version: 66.08
glider: 167
mission: 6
dive: 222
start: 10 21 110 19 18 8
data:
$ID,167
$MISSION,6
$DIVE,222
$N_DIVES,230
$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,-54402.441
$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,37
$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
$GPS1,211010,190401,2208.966,12651.669,42,1.6,43,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.4
$GPS2,211010,191744,2209.206,12651.640,13,1.4,13,-3.1
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,231.4,123862,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-228.7,0.0,0.0,0,105,0.00,0.00,-86.47,0.000,2,0.000,0.000,112,810,3436,0,0,0,0,0,0
$GC,109,-0.72,-228.7,6.3,-12.6,12,134,9.52,0.93,-7.68,0.000,4,0.220,0.066,2583,185,3963,0,0,0,0,0,0
$GC,370,-0.72,-228.7,100.7,-26.8,60,378,0.00,0.77,0.00,0.000,6,0.000,0.021,2580,843,3965,0,0,0,0,0,0
$GC,700,-0.72,-228.7,176.1,-19.7,121,708,0.00,0.95,0.00,0.000,4,0.000,0.041,2580,193,3966,0,0,0,0,0,0
$GC,953,-0.72,-228.7,225.3,-18.7,167,960,0.00,0.75,0.00,0.000,6,0.000,0.021,2575,856,3966,0,0,0,0,0,0
$GC,1284,-0.72,-228.7,283.7,-17.0,228,1292,0.00,0.98,0.00,0.000,4,0.000,0.040,2575,191,3966,0,0,0,0,0,0
$GC,1381,-0.72,-228.7,300.5,-17.3,245,1388,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,868,3966,0,0,0,0,0,0
$GC,1712,-0.72,-228.7,353.8,-15.2,306,1720,0.00,1.00,0.00,0.000,4,0.000,0.041,2574,186,3966,0,0,0,0,0,0
$GC,1761,-0.72,-228.7,361.4,-16.5,314,1769,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,853,3965,0,0,0,0,0,0
$GC,2094,-0.72,-228.7,409.8,-14.3,375,2100,0.00,0.98,0.00,0.000,4,0.000,0.040,2574,189,3964,0,0,0,0,0,0
$GC,2209,-0.72,-228.7,427.1,-15.1,396,2219,0.00,0.73,0.00,0.000,6,0.000,0.021,2574,825,3963,0,0,0,0,0,0
$GC,2547,-0.72,-228.7,471.9,-12.5,457,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,826,3961,0,0,0,0,0,0
$GC,2877,-0.72,-228.7,515.4,-13.1,507,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,826,3959,0,0,0,0,0,0
$GC,3197,-0.72,-228.7,553.4,-11.4,537,3201,0.00,1.83,0.00,0.000,4,0.000,0.018,2574,2113,3956,0,0,0,0,0,0
$GC,3267,-0.72,-228.7,560.2,-9.0,543,3271,0.00,2.00,0.00,0.000,6,0.000,0.034,2574,763,3956,0,0,0,0,0,0
$GC,3598,-0.72,-228.7,595.7,-10.4,574,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,762,3953,0,0,0,0,0,0
$GC,3910,-0.72,-228.7,628.9,-10.5,591,3914,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2120,3950,0,0,0,0,0,0
$GC,4010,-0.72,-228.7,637.7,-7.9,595,4014,0.00,2.00,0.00,0.000,6,0.000,0.035,2574,794,3949,0,0,0,0,0,0
$GC,4334,-0.72,-228.7,670.6,-10.9,611,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,794,3946,0,0,0,0,0,0
$GC,4642,-0.72,-228.7,703.0,-10.1,626,4646,0.00,1.88,0.00,0.000,4,0.000,0.018,2573,2115,3944,0,0,0,0,0,0
$GC,4675,-0.72,-228.7,706.4,-9.3,627,4679,0.00,2.00,0.00,0.000,6,0.000,0.036,2574,794,3944,0,0,0,0,0,0
$GC,4999,-0.72,-228.7,737.2,-9.4,643,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,794,3941,0,0,0,0,0,0
$GC,5307,-0.72,-228.7,765.6,-8.9,658,5311,0.00,1.88,0.00,0.000,4,0.000,0.018,2574,2113,3938,0,0,0,0,0,0
$GC,5357,-0.72,-228.7,769.9,-7.9,660,5361,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,798,3938,0,0,0,0,0,0
$GC,5687,-0.72,-228.7,799.8,-9.7,676,5690,0.00,1.88,0.00,0.000,4,0.000,0.018,2574,2110,3935,0,0,0,0,0,0
$GC,5712,-0.72,-228.7,802.2,-9.2,677,5715,0.00,2.00,0.00,0.000,6,0.000,0.037,2574,798,3935,0,0,0,0,0,0
$GC,6047,-0.72,-228.7,834.0,-9.8,693,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,798,3933,0,0,0,0,0,0
$GC,6354,-0.72,-228.7,863.3,-9.2,708,6358,0.00,1.88,0.00,0.000,4,0.000,0.019,2573,2120,3930,0,0,0,0,0,0
$GC,6393,-0.72,-228.7,866.7,-9.0,709,6401,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,794,3930,0,0,0,0,0,0
$GC,6711,-0.72,-228.7,894.7,-8.9,725,6715,0.00,1.92,0.00,0.000,4,0.000,0.019,2574,2114,3928,0,0,0,0,0,0
$GC,6744,-0.72,-228.7,897.8,-8.6,726,6747,0.00,2.00,0.00,0.000,6,0.000,0.038,2574,805,3928,0,0,0,0,0,0
$GC,7068,-0.72,-228.7,923.8,-8.0,742,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,806,3925,0,0,0,0,0,0
$GC,7377,-0.72,-228.7,949.2,-8.3,757,7380,0.00,1.88,0.00,0.000,4,0.000,0.019,2574,2109,3924,0,0,0,0,0,0
$GC,7404,-0.72,-228.7,951.6,-8.2,758,7408,0.00,2.03,0.00,0.000,6,0.000,0.039,2573,805,3923,0,0,0,0,0,0
$GC,7734,-0.72,-228.7,977.9,-8.0,774,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,805,3922,0,0,0,0,0,0
$STATE,8018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8018,begin apogee
$GC,8024,-0.14,0.0,1000.4,7.7,788,8208,0.57,0.00,179.40,1.411,4,0.112,0.000,2770,950,3029,0,0,0,0,0,0
$STATE,8209,end apogee,CONTROL_FINISHED_OK
$STATE,8209,begin climb
$GC,8212,0.72,228.7,1008.2,0.0,796,8415,0.80,2.22,194.65,1.353,4,0.050,0.021,3060,2377,2094,0,0,0,0,0,0
$GC,8605,0.72,228.7,955.5,17.7,814,8612,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,1002,2086,0,0,0,0,0,0
$GC,8925,0.72,228.7,894.7,19.1,830,8929,0.00,1.25,0.00,0.000,4,0.000,0.047,3075,187,2085,0,0,0,0,0,0
$GC,9111,0.72,228.7,856.2,22.1,838,9115,0.00,1.15,0.00,0.000,6,0.000,0.024,3075,1017,2084,0,0,0,0,0,0
$GC,9440,0.72,228.7,791.8,19.9,854,9444,0.00,1.95,0.00,0.000,4,0.000,0.022,3075,2373,2083,0,0,0,0,0,0
$GC,9593,0.72,228.7,763.1,18.2,860,9599,0.00,2.05,0.00,0.000,6,0.000,0.037,3081,1035,2082,0,0,0,0,0,0
$GC,9910,0.72,228.7,703.4,18.8,876,9914,0.00,1.95,0.00,0.000,4,0.000,0.024,3081,2381,2081,0,0,0,0,0,0
$GC,9979,0.72,228.7,691.0,17.5,879,9983,0.12,2.05,0.00,0.000,6,0.181,0.036,3058,1040,2081,0,0,0,0,0,0
$GC,10307,0.72,228.7,638.5,15.7,895,10311,0.00,1.92,0.00,0.000,4,0.000,0.024,3058,2374,2080,0,0,0,0,0,0
$GC,10368,0.72,228.7,628.5,15.1,897,10376,0.00,2.03,0.00,0.000,6,0.000,0.037,3064,1049,2080,0,0,0,0,0,0
$GC,10688,0.72,228.7,578.6,16.7,919,10692,0.00,1.92,0.00,0.000,4,0.000,0.022,3064,2386,2080,0,0,0,0,0,0
$GC,10825,0.72,228.7,557.7,14.6,931,10828,0.00,2.03,0.00,0.000,6,0.000,0.037,3073,1059,2079,0,0,0,0,0,0
$GC,11158,0.72,228.7,506.8,16.0,962,11162,0.00,1.92,0.00,0.000,4,0.000,0.023,3073,2383,2079,0,0,0,0,0,0
$GC,11206,0.72,228.7,498.9,15.9,966,11214,0.00,2.03,0.00,0.000,6,0.000,0.037,3079,1067,2078,0,0,0,0,0,0
$GC,11541,0.72,228.7,445.0,14.3,1027,11548,0.00,1.90,0.00,0.000,4,0.000,0.023,3079,2380,2078,0,0,0,0,0,0
$GC,11591,0.72,228.7,436.9,14.2,1036,11600,0.10,2.00,0.00,0.000,6,0.157,0.037,3056,1077,2079,0,0,0,0,0,0
$GC,11926,0.72,228.7,393.7,12.6,1097,11933,0.00,1.35,0.00,0.000,4,0.000,0.045,3062,187,2079,0,0,0,0,0,0
$GC,12029,0.72,228.7,380.6,13.3,1115,12036,0.00,1.23,0.00,0.000,6,0.000,0.023,3062,1080,2078,0,0,0,0,0,0
$GC,12361,0.72,228.7,335.6,14.2,1176,12369,0.00,1.88,0.00,0.000,4,0.000,0.021,3062,2378,2078,0,0,0,0,0,0
$GC,12428,0.72,228.7,327.1,13.1,1187,12435,0.00,1.98,0.00,0.000,6,0.000,0.036,3068,1075,2078,0,0,0,0,0,0
$GC,12758,0.72,228.7,283.9,13.5,1248,12766,0.00,1.33,0.00,0.000,4,0.000,0.045,3075,196,2078,0,0,0,0,0,0
$GC,12848,0.72,228.7,271.8,13.8,1264,12856,0.00,1.23,0.00,0.000,6,0.000,0.023,3075,1102,2079,0,0,0,0,0,0
$GC,13181,0.72,228.7,227.9,11.6,1325,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1103,2079,0,0,0,0,0,0
$GC,13512,0.73,235.9,188.5,10.9,1386,13521,0.00,1.88,4.95,0.597,4,0.000,0.019,3075,2388,2066,0,0,0,0,0,0
$GC,13615,0.74,247.0,178.0,10.7,1403,13635,0.00,2.00,10.62,0.716,6,0.000,0.034,3080,1062,2021,0,0,0,0,0,0
$GC,13965,0.81,298.4,141.0,9.4,1466,14016,0.00,1.98,41.38,0.734,4,0.000,0.018,3080,2394,1811,0,0,0,0,0,0
$GC,14040,0.84,328.5,133.4,10.1,1477,14071,0.00,2.08,25.20,0.703,6,0.000,0.034,3087,1060,1688,0,0,0,0,0,0
$GC,14392,0.89,369.2,95.0,9.8,1541,14430,0.00,2.00,32.30,0.672,4,0.000,0.018,3086,2398,1522,0,0,0,0,0,0
$GC,14456,0.91,379.0,88.4,10.8,1550,14472,0.00,2.08,9.10,0.594,6,0.000,0.034,3089,1066,1484,0,0,0,0,0,0
$GC,14792,1.01,460.4,56.8,8.5,1612,14869,0.15,1.38,64.72,0.639,4,0.080,0.043,3168,188,1150,0,0,0,0,0,0
$GC,14926,1.01,460.4,37.9,16.5,1632,14936,0.00,1.17,0.00,0.000,6,0.000,0.019,3169,1097,1148,0,0,0,0,0,0
$STATE,15141,end climb,SURFACE_DEPTH_REACHED
$STATE,15141,begin surface coast
$FINISH,0.5,1.021651
$STATE,15164,end surface coast,CONTROL_FINISHED_OK
$STATE,15164,begin surface
$SM_CCo,15243,0.00,0.000,0,0,1143,462.64
$SM_GC,1.37,7.88,0.00,0.00,0.037,0.000,0.000,129,784,1143,-8.37,-0.17,462.64
$IRIDIUM_FIX,2159.71,12653.12,211010,191918
$TT8_MAMPS,0.028462
$HUMID,39.17
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.20
$XPDR_PINGS,1
$24V_AH,23.1,41.127
$10V_AH,10.2,37.539
$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,19.150,94.350,562.325,0.000,0.000,78.261,120.164,281.887,0.250,0.000,14.551,4071.257,6681.460,610.144,4157.400,524.984,0.000,2106.274,0.000,3691.057,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,71.145,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.438,1475.864,1946.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,96784,1676
$CAP_FILE_SIZE,173054,0
$CFSIZE,260165632,153993216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,328.1,1
$GPS,211010,233326,2207.771,12649.825,36,2.0,38,-3.1