version: 66.08
glider: 167
mission: 6
dive: 224
start: 10 22 110 4 6 40
data:
$ID,167
$MISSION,6
$DIVE,224
$N_DIVES,236
$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,-54405.051
$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,31
$R_STBD_OVSHOOT,95
$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
$GPS1,221010,034706,2206.109,12648.348,28,1.2,28,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.1
$GPS2,221010,040614,2206.245,12648.601,16,1.5,16,-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,226.2,116277,-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,14,begin dive
$GC,16,-0.72,-228.7,0.0,0.0,0,85,0.00,0.00,-66.78,0.000,2,0.000,0.000,112,785,3481,0,0,0,0,0,0
$GC,88,-0.72,-228.7,6.7,-13.8,9,113,9.43,0.90,-7.10,0.000,4,0.216,0.066,2582,172,3963,0,0,0,0,0,0
$GC,300,-0.72,-228.7,91.0,-30.2,47,307,0.00,0.80,0.00,0.000,6,0.000,0.019,2578,905,3964,0,0,0,0,0,0
$GC,629,-0.72,-228.7,175.1,-22.9,108,637,0.00,1.08,0.00,0.000,4,0.000,0.040,2578,176,3965,0,0,0,0,0,0
$GC,807,-0.72,-228.7,216.9,-20.5,139,813,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,854,3965,0,0,0,0,0,0
$GC,1146,-0.72,-228.7,278.3,-17.9,200,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,854,3966,0,0,0,0,0,0
$GC,1489,-0.72,-228.7,335.7,-15.5,261,1495,0.00,0.98,0.00,0.000,4,0.000,0.041,2574,189,3966,0,0,0,0,0,0
$GC,1553,-0.72,-228.7,346.2,-16.8,272,1561,0.00,0.73,0.00,0.000,6,0.000,0.021,2573,844,3966,0,0,0,0,0,0
$GC,1896,-0.72,-228.7,400.0,-15.0,333,1903,0.00,0.98,0.00,0.000,4,0.000,0.041,2573,179,3964,0,0,0,0,0,0
$GC,1957,-0.72,-228.7,408.8,-15.2,343,1964,0.00,0.73,0.00,0.000,6,0.000,0.021,2572,808,3964,0,0,0,0,0,0
$GC,2297,-0.72,-228.7,455.0,-12.5,404,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,809,3962,0,0,0,0,0,0
$GC,2644,-0.72,-228.7,497.4,-11.9,465,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,809,3959,0,0,0,0,0,0
$GC,2973,-0.72,-228.7,536.3,-12.1,497,2977,0.00,1.85,0.00,0.000,4,0.000,0.017,2564,2142,3956,0,0,0,0,0,0
$GC,3035,-0.72,-228.7,543.6,-10.3,502,3043,0.00,2.12,0.00,0.000,6,0.000,0.034,2563,724,3956,0,0,0,0,0,0
$GC,3362,-0.72,-228.7,585.8,-12.8,533,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,724,3954,0,0,0,0,0,0
$GC,3685,-0.72,-228.7,627.4,-12.9,554,3689,0.00,2.00,0.00,0.000,4,0.000,0.017,2561,2122,3951,0,0,0,0,0,0
$GC,3780,-0.72,-228.7,638.4,-10.3,558,3784,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,741,3950,0,0,0,0,0,0
$GC,4107,-0.72,-228.7,678.8,-12.0,574,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,740,3947,0,0,0,0,0,0
$GC,4418,-0.72,-228.7,715.6,-11.6,589,4422,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2124,3944,0,0,0,0,0,0
$GC,4468,-0.72,-228.7,721.0,-9.8,591,4472,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,755,3944,0,0,0,0,0,0
$GC,4797,-0.72,-228.7,757.4,-11.7,607,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,755,3941,0,0,0,0,0,0
$GC,5105,-0.72,-228.7,791.4,-10.6,622,5109,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2122,3938,0,0,0,0,0,0
$GC,5143,-0.72,-228.7,795.4,-9.6,623,5150,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,756,3938,0,0,0,0,0,0
$GC,5462,-0.72,-228.7,826.4,-9.8,639,5466,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2124,3935,0,0,0,0,0,0
$GC,5513,-0.72,-228.7,831.2,-8.3,641,5517,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,762,3935,0,0,0,0,0,0
$GC,5835,-0.72,-228.7,860.3,-8.8,657,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,762,3933,0,0,0,0,0,0
$GC,6146,-0.72,-228.7,886.6,-8.2,672,6150,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2126,3930,0,0,0,0,0,0
$GC,6174,-0.72,-228.7,888.8,-6.9,673,6178,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,770,3929,0,0,0,0,0,0
$GC,6497,-0.72,-228.7,915.1,-8.4,689,6501,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2119,3928,0,0,0,0,0,0
$GC,6536,-0.72,-228.7,918.3,-7.4,690,6544,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,776,3927,0,0,0,0,0,0
$GC,6852,-0.72,-228.7,945.7,-9.2,706,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,776,3925,0,0,0,0,0,0
$GC,7163,-0.72,-228.7,974.2,-9.7,721,7167,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2120,3923,0,0,0,0,0,0
$GC,7210,-0.72,-228.7,978.4,-8.4,723,7214,0.00,2.08,0.00,0.000,6,0.000,0.039,2561,765,3922,0,0,0,0,0,0
$STATE,7432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7432,begin apogee
$GC,7438,-0.14,0.0,1000.4,9.9,734,7622,0.62,0.00,179.25,1.406,4,0.115,0.000,2771,954,3029,0,0,0,0,0,0
$STATE,7623,end apogee,CONTROL_FINISHED_OK
$STATE,7623,begin climb
$GC,7626,0.72,228.7,1010.4,0.0,742,7828,0.75,1.25,193.43,1.349,4,0.050,0.049,3061,203,2095,0,0,0,0,0,0
$GC,7964,0.72,228.7,966.1,20.1,757,7967,0.00,1.12,0.00,0.000,6,0.000,0.024,3062,987,2086,0,0,0,0,0,0
$GC,8285,0.72,228.7,907.2,18.9,773,8289,0.00,1.23,0.00,0.000,4,0.000,0.046,3066,192,2083,0,0,0,0,0,0
$GC,8447,0.72,228.7,875.0,20.2,780,8450,0.00,1.15,0.00,0.000,6,0.000,0.025,3066,1013,2083,0,0,0,0,0,0
$GC,8780,0.72,228.7,808.9,19.6,796,8783,0.00,1.98,0.00,0.000,4,0.000,0.022,3066,2380,2081,0,0,0,0,0,0
$GC,8904,0.72,228.7,785.3,18.9,801,8909,0.00,2.08,0.00,0.000,6,0.000,0.035,3076,1021,2080,0,0,0,0,0,0
$GC,9221,0.72,228.7,722.9,19.9,816,9224,0.00,1.98,0.00,0.000,4,0.000,0.024,3075,2379,2080,0,0,0,0,0,0
$GC,9321,0.72,228.7,704.1,17.3,820,9325,0.00,2.08,0.00,0.000,6,0.000,0.036,3084,1023,2079,0,0,0,0,0,0
$GC,9646,0.72,228.7,643.7,18.7,836,9649,0.00,1.95,0.00,0.000,4,0.000,0.022,3084,2381,2079,0,0,0,0,0,0
$GC,9740,0.72,228.7,626.5,17.0,840,9745,0.15,2.05,0.00,0.000,6,0.176,0.036,3052,1038,2078,0,0,0,0,0,0
$GC,10064,0.72,228.7,578.2,15.2,862,10068,0.00,1.95,0.00,0.000,4,0.000,0.024,3052,2383,2078,0,0,0,0,0,0
$GC,10147,0.72,228.7,565.2,14.4,869,10154,0.00,2.03,0.00,0.000,6,0.000,0.036,3060,1054,2078,0,0,0,0,0,0
$GC,10473,0.72,228.7,515.1,15.1,900,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1053,2077,0,0,0,0,0,0
$GC,10801,0.72,228.7,465.0,16.2,950,10810,0.00,1.95,0.00,0.000,4,0.000,0.022,3060,2385,2076,0,0,0,0,0,0
$GC,10846,0.72,228.7,458.2,14.7,957,10852,0.00,2.03,0.00,0.000,6,0.000,0.037,3067,1053,2076,0,0,0,0,0,0
$GC,11185,0.72,228.7,404.9,15.0,1018,11194,0.00,1.95,0.00,0.000,4,0.000,0.022,3068,2384,2076,0,0,0,0,0,0
$GC,11245,0.72,228.7,395.6,14.9,1028,11253,0.00,2.03,0.00,0.000,6,0.000,0.036,3076,1068,2076,0,0,0,0,0,0
$GC,11586,0.72,228.7,345.1,15.5,1089,11593,0.00,1.33,0.00,0.000,4,0.000,0.046,3083,193,2077,0,0,0,0,0,0
$GC,11646,0.72,228.7,336.5,14.1,1099,11652,0.00,1.20,0.00,0.000,6,0.000,0.024,3083,1071,2077,0,0,0,0,0,0
$GC,11987,0.72,228.7,290.9,13.6,1160,11994,0.00,1.90,0.00,0.000,4,0.000,0.021,3083,2393,2077,0,0,0,0,0,0
$GC,12033,0.72,228.7,285.2,13.2,1167,12040,0.12,2.00,0.00,0.000,6,0.169,0.034,3058,1066,2076,0,0,0,0,0,0
$GC,12378,0.73,239.8,246.2,10.7,1228,12392,0.00,0.00,7.57,0.734,6,0.000,0.000,3059,1066,2050,0,0,0,0,0,0
$GC,12726,0.79,285.4,210.0,9.6,1290,12770,0.00,1.95,37.58,0.798,4,0.000,0.017,3059,2404,1864,0,0,0,0,0,0
$GC,12850,0.79,287.6,196.7,11.0,1310,12859,0.00,2.08,0.00,0.000,6,0.000,0.035,3063,1067,1860,0,0,0,0,0,0
$GC,13197,0.84,325.5,159.6,9.9,1371,13238,0.00,1.35,32.10,0.738,4,0.000,0.042,3069,191,1702,0,0,0,0,0,0
$GC,13346,0.95,412.2,145.3,8.3,1396,13423,0.12,1.17,69.93,0.721,6,0.049,0.020,3137,1072,1347,0,0,0,0,0,0
$GC,13745,0.95,412.2,82.6,16.3,1466,13753,0.00,1.90,0.00,0.000,4,0.000,0.018,3137,2390,1340,0,0,0,0,0,0
$GC,13800,0.95,412.2,75.1,14.5,1475,13808,0.00,2.08,0.00,0.000,6,0.000,0.033,3143,1037,1339,0,0,0,0,0,0
$GC,14128,0.95,412.2,32.0,12.1,1536,14136,0.00,1.95,0.00,0.000,4,0.000,0.018,3143,2397,1339,0,0,0,0,0,0
$GC,14212,0.95,412.2,21.8,12.1,1551,14220,0.00,2.08,0.00,0.000,6,0.000,0.034,3148,1033,1339,0,0,0,0,0,0
$STATE,14365,end climb,SURFACE_DEPTH_REACHED
$STATE,14365,begin surface coast
$FINISH,0.7,1.021593
$STATE,14387,end surface coast,CONTROL_FINISHED_OK
$STATE,14388,begin surface
$SM_CCo,14466,0.00,0.000,0,0,1338,414.80
$SM_GC,1.29,7.80,0.00,0.00,0.041,0.000,0.000,118,777,1338,-8.37,-0.37,414.80
$IRIDIUM_FIX,2157.39,12648.47,221010,030303
$TT8_MAMPS,0.028462
$HUMID,40.23
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.2,41.527
$10V_AH,10.3,37.895
$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,19.000,89.375,519.850,0.000,0.000,113.901,118.949,463.430,0.000,0.000,17.519,3858.340,6453.307,563.680,4194.928,525.677,0.000,1971.973,0.000,3477.781,0.000,0.544,0.000
$DEVICE_MAMPS,216.495,65.790,1406.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.378,1393.732,1811.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,93653,1583
$CAP_FILE_SIZE,166200,0
$CFSIZE,260165632,153821184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,339.7,1
$GPS,221010,080901,2205.116,12646.659,40,1.0,40,-3.1