version: 66.08
glider: 167
mission: 6
dive: 210
start: 10 19 110 16 37 1
data:
$ID,167
$MISSION,6
$DIVE,210
$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,-54387.328
$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,43
$R_STBD_OVSHOOT,90
$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
$GPS1,191010,162601,2227.441,12708.872,38,1.2,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.2
$GPS2,191010,163638,2227.388,12708.862,12,1.2,12,-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,164.3,165917,-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,-228.7,0.0,0.0,0,97,0.00,0.00,-76.80,0.000,2,0.000,0.000,110,778,3376,0,0,0,0,0,0
$GC,100,-0.72,-228.7,6.5,-14.9,11,124,9.55,0.00,-8.75,0.000,6,0.221,0.000,2579,779,3965,0,0,0,0,0,0
$GC,442,-0.72,-228.7,117.0,-21.2,74,449,0.00,0.85,0.00,0.000,4,0.000,0.041,2579,192,3967,0,0,0,0,0,0
$GC,692,-0.72,-228.7,173.1,-22.3,120,700,0.00,0.77,0.00,0.000,6,0.000,0.021,2575,870,3968,0,0,0,0,0,0
$GC,1027,-0.72,-228.7,240.4,-18.6,181,1034,0.00,1.00,0.00,0.000,4,0.000,0.040,2575,189,3968,0,0,0,0,0,0
$GC,1108,-0.72,-228.7,256.4,-19.2,195,1115,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,885,3968,0,0,0,0,0,0
$GC,1439,-0.72,-228.7,313.7,-16.5,256,1447,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,202,3968,0,0,0,0,0,0
$GC,1579,-0.72,-228.7,336.8,-16.4,281,1587,0.00,0.73,0.00,0.000,6,0.000,0.021,2570,846,3968,0,0,0,0,0,0
$GC,1912,-0.72,-228.7,387.9,-15.8,342,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,845,3967,0,0,0,0,0,0
$GC,2246,-0.72,-228.7,438.7,-14.1,403,2253,0.00,0.95,0.00,0.000,4,0.000,0.041,2571,196,3966,0,0,0,0,0,0
$GC,2397,-0.72,-228.7,460.2,-14.3,430,2405,0.00,0.73,0.00,0.000,6,0.000,0.021,2570,834,3965,0,0,0,0,0,0
$GC,2730,-0.72,-228.7,506.3,-14.3,487,2733,0.00,1.80,0.00,0.000,4,0.000,0.017,2570,2127,3962,0,0,0,0,0,0
$GC,2765,-0.72,-228.7,511.0,-11.7,490,2769,0.00,2.05,0.00,0.000,6,0.000,0.034,2570,752,3963,0,0,0,0,0,0
$GC,3098,-0.72,-228.7,554.0,-12.7,521,3101,0.00,1.90,0.00,0.000,4,0.000,0.017,2571,2117,3960,0,0,0,0,0,0
$GC,3132,-0.72,-228.7,558.2,-11.3,524,3136,0.00,2.00,0.00,0.000,6,0.000,0.034,2570,765,3960,0,0,0,0,0,0
$GC,3463,-0.72,-228.7,598.7,-12.7,555,3467,0.00,1.90,0.00,0.000,4,0.000,0.017,2570,2113,3957,0,0,0,0,0,0
$GC,3537,-0.72,-228.7,607.0,-10.8,559,3541,0.00,2.03,0.00,0.000,6,0.000,0.035,2570,783,3957,0,0,0,0,0,0
$GC,3864,-0.72,-228.7,644.9,-11.2,575,3868,0.00,1.85,0.00,0.000,4,0.000,0.018,2570,2113,3954,0,0,0,0,0,0
$GC,3912,-0.72,-228.7,649.2,-8.5,577,3916,0.00,1.98,0.00,0.000,6,0.000,0.036,2570,785,3954,0,0,0,0,0,0
$GC,4245,-0.72,-228.7,683.4,-10.0,593,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,785,3951,0,0,0,0,0,0
$GC,4555,-0.72,-228.7,715.9,-10.6,608,4559,0.00,1.88,0.00,0.000,4,0.000,0.018,2570,2119,3949,0,0,0,0,0,0
$GC,4595,-0.72,-228.7,719.9,-9.5,609,4603,0.00,2.00,0.00,0.000,6,0.000,0.036,2570,798,3948,0,0,0,0,0,0
$GC,4912,-0.72,-228.7,753.9,-10.6,625,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,798,3946,0,0,0,0,0,0
$GC,5221,-0.72,-228.7,785.4,-9.8,640,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,798,3943,0,0,0,0,0,0
$GC,5532,-0.72,-228.7,814.9,-9.6,655,5536,0.00,1.90,0.00,0.000,4,0.000,0.019,2570,2111,3940,0,0,0,0,0,0
$GC,5593,-0.72,-228.7,820.4,-8.5,657,5601,0.00,2.00,0.00,0.000,6,0.000,0.038,2570,794,3940,0,0,0,0,0,0
$GC,5911,-0.72,-228.7,852.4,-10.7,673,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,794,3937,0,0,0,0,0,0
$GC,6218,-0.72,-228.7,886.9,-11.2,688,6221,0.00,1.85,0.00,0.000,4,0.000,0.019,2570,2105,3935,0,0,0,0,0,0
$GC,6273,-0.72,-228.7,892.9,-10.5,690,6277,0.00,1.98,0.00,0.000,6,0.000,0.038,2570,799,3935,0,0,0,0,0,0
$GC,6599,-0.72,-228.7,927.1,-10.4,706,6603,0.00,1.85,0.00,0.000,4,0.000,0.019,2570,2102,3932,0,0,0,0,0,0
$GC,6638,-0.72,-228.7,931.4,-9.2,707,6645,0.00,2.00,0.00,0.000,6,0.000,0.039,2570,797,3932,0,0,0,0,0,0
$GC,6955,-0.72,-228.7,961.1,-9.4,723,6958,0.00,1.88,0.00,0.000,4,0.000,0.020,2570,2113,3930,0,0,0,0,0,0
$GC,6985,-0.72,-228.7,963.5,-8.1,724,6989,0.00,1.98,0.00,0.000,6,0.000,0.039,2570,808,3930,0,0,0,0,0,0
$STATE,7310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7311,begin apogee
$GC,7317,-0.14,0.0,991.1,8.3,740,7503,0.60,0.00,180.60,1.392,4,0.112,0.000,2773,952,3028,0,0,0,0,0,0
$STATE,7504,end apogee,CONTROL_FINISHED_OK
$STATE,7504,begin climb
$GC,7506,0.72,228.7,998.2,0.0,748,7708,0.73,1.25,193.00,1.334,4,0.047,0.050,3062,200,2096,0,0,0,0,0,0
$GC,7929,0.72,228.7,931.2,19.8,768,7933,0.00,1.10,0.00,0.000,6,0.000,0.024,3062,978,2087,0,0,0,0,0,0
$GC,8262,0.72,228.7,865.9,19.5,784,8266,0.00,1.20,0.00,0.000,4,0.000,0.046,3067,196,2084,0,0,0,0,0,0
$GC,8435,0.72,228.7,830.6,20.1,791,8442,0.00,1.15,0.00,0.000,6,0.000,0.025,3067,1012,2083,0,0,0,0,0,0
$GC,8751,0.72,228.7,772.9,18.0,807,8755,0.00,2.00,0.00,0.000,4,0.000,0.024,3067,2385,2081,0,0,0,0,0,0
$GC,8881,0.72,228.7,750.3,16.9,812,8888,0.00,2.10,0.00,0.000,6,0.000,0.037,3076,1024,2080,0,0,0,0,0,0
$GC,9197,0.72,228.7,694.0,18.5,828,9201,0.00,2.00,0.00,0.000,4,0.000,0.022,3076,2390,2080,0,0,0,0,0,0
$GC,9292,0.72,228.7,676.5,18.4,832,9296,0.12,2.05,0.00,0.000,6,0.183,0.037,3054,1034,2079,0,0,0,0,0,0
$GC,9623,0.72,228.7,622.4,16.1,848,9627,0.00,1.95,0.00,0.000,4,0.000,0.023,3054,2386,2079,0,0,0,0,0,0
$GC,9661,0.72,228.7,615.3,16.7,849,9669,0.00,2.03,0.00,0.000,6,0.000,0.037,3062,1039,2079,0,0,0,0,0,0
$GC,9989,0.72,228.7,563.2,16.9,875,9992,0.00,1.95,0.00,0.000,4,0.000,0.024,3062,2396,2079,0,0,0,0,0,0
$GC,10117,0.72,228.7,541.1,16.7,886,10124,0.00,2.03,0.00,0.000,6,0.000,0.037,3069,1052,2078,0,0,0,0,0,0
$GC,10447,0.72,228.7,484.7,17.0,925,10455,0.00,1.95,0.00,0.000,4,0.000,0.023,3069,2399,2078,0,0,0,0,0,0
$GC,10509,0.72,228.7,475.2,14.5,936,10516,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1069,2078,0,0,0,0,0,0
$GC,10841,0.72,228.7,421.7,15.1,997,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1068,2077,0,0,0,0,0,0
$GC,11169,0.72,228.7,373.7,15.5,1058,11177,0.00,1.92,0.00,0.000,4,0.000,0.022,3078,2388,2077,0,0,0,0,0,0
$GC,11225,0.72,228.7,366.4,13.6,1067,11232,0.12,2.00,0.00,0.000,6,0.174,0.037,3055,1053,2077,0,0,0,0,0,0
$GC,11560,0.72,228.7,324.0,12.5,1128,11569,0.00,1.95,0.00,0.000,4,0.000,0.021,3056,2395,2077,0,0,0,0,0,0
$GC,11679,0.72,228.7,308.9,12.4,1149,11686,0.00,2.00,0.00,0.000,6,0.000,0.036,3061,1059,2077,0,0,0,0,0,0
$GC,12015,0.72,228.7,266.2,11.3,1210,12023,0.00,1.30,0.00,0.000,4,0.000,0.045,3067,194,2077,0,0,0,0,0,0
$GC,12112,0.72,228.7,254.4,13.2,1227,12119,0.00,1.20,0.00,0.000,6,0.000,0.022,3067,1092,2077,0,0,0,0,0,0
$GC,12448,0.75,252.4,216.0,10.2,1288,12471,0.00,1.92,17.60,0.777,4,0.000,0.021,3067,2400,1999,0,0,0,0,0,0
$GC,12519,0.76,265.5,208.1,10.6,1299,12540,0.00,2.03,11.82,0.734,6,0.000,0.034,3076,1064,1946,0,0,0,0,0,0
$GC,12865,0.76,265.5,164.6,11.9,1362,12873,0.00,1.92,0.00,0.000,4,0.000,0.018,3075,2396,1944,0,0,0,0,0,0
$GC,12902,0.77,271.2,160.1,10.8,1368,12917,0.00,2.03,6.40,0.620,6,0.000,0.034,3083,1073,1922,0,0,0,0,0,0
$GC,13239,0.77,271.2,121.2,12.4,1430,13247,0.00,1.33,0.00,0.000,4,0.000,0.043,3090,188,1921,0,0,0,0,0,0
$GC,13351,0.77,271.2,107.1,13.9,1450,13359,0.00,1.23,0.00,0.000,6,0.000,0.019,3090,1137,1921,0,0,0,0,0,0
$GC,13681,0.96,426.7,77.8,6.0,1511,13811,0.12,1.83,121.10,0.666,4,0.093,0.017,3150,2399,1289,0,0,0,0,0,0
$GC,13835,0.96,426.7,61.7,11.6,1532,13843,0.00,2.08,0.00,0.000,6,0.000,0.034,3158,1076,1286,0,0,0,0,0,0
$GC,14163,0.96,426.7,16.2,12.4,1593,14172,0.00,1.33,0.00,0.000,4,0.000,0.043,3163,193,1283,0,0,0,0,0,0
$GC,14197,0.96,426.7,11.3,15.1,1598,14205,0.08,1.20,0.00,0.000,6,0.141,0.018,3137,1135,1283,0,0,0,0,0,0
$STATE,14248,end climb,SURFACE_DEPTH_REACHED
$STATE,14248,begin surface coast
$FINISH,0.8,1.021598
$STATE,14271,end surface coast,CONTROL_FINISHED_OK
$STATE,14272,begin surface
$SM_CCo,14350,0.00,0.000,0,0,1279,429.27
$SM_GC,1.41,7.78,0.00,0.00,0.039,0.000,0.000,131,780,1279,-8.35,-0.28,429.27
$IRIDIUM_FIX,2218.34,12705.25,191010,161604
$TT8_MAMPS,0.028462
$HUMID,39.52
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.80
$XPDR_PINGS,0
$24V_AH,23.2,38.751
$10V_AH,10.3,35.408
$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,19.100,94.250,530.525,0.000,0.000,69.226,101.620,207.703,0.000,0.000,12.973,3909.261,6025.577,593.476,3949.689,487.461,0.000,2037.057,0.000,3585.771,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,91.800,1391.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.076,1429.863,1925.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93454,1611
$CAP_FILE_SIZE,163988,0
$CFSIZE,260165632,155086848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,273.2,1
$GPS,191010,203730,2225.312,12709.459,37,1.0,43,-3.2