000,0.019,2572,2123,3937,0,0,0,0,0,0
$GC,5936,-0.72,-228.7,852.7,-8.3,654,5940,0.00,2.08,0.00,0.000,6,0.000,0.038,2573,784,3936,0,0,0,0,0,0
$GC,6260,-0.72,-228.7,881.7,-9.1,670,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,784,3934,0,0,0,0,0,0
$GC,6568,-0.72,-228.7,908.2,-8.3,685,6571,0.00,1.92,0.00,0.000,4,0.000,0.019,2573,2122,3932,0,0,0,0,0,0
$GC,6593,-0.72,-228.7,910.0,-7.4,686,6597,0.00,2.05,0.00,0.000,6,0.000,0.040,2573,782,3932,0,0,0,0,0,0
$GC,6926,-0.72,-228.7,937.5,-8.4,702,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,781,3930,0,0,0,0,0,0
$GC,7235,-0.72,-228.7,963.3,-8.2,717,7238,0.00,1.90,0.00,0.000,4,0.000,0.020,2573,2117,3929,0,0,0,0,0,0
$GC,7276,-0.72,-228.7,966.4,-7.4,718,7283,0.00,2.03,0.00,0.000,6,0.000,0.040,2573,785,3928,0,0,0,0,0,0
$STATE,7568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7569,begin apogee
$GC,7575,-0.14,0.0,991.0,8.7,733,7760,0.57,0.00,179.95,1.398,4,0.111,0.000,2770,956,3029,0,0,0,0,0,0
$STATE,7761,end apogee,CONTROL_FINISHED_OK
$STATE,7761,begin climb
$GC,7764,0.72,228.7,1000.2,0.0,741,7967,0.80,2.22,192.70,1.343,4,0.046,0.021,3066,2392,2095,0,0,0,0,0,0
$GC,7972,0.72,228.7,980.8,17.6,751,7977,0.00,2.33,0.00,0.000,6,0.000,0.037,3073,999,2093,0,0,0,0,0,0
$GC,8296,0.72,228.7,918.1,20.2,767,8300,0.00,2.05,0.00,0.000,4,0.000,0.021,3074,2362,2087,0,0,0,0,0,0
$GC,8379,0.72,228.7,901.2,18.7,770,8388,0.00,2.12,0.00,0.000,6,0.000,0.037,3083,996,2086,0,0,0,0,0,0
$GC,8696,0.72,228.7,835.4,21.7,786,8699,0.00,2.03,0.00,0.000,4,0.000,0.024,3083,2374,2086,0,0,0,0,0,0
$GC,8781,0.72,228.7,817.9,21.3,789,8788,0.15,2.10,0.00,0.000,6,0.182,0.037,3054,1013,2084,0,0,0,0,0,0
$GC,9097,0.72,228.7,758.5,18.4,805,9101,0.00,1.98,0.00,0.000,4,0.000,0.023,3054,2380,2084,0,0,0,0,0,0
$GC,9167,0.72,228.7,746.6,16.7,808,9171,0.00,2.08,0.00,0.000,6,0.000,0.037,3062,1025,2083,0,0,0,0,0,0
$GC,9494,0.72,228.7,689.6,17.0,824,9498,0.00,1.98,0.00,0.000,4,0.000,0.022,3062,2380,2083,0,0,0,0,0,0
$GC,9611,0.72,228.7,670.4,16.2,829,9614,0.00,2.00,0.00,0.000,6,0.000,0.037,3069,1049,2082,0,0,0,0,0,0
$GC,9940,0.72,228.7,616.2,16.3,845,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1049,2082,0,0,0,0,0,0
$GC,10254,0.72,228.7,562.6,17.2,870,10258,0.00,1.95,0.00,0.000,4,0.000,0.023,3068,2374,2081,0,0,0,0,0,0
$GC,10313,0.72,228.7,553.4,16.1,875,10317,0.00,2.03,0.00,0.000,6,0.000,0.037,3076,1029,2081,0,0,0,0,0,0
$GC,10644,0.72,228.7,500.6,16.2,906,10648,0.00,1.98,0.00,0.000,4,0.000,0.022,3076,2373,2081,0,0,0,0,0,0
$GC,10846,0.72,228.7,469.0,14.6,941,10853,0.12,1.98,0.00,0.000,6,0.180,0.036,3053,1053,2080,0,0,0,0,0,0
$GC,11186,0.72,228.7,423.1,12.9,1002,11195,0.00,1.92,0.00,0.000,4,0.000,0.021,3053,2374,2079,0,0,0,0,0,0
$GC,11265,0.72,228.7,412.5,13.2,1015,11272,0.00,2.00,0.00,0.000,6,0.000,0.037,3061,1055,2079,0,0,0,0,0,0
$GC,11607,0.72,228.7,365.1,14.4,1076,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1055,2080,0,0,0,0,0,0
$GC,11953,0.72,228.7,319.2,12.3,1137,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1055,2079,0,0,0,0,0,0
$GC,12291,0.72,228.7,278.3,11.3,1198,12300,0.00,1.92,0.00,0.000,4,0.000,0.020,3061,2386,2080,0,0,0,0,0,0
$GC,12370,0.72,228.7,269.3,11.9,1211,12377,0.00,2.00,0.00,0.000,6,0.000,0.036,3066,1059,2080,0,0,0,0,0,0
$GC,12711,0.72,228.7,228.7,11.8,1272,12719,0.00,1.30,0.00,0.000,4,0.000,0.045,3071,193,2081,0,0,0,0,0,0
$GC,12788,0.72,228.7,219.6,12.0,1285,12794,0.00,1.17,0.00,0.000,6,0.000,0.021,3071,1091,2081,0,0,0,0,0,0
$GC,13132,0.72,228.7,178.6,11.4,1346,13141,0.00,1.83,0.00,0.000,4,0.000,0.019,3071,2378,2082,0,0,0,0,0,0
$GC,13233,0.75,254.7,168.0,10.2,1363,13261,0.00,1.95,19.77,0.744,6,0.000,0.036,3075,1065,1989,0,0,0,0,0,0
$GC,13589,0.83,320.2,130.5,8.9,1427,13648,0.00,1.38,52.15,0.723,4,0.000,0.044,3082,192,1722,0,0,0,0,0,0
$GC,13673,0.83,320.2,121.8,12.3,1439,13681,0.00,1.23,0.00,0.000,6,0.000,0.020,3082,1111,1720,0,0,0,0,0,0
$GC,14002,0.87,353.3,83.9,9.9,1500,14033,0.00,0.00,25.95,0.663,6,0.000,0.000,3082,1112,1587,0,0,0,0,0,0
$GC,14355,1.00,457.3,52.6,7.6,1564,14446,0.17,1.45,82.22,0.640,4,0.073,0.040,3174,189,1163,0,0,0,0,0,0
$GC,14468,1.00,457.3,36.3,16.9,1579,14476,0.08,1.23,0.00,0.000,6,0.144,0.018,3149,1116,1161,0,0,0,0,0,0
$STATE,14701,end climb,SURFACE_DEPTH_REACHED
$STATE,14701,begin surface coast
$FINISH,0.4,0.997475
$STATE,14718,end surface coast,CONTROL_FINISHED_OK
$STATE,14718,begin surface
$SM_CCo,14798,0.00,0.000,0,0,1156,459.45
$SM_GC,1.30,7.88,0.00,0.00,0.040,0.000,0.000,109,785,1156,-8.38,-0.17,459.45
$IRIDIUM_FIX,2230.01,12708.07,181010,232308
$TT8_MAMPS,0.028462
$HUMID,39.28
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,23.2,37.978
$10V_AH,10.3,34.685
$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,19.500,98.425,552.750,0.000,0.000,58.204,80.639,207.303,0.000,0.000,17.728,3940.338,6472.750,601.067,3877.790,492.108,0.000,2034.533,0.000,3549.970,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,75.735,1398.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.894,1436.505,1920.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333572
$DATA_FILE_SIZE,93558,1626
$CAP_FILE_SIZE,165142,0
$CFSIZE,260165632,155447296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 92.7,1
$GPS,191010,033136,2235.943,12707.120,39,1.8,45,-3.2