version: 66.08
glider: 167
mission: 6
dive: 209
start: 10 19 110 12 16 11
data:
$ID,167
$MISSION,6
$DIVE,209
$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,-54386.07
$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,47
$R_STBD_OVSHOOT,81
$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
$GPS1,191010,120537,2230.188,12708.128,34,1.0,35,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.8
$GPS2,191010,121548,2230.048,12708.199,10,2.0,15,-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,166.1,170975,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-65.22,0.000,2,0.000,0.000,113,769,3152,0,0,0,0,0,0
$GC,88,-0.72,-228.7,5.2,-11.8,9,120,9.52,2.08,-13.30,0.000,4,0.220,0.033,2570,2203,3964,0,0,0,0,0,0
$GC,133,-0.72,-228.7,26.1,-43.1,15,142,0.00,2.15,0.00,0.000,6,0.000,0.033,2570,798,3966,0,0,0,0,0,0
$GC,461,-0.72,-228.7,120.5,-21.8,76,468,0.00,0.88,0.00,0.000,4,0.000,0.042,2570,193,3967,0,0,0,0,0,0
$GC,713,-0.72,-228.7,177.4,-21.1,122,721,0.00,0.75,0.00,0.000,6,0.000,0.021,2565,851,3969,0,0,0,0,0,0
$GC,1050,-0.72,-228.7,244.8,-19.4,183,1058,0.00,0.98,0.00,0.000,4,0.000,0.040,2565,187,3968,0,0,0,0,0,0
$GC,1306,-0.72,-228.7,295.9,-20.0,229,1312,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,844,3968,0,0,0,0,0,0
$GC,1638,-0.72,-228.7,353.2,-17.0,290,1646,0.10,0.00,0.00,0.000,6,0.186,0.000,2585,844,3968,0,0,0,0,0,0
$GC,1971,-0.72,-228.7,398.1,-12.7,351,1979,0.00,0.95,0.00,0.000,4,0.000,0.041,2585,193,3967,0,0,0,0,0,0
$GC,2031,-0.72,-228.7,405.9,-13.9,361,2037,0.00,0.75,0.00,0.000,6,0.000,0.021,2585,844,3967,0,0,0,0,0,0
$GC,2363,-0.72,-228.7,448.7,-12.8,422,2371,0.00,1.90,0.00,0.000,4,0.000,0.017,2576,2194,3965,0,0,0,0,0,0
$GC,2395,-0.72,-228.7,452.6,-11.6,427,2403,0.00,2.12,0.00,0.000,6,0.000,0.034,2577,755,3965,0,0,0,0,0,0
$GC,2729,-0.72,-228.7,496.2,-13.2,488,2737,0.00,2.05,0.00,0.000,4,0.000,0.018,2574,2192,3963,0,0,0,0,0,0
$GC,2770,-0.72,-228.7,501.3,-11.2,494,2777,0.00,2.10,0.00,0.000,6,0.000,0.034,2575,772,3962,0,0,0,0,0,0
$GC,3095,-0.72,-228.7,541.8,-11.5,525,3099,0.00,0.85,0.00,0.000,4,0.000,0.044,2575,187,3961,0,0,0,0,0,0
$GC,3157,-0.72,-228.7,549.4,-12.4,530,3163,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,834,3960,0,0,0,0,0,0
$GC,3482,-0.72,-228.7,586.2,-11.1,561,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,834,3958,0,0,0,0,0,0
$GC,3795,-0.72,-228.7,620.8,-11.1,582,3798,0.00,1.80,0.00,0.000,4,0.000,0.018,2574,2133,3956,0,0,0,0,0,0
$GC,3846,-0.72,-228.7,626.0,-8.9,584,3850,0.00,2.03,0.00,0.000,6,0.000,0.035,2574,775,3955,0,0,0,0,0,0
$GC,4176,-0.72,-228.7,661.6,-10.8,600,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,775,3953,0,0,0,0,0,0
$GC,4483,-0.72,-228.7,695.3,-10.9,615,4487,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2138,3951,0,0,0,0,0,0
$GC,4518,-0.72,-228.7,698.9,-9.7,616,4522,0.00,2.08,0.00,0.000,6,0.000,0.037,2574,767,3950,0,0,0,0,0,0
$GC,4840,-0.72,-228.7,733.4,-10.7,632,4844,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2130,3948,0,0,0,0,0,0
$GC,4886,-0.72,-228.7,738.0,-9.7,634,4890,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,783,3947,0,0,0,0,0,0
$GC,5221,-0.72,-228.7,772.6,-10.2,650,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,784,3944,0,0,0,0,0,0
$GC,5529,-0.72,-228.7,802.3,-9.5,665,5533,0.00,1.95,0.00,0.000,4,0.000,0.019,2574,2125,3942,0,0,0,0,0,0
$GC,5564,-0.72,-228.7,805.3,-8.5,666,5567,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,782,3942,0,0,0,0,0,0
$GC,5887,-0.72,-228.7,834.0,-9.0,682,5891,0.00,1.92,0.00,0.000,4,0.000,0.019,2575,2126,3939,0,0,0,0,0,0
$GC,5920,-0.72,-228.7,837.0,-7.7,683,5924,0.00,2.05,0.00,0.000,6,0.000,0.038,2574,799,3939,0,0,0,0,0,0
$GC,6244,-0.72,-228.7,864.4,-8.7,699,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,800,3936,0,0,0,0,0,0
$GC,6552,-0.72,-228.7,891.7,-9.0,714,6555,0.00,1.90,0.00,0.000,4,0.000,0.020,2574,2134,3935,0,0,0,0,0,0
$GC,6579,-0.72,-228.7,894.3,-7.7,715,6583,0.00,2.05,0.00,0.000,6,0.000,0.039,2574,784,3934,0,0,0,0,0,0
$GC,6903,-0.72,-228.7,922.8,-9.1,731,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,783,3932,0,0,0,0,0,0
$GC,7211,-0.72,-228.7,952.0,-9.2,746,7214,0.00,1.95,0.00,0.000,4,0.000,0.020,2572,2134,3930,0,0,0,0,0,0
$GC,7238,-0.72,-228.7,954.4,-8.7,747,7242,0.00,2.08,0.00,0.000,6,0.000,0.039,2574,783,3930,0,0,0,0,0,0
$GC,7567,-0.72,-228.7,982.8,-8.5,763,7571,0.00,1.92,0.00,0.000,4,0.000,0.020,2574,2129,3929,0,0,0,0,0,0
$GC,7595,-0.72,-228.7,985.3,-7.7,764,7599,0.00,2.03,0.00,0.000,6,0.000,0.040,2574,796,3929,0,0,0,0,0,0
$STATE,7673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7673,begin apogee
$GC,7681,-0.14,0.0,991.5,8.2,768,7867,0.57,0.00,180.70,1.398,4,0.112,0.000,2771,973,3029,0,0,0,0,0,0
$STATE,7867,end apogee,CONTROL_FINISHED_OK
$STATE,7868,begin climb
$GC,7872,0.72,228.7,999.3,0.0,776,8072,0.75,1.30,193.43,1.340,4,0.052,0.050,3057,196,2096,0,0,0,0,0,0
$GC,8240,0.72,228.7,944.1,21.4,793,8244,0.00,1.12,0.00,0.000,6,0.000,0.024,3058,983,2087,0,0,0,0,0,0
$GC,8568,0.72,228.7,881.8,18.9,809,8571,0.00,1.23,0.00,0.000,4,0.000,0.047,3063,190,2084,0,0,0,0,0,0
$GC,8774,0.72,228.7,839.5,20.3,818,8778,0.00,1.15,0.00,0.000,6,0.000,0.025,3063,1012,2083,0,0,0,0,0,0
$GC,9103,0.72,228.7,778.0,18.8,834,9107,0.00,2.00,0.00,0.000,4,0.000,0.023,3063,2381,2081,0,0,0,0,0,0
$GC,9205,0.72,228.7,759.3,17.8,838,9209,0.00,2.08,0.00,0.000,6,0.000,0.037,3070,1019,2080,0,0,0,0,0,0
$GC,9522,0.72,228.7,702.1,18.2,853,9525,0.00,2.03,0.00,0.000,4,0.000,0.024,3070,2391,2080,0,0,0,0,0,0
$GC,9595,0.72,228.7,689.5,17.7,856,9599,0.00,2.05,0.00,0.000,6,0.000,0.037,3079,1040,2080,0,0,0,0,0,0
$GC,9917,0.72,228.7,629.9,18.7,872,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1040,2079,0,0,0,0,0,0
$GC,10230,0.72,228.7,573.4,16.3,894,10234,0.00,1.95,0.00,0.000,4,0.000,0.024,3079,2394,2079,0,0,0,0,0,0
$GC,10384,0.72,228.7,548.6,15.4,907,10394,0.12,2.05,0.00,0.000,6,0.179,0.037,3057,1039,2078,0,0,0,0,0,0
$GC,10710,0.72,228.7,499.0,15.1,938,10718,0.00,1.27,0.00,0.000,4,0.000,0.047,3062,196,2078,0,0,0,0,0,0
$GC,10808,0.72,228.7,483.2,16.7,955,10815,0.00,1.17,0.00,0.000,6,0.000,0.025,3062,1048,2078,0,0,0,0,0,0
$GC,11147,0.72,228.7,430.6,14.9,1016,11157,0.00,1.95,0.00,0.000,4,0.000,0.024,3061,2381,2077,0,0,0,0,0,0
$GC,11238,0.72,228.7,418.1,13.3,1031,11244,0.00,2.00,0.00,0.000,6,0.000,0.037,3069,1049,2077,0,0,0,0,0,0
$GC,11577,0.72,228.7,370.8,13.8,1092,11586,0.00,1.95,0.00,0.000,4,0.000,0.022,3069,2381,2077,0,0,0,0,0,0
$GC,11679,0.72,228.7,357.7,13.2,1109,11686,0.00,2.00,0.00,0.000,6,0.000,0.036,3078,1062,2077,0,0,0,0,0,0
$GC,12021,0.72,228.7,308.7,13.3,1170,12029,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1061,2077,0,0,0,0,0,0
$GC,12365,0.72,228.7,266.4,11.8,1231,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1062,2078,0,0,0,0,0,0
$GC,12701,0.72,228.7,222.7,12.0,1292,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1062,2078,0,0,0,0,0,0
$GC,13047,0.72,235.4,182.4,10.8,1353,13054,0.00,0.00,4.57,0.564,6,0.000,0.000,3078,1062,2069,0,0,0,0,0,0
$GC,13390,0.74,249.4,145.1,10.5,1414,13413,0.00,1.95,13.27,0.698,4,0.000,0.020,3078,2396,2011,0,0,0,0,0,0
$GC,13474,0.76,262.3,135.7,10.6,1428,13490,0.00,2.03,11.62,0.672,6,0.000,0.034,3085,1070,1959,0,0,0,0,0,0
$GC,13816,0.80,294.1,98.1,10.0,1490,13847,0.00,1.38,26.58,0.681,4,0.000,0.044,3093,186,1828,0,0,0,0,0,0
$GC,13904,0.80,294.1,88.4,12.2,1504,13913,0.00,1.23,0.00,0.000,6,0.000,0.019,3093,1120,1826,0,0,0,0,0,0
$GC,14233,0.92,398.2,61.4,7.6,1565,14323,0.00,0.00,81.32,0.652,6,0.000,0.000,3093,1120,1404,0,0,0,0,0,0
$GC,14641,1.02,474.7,28.8,8.5,1637,14710,0.15,1.48,59.92,0.610,4,0.078,0.042,3175,185,1092,0,0,0,0,0,0
$GC,14804,1.02,474.7,5.2,17.6,1663,14813,0.00,1.20,0.00,0.000,6,0.000,0.018,3175,1128,1089,0,0,0,0,0,0
$STATE,14819,end climb,SURFACE_DEPTH_REACHED
$STATE,14819,begin surface coast
$FINISH,0.4,1.009488
$STATE,14838,end surface coast,CONTROL_FINISHED_OK
$STATE,14838,begin surface
$SM_CCo,14916,0.00,0.000,0,0,1087,476.37
$SM_GC,1.36,7.85,0.00,0.00,0.031,0.000,0.000,112,778,1087,-8.37,-0.34,476.37
$IRIDIUM_FIX,2223.01,12706.66,191010,121239
$TT8_MAMPS,0.028462
$HUMID,38.22
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.2,38.559
$10V_AH,10.4,35.230
$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,19.075,87.950,571.425,0.000,0.000,51.537,87.639,213.207,0.000,0.000,15.788,4042.392,6339.959,600.893,4022.981,499.785,0.000,2079.153,0.000,3688.422,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,52.020,1397.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1135.717,1479.272,2014.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,97060,1668
$CAP_FILE_SIZE,167306,0
$CFSIZE,260165632,155172864
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,199.8,1
$GPS,191010,162601,2227.441,12708.872,38,1.2,39,-3.2