version: 66.08
glider: 167
mission: 6
dive: 225
start: 10 22 110 8 19 31
data:
$ID,167
$MISSION,6
$DIVE,225
$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,-54406.309
$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,49
$R_STBD_OVSHOOT,86
$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
$GPS1,221010,080901,2205.116,12646.659,40,1.0,40,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.3
$GPS2,221010,081908,2205.136,12646.740,11,1.4,11,-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,212.4,112564,-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,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,-65.25,0.000,2,0.000,0.000,112,772,3294,0,0,0,0,0,0
$GC,88,-0.72,-228.7,6.0,-13.3,9,114,9.45,0.88,-10.43,0.000,4,0.216,0.076,2577,197,3964,0,0,0,0,0,0
$GC,213,-0.72,-228.7,57.7,-36.3,30,221,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,894,3967,0,0,0,0,0,0
$GC,540,-0.72,-228.7,151.5,-26.4,91,547,0.00,1.02,0.00,0.000,4,0.000,0.040,2574,202,3968,0,0,0,0,0,0
$GC,584,-0.72,-228.7,162.2,-25.0,98,591,0.00,0.77,0.00,0.000,6,0.000,0.020,2569,892,3968,0,0,0,0,0,0
$GC,920,-0.72,-228.7,233.1,-19.8,159,928,0.00,1.02,0.00,0.000,4,0.000,0.040,2569,193,3968,0,0,0,0,0,0
$GC,1088,-0.72,-228.7,267.0,-19.1,190,1096,0.00,0.77,0.00,0.000,6,0.000,0.020,2564,879,3969,0,0,0,0,0,0
$GC,1429,-0.72,-228.7,325.5,-17.1,251,1436,0.00,1.00,0.00,0.000,4,0.000,0.040,2564,196,3969,0,0,0,0,0,0
$GC,1539,-0.72,-228.7,344.8,-17.9,271,1546,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,865,3969,0,0,0,0,0,0
$GC,1872,-0.72,-228.7,397.5,-15.6,332,1879,0.00,0.98,0.00,0.000,4,0.000,0.041,2561,202,3969,0,0,0,0,0,0
$GC,2001,-0.72,-228.7,417.6,-15.5,355,2009,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,849,3968,0,0,0,0,0,0
$GC,2335,-0.72,-228.7,465.0,-13.7,416,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,848,3967,0,0,0,0,0,0
$GC,2667,-0.72,-228.7,508.6,-12.8,471,2671,0.00,0.95,0.00,0.000,4,0.000,0.042,2560,203,3964,0,0,0,0,0,0
$GC,2724,-0.72,-228.7,516.3,-13.8,476,2728,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,824,3964,0,0,0,0,0,0
$GC,3055,-0.72,-228.7,557.3,-12.2,507,3059,0.00,1.83,0.00,0.000,4,0.000,0.018,2560,2126,3961,0,0,0,0,0,0
$GC,3078,-0.72,-228.7,560.0,-11.9,509,3082,0.00,2.05,0.00,0.000,6,0.000,0.034,2560,759,3960,0,0,0,0,0,0
$GC,3420,-0.72,-228.7,603.1,-13.5,540,3423,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2123,3958,0,0,0,0,0,0
$GC,3467,-0.72,-228.7,608.7,-11.3,542,3471,0.00,2.05,0.00,0.000,6,0.000,0.035,2560,757,3958,0,0,0,0,0,0
$GC,3799,-0.72,-228.7,651.8,-13.0,558,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,756,3954,0,0,0,0,0,0
$GC,4110,-0.72,-228.7,689.4,-12.1,573,4114,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2126,3951,0,0,0,0,0,0
$GC,4156,-0.72,-228.7,694.7,-10.5,575,4160,0.00,2.08,0.00,0.000,6,0.000,0.036,2560,758,3950,0,0,0,0,0,0
$GC,4484,-0.72,-228.7,733.1,-11.7,591,4488,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2126,3948,0,0,0,0,0,0
$GC,4519,-0.72,-228.7,736.7,-9.8,592,4522,0.00,2.05,0.00,0.000,6,0.000,0.036,2560,775,3948,0,0,0,0,0,0
$GC,4842,-0.72,-228.7,773.3,-11.5,608,4846,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2124,3945,0,0,0,0,0,0
$GC,4889,-0.72,-228.7,778.1,-9.3,610,4892,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,775,3945,0,0,0,0,0,0
$GC,5224,-0.72,-228.7,810.0,-9.2,626,5227,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2122,3942,0,0,0,0,0,0
$GC,5263,-0.72,-228.7,813.3,-7.7,627,5270,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,775,3942,0,0,0,0,0,0
$GC,5581,-0.72,-228.7,841.1,-8.8,643,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,775,3939,0,0,0,0,0,0
$GC,5888,-0.72,-228.7,870.7,-10.1,658,5890,0.10,0.00,0.00,0.000,6,0.168,0.000,2586,775,3937,0,0,0,0,0,0
$GC,6198,-0.72,-228.7,896.6,-8.5,673,6201,0.00,1.92,0.00,0.000,4,0.000,0.018,2586,2121,3935,0,0,0,0,0,0
$GC,6269,-0.72,-228.7,901.8,-7.5,676,6273,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,780,3934,0,0,0,0,0,0
$GC,6603,-0.72,-228.7,928.9,-8.2,692,6606,0.00,1.92,0.00,0.000,4,0.000,0.019,2586,2122,3933,0,0,0,0,0,0
$GC,6660,-0.72,-228.7,933.4,-8.4,694,6664,0.00,2.05,0.00,0.000,6,0.000,0.038,2586,781,3932,0,0,0,0,0,0
$GC,6982,-0.72,-228.7,959.9,-8.3,710,6985,0.00,1.92,0.00,0.000,4,0.000,0.019,2586,2120,3930,0,0,0,0,0,0
$GC,7060,-0.72,-228.7,965.9,-6.9,713,7064,0.00,2.05,0.00,0.000,6,0.000,0.038,2587,800,3929,0,0,0,0,0,0
$GC,7383,-0.72,-228.7,990.9,-7.7,729,7387,0.00,1.88,0.00,0.000,4,0.000,0.019,2586,2120,3928,0,0,0,0,0,0
$GC,7433,-0.72,-228.7,994.8,-7.3,731,7437,0.00,2.03,0.00,0.000,6,0.000,0.038,2587,801,3928,0,0,0,0,0,0
$STATE,7511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7511,begin apogee
$GC,7518,-0.14,0.0,1000.3,7.1,735,7706,0.52,0.00,181.38,1.408,4,0.108,0.000,2768,948,3029,0,0,0,0,0,0
$STATE,7707,end apogee,CONTROL_FINISHED_OK
$STATE,7707,begin climb
$GC,7709,0.72,228.7,1008.5,0.0,743,7912,0.80,2.15,194.85,1.349,4,0.047,0.020,3063,2338,2095,0,0,0,0,0,0
$GC,8168,0.72,228.7,943.0,18.1,764,8175,0.00,2.10,0.00,0.000,6,0.000,0.037,3071,1002,2087,0,0,0,0,0,0
$GC,8484,0.72,228.7,881.2,19.3,780,8488,0.00,1.25,0.00,0.000,4,0.000,0.046,3078,184,2086,0,0,0,0,0,0
$GC,8696,0.72,228.7,836.7,20.9,789,8700,0.00,1.05,0.00,0.000,6,0.000,0.024,3078,944,2084,0,0,0,0,0,0
$GC,9018,0.72,228.7,773.3,19.2,805,9022,0.00,2.03,0.00,0.000,4,0.000,0.023,3078,2325,2083,0,0,0,0,0,0
$GC,9172,0.72,228.7,745.4,18.2,811,9180,0.12,2.00,0.00,0.000,6,0.180,0.036,3056,1022,2082,0,0,0,0,0,0
$GC,9488,0.72,228.7,692.3,16.1,827,9492,0.00,1.90,0.00,0.000,4,0.000,0.023,3056,2328,2082,0,0,0,0,0,0
$GC,9573,0.72,228.7,679.0,15.8,830,9580,0.00,1.98,0.00,0.000,6,0.000,0.037,3063,1037,2081,0,0,0,0,0,0
$GC,9889,0.72,228.7,627.6,16.2,846,9893,0.00,1.88,0.00,0.000,4,0.000,0.023,3063,2327,2081,0,0,0,0,0,0
$GC,9941,0.72,228.7,619.7,14.5,848,9945,0.00,1.98,0.00,0.000,6,0.000,0.037,3069,1053,2081,0,0,0,0,0,0
$GC,10265,0.72,228.7,568.1,16.6,872,10268,0.00,1.83,0.00,0.000,4,0.000,0.023,3068,2330,2080,0,0,0,0,0,0
$GC,10394,0.72,228.7,548.2,14.8,883,10401,0.00,1.92,0.00,0.000,6,0.000,0.037,3077,1069,2081,0,0,0,0,0,0
$GC,10721,0.72,228.7,500.4,15.3,914,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1069,2080,0,0,0,0,0,0
$GC,11052,0.72,228.7,449.6,14.6,973,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1069,2080,0,0,0,0,0,0
$GC,11392,0.72,228.7,398.0,15.5,1034,11400,0.00,1.83,0.00,0.000,4,0.000,0.021,3077,2323,2080,0,0,0,0,0,0
$GC,11491,0.72,228.7,384.3,14.5,1051,11498,0.00,1.90,0.00,0.000,6,0.000,0.036,3082,1072,2079,0,0,0,0,0,0
$GC,11835,0.72,228.7,334.0,13.6,1112,11844,0.00,1.33,0.00,0.000,4,0.000,0.045,3090,192,2080,0,0,0,0,0,0
$GC,11903,0.72,228.7,323.9,15.6,1123,11911,0.10,1.12,0.00,0.000,6,0.158,0.024,3058,1013,2079,0,0,0,0,0,0
$GC,12246,0.72,228.7,280.6,11.7,1184,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1013,2079,0,0,0,0,0,0
$GC,12591,0.72,228.7,241.2,11.9,1245,12597,0.00,1.95,0.00,0.000,4,0.000,0.021,3058,2393,2080,0,0,0,0,0,0
$GC,12672,0.73,239.2,231.6,10.8,1259,12687,0.00,2.00,7.60,0.725,6,0.000,0.035,3063,1070,2052,0,0,0,0,0,0
$GC,13027,0.78,273.4,192.5,10.0,1321,13061,0.00,1.98,28.40,0.780,4,0.000,0.019,3063,2394,1913,0,0,0,0,0,0
$GC,13094,0.80,290.9,184.7,10.5,1331,13115,0.00,2.03,15.65,0.736,6,0.000,0.034,3067,1067,1841,0,0,0,0,0,0
$GC,13450,0.88,357.8,148.1,8.9,1394,13512,0.10,1.35,53.22,0.734,4,0.101,0.041,3121,196,1569,0,0,0,0,0,0
$GC,13579,0.88,357.8,130.1,16.6,1414,13587,0.00,1.23,0.00,0.000,6,0.000,0.020,3121,1114,1565,0,0,0,0,0,0
$GC,13907,0.88,357.8,86.2,12.7,1475,13915,0.00,1.40,0.00,0.000,4,0.000,0.041,3128,192,1562,0,0,0,0,0,0
$GC,13997,0.88,357.8,74.4,12.7,1491,14005,0.00,1.20,0.00,0.000,6,0.000,0.021,3128,1111,1562,0,0,0,0,0,0
$GC,14327,0.91,381.6,41.2,10.3,1552,14351,0.00,1.88,19.58,0.612,4,0.000,0.019,3128,2399,1472,0,0,0,0,0,0
$GC,14460,0.99,449.2,28.5,8.9,1575,14521,0.00,2.05,54.00,0.615,6,0.000,0.034,3132,1061,1196,0,0,0,0,0,0
$STATE,14675,end climb,SURFACE_DEPTH_REACHED
$STATE,14675,begin surface coast
$FINISH,0.5,1.007417
$STATE,14698,end surface coast,CONTROL_FINISHED_OK
$STATE,14698,begin surface
$SM_CCo,14776,0.00,0.000,0,0,1189,451.35
$SM_GC,1.44,7.80,0.00,0.00,0.037,0.000,0.000,127,788,1189,-8.37,-0.03,451.35
$IRIDIUM_FIX,2155.06,12646.61,221010,080803
$TT8_MAMPS,0.029211
$HUMID,39.25
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.60
$XPDR_PINGS,1
$24V_AH,23.1,41.725
$10V_AH,10.2,38.072
$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,19.000,95.875,554.675,0.000,0.000,60.900,82.507,206.497,0.250,0.000,12.059,3949.865,6363.199,590.916,3952.636,507.770,0.000,2056.556,0.000,3622.517,0.000,0.544,0.000
$DEVICE_MAMPS,215.730,76.500,1408.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.946,1424.491,1882.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,93773,1616
$CAP_FILE_SIZE,168400,0
$CFSIZE,260165632,153726976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,359.9,1
$GPS,221010,122706,2204.010,12645.611,41,1.2,41,-3.1