version: 66.08
glider: 167
mission: 6
dive: 215
start: 10 20 110 13 34 49
data:
$ID,167
$MISSION,6
$DIVE,215
$N_DIVES,225
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$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,-54393.625
$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,106
$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
$GPS1,201010,132400,2219.112,12703.087,38,1.0,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.1
$GPS2,201010,133426,2219.103,12703.055,15,1.1,15,-3.2
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2130.000,12530.000
$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,247.7,184338,-15.8,-11.111
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.72,-228.7,0.0,0.0,0,88,0.00,0.00,-65.62,0.000,2,0.000,0.000,113,772,3425,0,0,0,0,0,0
$GC,90,-0.72,-228.7,6.8,-14.7,9,116,9.57,0.85,-8.00,0.000,4,0.222,0.070,2582,193,3962,0,0,0,0,0,0
$GC,339,-0.72,-228.7,96.9,-25.2,54,347,0.00,0.75,0.00,0.000,6,0.000,0.021,2579,850,3965,0,0,0,0,0,0
$GC,666,-0.72,-228.7,166.6,-19.5,115,672,0.00,0.95,0.00,0.000,4,0.000,0.040,2579,202,3966,0,0,0,0,0,0
$GC,756,-0.72,-228.7,185.4,-20.4,131,763,0.00,0.73,0.00,0.000,6,0.000,0.021,2574,844,3966,0,0,0,0,0,0
$GC,1088,-0.72,-228.7,246.5,-18.5,192,1096,0.00,0.95,0.00,0.000,4,0.000,0.041,2574,194,3966,0,0,0,0,0,0
$GC,1217,-0.72,-228.7,270.3,-18.7,215,1223,0.00,0.70,0.00,0.000,6,0.000,0.021,2573,824,3967,0,0,0,0,0,0
$GC,1552,-0.72,-228.7,328.0,-16.7,276,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,824,3967,0,0,0,0,0,0
$GC,1887,-0.72,-228.7,381.6,-15.1,337,1894,0.00,0.93,0.00,0.000,4,0.000,0.041,2574,193,3966,0,0,0,0,0,0
$GC,2076,-0.72,-228.7,410.6,-14.1,371,2082,0.00,0.60,0.00,0.000,6,0.000,0.023,2571,728,3966,0,0,0,0,0,0
$GC,2408,-0.72,-228.7,458.9,-14.5,432,2416,0.00,1.95,0.00,0.000,4,0.000,0.017,2570,2108,3964,0,0,0,0,0,0
$GC,2451,-0.72,-228.7,464.6,-11.9,439,2458,0.00,2.00,0.00,0.000,6,0.000,0.034,2570,764,3963,0,0,0,0,0,0
$GC,2784,-0.72,-228.7,508.4,-12.3,494,2788,0.00,1.88,0.00,0.000,4,0.000,0.016,2565,2119,3962,0,0,0,0,0,0
$GC,2831,-0.72,-228.7,513.6,-10.7,498,2835,0.00,2.00,0.00,0.000,6,0.000,0.034,2565,776,3961,0,0,0,0,0,0
$GC,3162,-0.72,-228.7,556.6,-12.8,529,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,776,3959,0,0,0,0,0,0
$GC,3484,-0.72,-228.7,598.1,-12.7,559,3488,0.00,1.85,0.00,0.000,4,0.000,0.017,2565,2108,3956,0,0,0,0,0,0
$GC,3545,-0.72,-228.7,605.6,-10.3,562,3552,0.00,2.00,0.00,0.000,6,0.000,0.035,2565,775,3956,0,0,0,0,0,0
$GC,3862,-0.72,-228.7,643.3,-12.0,578,3865,0.00,0.85,0.00,0.000,4,0.000,0.045,2565,193,3954,0,0,0,0,0,0
$GC,3909,-0.72,-228.7,649.2,-12.2,580,3913,0.00,0.62,0.00,0.000,6,0.000,0.024,2561,710,3953,0,0,0,0,0,0
$GC,4242,-0.72,-228.7,689.6,-11.6,596,4246,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2109,3951,0,0,0,0,0,0
$GC,4302,-0.72,-228.7,695.8,-9.9,598,4309,0.00,2.03,0.00,0.000,6,0.000,0.036,2561,768,3950,0,0,0,0,0,0
$GC,4620,-0.72,-228.7,730.9,-11.4,614,4624,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2106,3948,0,0,0,0,0,0
$GC,4648,-0.72,-228.7,734.2,-10.3,615,4652,0.00,2.00,0.00,0.000,6,0.000,0.037,2561,785,3948,0,0,0,0,0,0
$GC,4977,-0.72,-228.7,770.4,-11.0,631,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,785,3945,0,0,0,0,0,0
$GC,5286,-0.72,-228.7,803.8,-10.7,646,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,785,3942,0,0,0,0,0,0
$GC,5594,-0.72,-228.7,835.2,-9.9,661,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,785,3940,0,0,0,0,0,0
$GC,5905,-0.72,-228.7,864.7,-9.5,676,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,785,3938,0,0,0,0,0,0
$GC,6213,-0.72,-228.7,893.8,-9.4,691,6217,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2110,3936,0,0,0,0,0,0
$GC,6259,-0.72,-228.7,897.9,-8.6,693,6263,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,784,3935,0,0,0,0,0,0
$GC,6594,-0.72,-228.7,929.4,-9.3,709,6598,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2091,3933,0,0,0,0,0,0
$GC,6640,-0.72,-228.7,933.8,-9.2,711,6644,0.00,2.00,0.00,0.000,6,0.000,0.039,2561,778,3933,0,0,0,0,0,0
$GC,6975,-0.72,-228.7,965.7,-9.6,727,6978,0.00,1.88,0.00,0.000,4,0.000,0.019,2562,2099,3930,0,0,0,0,0,0
$GC,7013,-0.72,-228.7,969.6,-8.7,728,7020,0.00,2.00,0.00,0.000,6,0.000,0.038,2562,791,3930,0,0,0,0,0,0
$STATE,7329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7329,begin apogee
$GC,7335,-0.14,0.0,1000.6,9.9,744,7521,0.62,0.00,180.30,1.409,4,0.116,0.000,2772,935,3029,0,0,0,0,0,0
$STATE,7522,end apogee,CONTROL_FINISHED_OK
$STATE,7522,begin climb
$GC,7524,0.72,228.7,1010.3,0.0,752,7725,0.77,1.23,193.57,1.350,4,0.048,0.049,3072,200,2096,0,0,0,0,0,0
$GC,7916,0.72,228.7,950.2,21.1,770,7920,0.00,1.02,0.00,0.000,6,0.000,0.024,3073,923,2087,0,0,0,0,0,0
$GC,8246,0.72,228.7,885.3,19.6,786,8249,0.00,1.12,0.00,0.000,4,0.000,0.045,3078,190,2084,0,0,0,0,0,0
$GC,8360,0.72,228.7,861.6,21.3,791,8363,0.00,1.05,0.00,0.000,6,0.000,0.025,3078,942,2084,0,0,0,0,0,0
$GC,8693,0.72,228.7,798.3,18.0,807,8696,0.00,1.95,0.00,0.000,4,0.000,0.024,3079,2296,2082,0,0,0,0,0,0
$GC,8858,0.72,228.7,767.0,18.5,814,8862,0.12,1.92,0.00,0.000,6,0.186,0.036,3056,1037,2081,0,0,0,0,0,0
$GC,9185,0.72,228.7,710.7,16.1,830,9189,0.00,1.85,0.00,0.000,4,0.000,0.024,3056,2307,2080,0,0,0,0,0,0
$GC,9285,0.72,228.7,694.3,16.1,834,9289,0.00,1.95,0.00,0.000,6,0.000,0.037,3062,1048,2079,0,0,0,0,0,0
$GC,9611,0.72,228.7,640.6,16.9,850,9615,0.00,1.83,0.00,0.000,4,0.000,0.021,3062,2318,2080,0,0,0,0,0,0
$GC,9649,0.72,228.7,633.1,17.1,851,9656,0.00,1.98,0.00,0.000,6,0.000,0.036,3070,1036,2079,0,0,0,0,0,0
$GC,9970,0.72,228.7,578.6,17.9,872,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1036,2079,0,0,0,0,0,0
$GC,10290,0.72,228.7,524.1,16.1,902,10293,0.00,1.80,0.00,0.000,4,0.000,0.023,3070,2300,2078,0,0,0,0,0,0
$GC,10450,0.72,228.7,499.3,15.9,916,10458,0.00,1.92,0.00,0.000,6,0.000,0.037,3078,1048,2078,0,0,0,0,0,0
$GC,10787,0.72,228.7,447.3,15.9,977,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1048,2077,0,0,0,0,0,0
$GC,11120,0.72,228.7,393.1,17.1,1038,11128,0.00,1.83,0.00,0.000,4,0.000,0.021,3078,2303,2077,0,0,0,0,0,0
$GC,11248,0.72,228.7,372.6,14.8,1061,11256,0.12,1.88,0.00,0.000,6,0.176,0.037,3055,1051,2077,0,0,0,0,0,0
$GC,11585,0.72,228.7,328.5,12.7,1122,11595,0.00,1.30,0.00,0.000,4,0.000,0.045,3060,187,2077,0,0,0,0,0,0
$GC,11664,0.72,228.7,317.7,13.7,1135,11671,0.00,1.08,0.00,0.000,6,0.000,0.022,3060,998,2077,0,0,0,0,0,0
$GC,11996,0.72,228.7,273.8,12.6,1196,12004,0.00,1.98,0.00,0.000,4,0.000,0.021,3060,2362,2077,0,0,0,0,0,0
$GC,12093,0.74,241.5,262.2,10.7,1213,12108,0.00,2.00,8.85,0.768,6,0.000,0.036,3068,1041,2044,0,0,0,0,0,0
$GC,12436,0.74,241.5,219.6,13.1,1275,12442,0.00,1.27,0.00,0.000,4,0.000,0.044,3075,190,2044,0,0,0,0,0,0
$GC,12472,0.74,241.5,215.2,12.0,1281,12480,0.00,1.15,0.00,0.000,6,0.000,0.022,3075,1058,2044,0,0,0,0,0,0
$GC,12805,0.74,241.5,175.1,11.9,1342,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1059,2044,0,0,0,0,0,0
$GC,13139,0.77,266.9,140.6,10.3,1403,13169,0.00,1.33,22.23,0.723,4,0.000,0.041,3081,191,1938,0,0,0,0,0,0
$GC,13410,0.81,301.8,109.1,10.0,1452,13449,0.00,1.15,28.55,0.695,6,0.000,0.020,3081,1080,1796,0,0,0,0,0,0
$GC,13769,0.92,389.8,75.8,8.2,1517,13844,0.10,1.42,69.18,0.668,4,0.105,0.043,3135,188,1438,0,0,0,0,0,0
$GC,13922,0.92,389.8,56.7,13.6,1541,13931,0.00,1.23,0.00,0.000,6,0.000,0.018,3134,1121,1435,0,0,0,0,0,0
$GC,14250,0.98,441.5,19.0,9.4,1602,14295,0.00,1.48,40.47,0.607,4,0.000,0.042,3140,187,1229,0,0,0,0,0,0
$GC,14385,0.98,441.5,3.9,12.2,1624,14393,0.00,1.20,0.00,0.000,6,0.000,0.018,3140,1134,1226,0,0,0,0,0,0
$STATE,14400,end climb,SURFACE_DEPTH_REACHED
$STATE,14400,begin surface coast
$FINISH,0.3,0.999665
$STATE,14425,end surface coast,CONTROL_FINISHED_OK
$STATE,14425,begin surface
$SM_CCo,14503,0.00,0.000,0,0,1222,443.26
$SM_GC,1.41,7.78,0.00,0.00,0.034,0.000,0.000,108,783,1222,-8.37,-0.20,443.26
$IRIDIUM_FIX,2211.35,12702.44,201010,131358
$TT8_MAMPS,0.028462
$HUMID,38.54
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.1,39.724
$10V_AH,10.3,36.291
$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,19.100,79.725,543.150,0.000,0.000,59.340,80.788,231.469,0.000,0.000,15.901,3959.641,6116.651,572.852,3959.164,499.470,0.000,2013.602,0.000,3622.631,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,70.380,1409.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1109.888,1448.875,1963.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334112
$DATA_FILE_SIZE,93428,1630
$CAP_FILE_SIZE,163329,0
$CFSIZE,260165632,154636288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,207.9,1
$GPS,201010,173737,2218.010,12700.777,29,1.3,30,-3.1