version: 66.08
glider: 167
mission: 6
dive: 228
start: 10 22 110 21 13 1
data:
$ID,167
$MISSION,6
$DIVE,228
$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,-54410.094
$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,104
$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
$GPS1,221010,210237,2201.348,12644.234,36,1.4,37,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.9
$GPS2,221010,211238,2201.363,12644.242,12,1.9,12,-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,232.2,104567,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,91,0.00,0.00,-69.62,0.000,2,0.000,0.000,113,769,3302,0,0,0,0,0,0
$GC,93,-0.72,-228.7,5.8,-12.0,10,118,9.45,0.88,-10.27,0.000,4,0.216,0.076,2577,192,3965,0,0,0,0,0,0
$GC,358,-0.72,-228.7,106.8,-27.0,58,366,0.00,0.77,0.00,0.000,6,0.000,0.021,2573,853,3967,0,0,0,0,0,0
$GC,688,-0.72,-228.7,181.0,-22.4,119,695,0.00,1.83,0.00,0.000,4,0.000,0.016,2564,2188,3968,0,0,0,0,0,0
$GC,878,-0.72,-228.7,213.0,-15.6,153,885,0.00,2.12,0.00,0.000,6,0.000,0.033,2565,763,3968,0,0,0,0,0,0
$GC,1210,-0.72,-228.7,274.9,-18.9,214,1218,0.00,0.82,0.00,0.000,4,0.000,0.042,2564,190,3968,0,0,0,0,0,0
$GC,1318,-0.72,-228.7,294.4,-18.1,233,1325,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,839,3969,0,0,0,0,0,0
$GC,1652,-0.72,-228.7,349.2,-15.8,294,1659,0.00,0.95,0.00,0.000,4,0.000,0.041,2561,190,3969,0,0,0,0,0,0
$GC,1706,-0.72,-228.7,357.4,-14.5,303,1713,0.00,0.60,0.00,0.000,6,0.000,0.023,2560,729,3969,0,0,0,0,0,0
$GC,2037,-0.72,-228.7,406.3,-14.4,364,2046,0.10,1.95,0.00,0.000,4,0.184,0.018,2581,2102,3968,0,0,0,0,0,0
$GC,2091,-0.72,-228.7,412.6,-9.9,373,2098,0.00,2.00,0.00,0.000,6,0.000,0.033,2581,756,3967,0,0,0,0,0,0
$GC,2423,-0.72,-228.7,453.5,-12.2,434,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,756,3965,0,0,0,0,0,0
$GC,2757,-0.72,-228.7,493.9,-12.0,495,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,756,3963,0,0,0,0,0,0
$GC,3090,-0.72,-228.7,530.9,-11.1,531,3093,0.00,1.90,0.00,0.000,4,0.000,0.017,2577,2103,3960,0,0,0,0,0,0
$GC,3148,-0.72,-228.7,536.6,-9.0,536,3152,0.00,2.00,0.00,0.000,6,0.000,0.035,2577,762,3959,0,0,0,0,0,0
$GC,3480,-0.72,-228.7,573.2,-11.5,567,3484,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2105,3957,0,0,0,0,0,0
$GC,3519,-0.72,-228.7,577.9,-10.5,570,3525,0.00,2.03,0.00,0.000,6,0.000,0.035,2575,761,3957,0,0,0,0,0,0
$GC,3852,-0.72,-228.7,618.2,-12.2,595,3856,0.00,1.90,0.00,0.000,4,0.000,0.018,2575,2101,3954,0,0,0,0,0,0
$GC,3903,-0.72,-228.7,623.9,-10.1,597,3907,0.00,1.98,0.00,0.000,6,0.000,0.035,2575,778,3953,0,0,0,0,0,0
$GC,4231,-0.72,-228.7,659.2,-10.1,613,4235,0.00,1.90,0.00,0.000,4,0.000,0.018,2575,2094,3950,0,0,0,0,0,0
$GC,4301,-0.72,-228.7,665.5,-8.4,616,4305,0.00,2.00,0.00,0.000,6,0.000,0.036,2575,773,3950,0,0,0,0,0,0
$GC,4635,-0.72,-228.7,700.7,-10.7,632,4639,0.00,1.92,0.00,0.000,4,0.000,0.018,2575,2102,3947,0,0,0,0,0,0
$GC,4697,-0.72,-228.7,706.8,-8.8,634,4703,0.00,2.00,0.00,0.000,6,0.000,0.037,2575,785,3947,0,0,0,0,0,0
$GC,5015,-0.72,-228.7,739.2,-10.1,650,5018,0.00,1.85,0.00,0.000,4,0.000,0.018,2574,2096,3944,0,0,0,0,0,0
$GC,5105,-0.72,-228.7,747.5,-8.5,654,5109,0.00,1.98,0.00,0.000,6,0.000,0.037,2575,796,3943,0,0,0,0,0,0
$GC,5440,-0.72,-228.7,777.9,-9.0,670,5444,0.00,1.88,0.00,0.000,4,0.000,0.019,2575,2107,3941,0,0,0,0,0,0
$GC,5496,-0.72,-228.7,782.8,-7.5,672,5500,0.00,2.00,0.00,0.000,6,0.000,0.037,2575,810,3940,0,0,0,0,0,0
$GC,5820,-0.72,-228.7,811.8,-9.3,688,5824,0.00,1.83,0.00,0.000,4,0.000,0.019,2575,2098,3938,0,0,0,0,0,0
$GC,5904,-0.72,-228.7,819.4,-8.5,691,5912,0.00,1.98,0.00,0.000,6,0.000,0.037,2575,803,3937,0,0,0,0,0,0
$GC,6221,-0.72,-228.7,849.3,-9.6,707,6224,0.00,1.85,0.00,0.000,4,0.000,0.019,2575,2094,3934,0,0,0,0,0,0
$GC,6284,-0.72,-228.7,854.8,-8.1,709,6290,0.00,1.95,0.00,0.000,6,0.000,0.037,2575,817,3934,0,0,0,0,0,0
$GC,6600,-0.72,-228.7,883.4,-8.8,725,6604,0.00,1.85,0.00,0.000,4,0.000,0.019,2575,2090,3932,0,0,0,0,0,0
$GC,6633,-0.72,-228.7,886.2,-7.9,726,6636,0.00,1.95,0.00,0.000,6,0.000,0.038,2575,816,3932,0,0,0,0,0,0
$GC,6956,-0.72,-228.7,914.1,-9.1,742,6960,0.00,1.85,0.00,0.000,4,0.000,0.020,2575,2103,3929,0,0,0,0,0,0
$GC,7011,-0.72,-228.7,919.2,-9.2,744,7015,0.00,1.95,0.00,0.000,6,0.000,0.037,2575,828,3929,0,0,0,0,0,0
$GC,7336,-0.72,-228.7,949.2,-9.6,760,7339,0.00,1.80,0.00,0.000,4,0.000,0.020,2575,2096,3928,0,0,0,0,0,0
$GC,7382,-0.72,-228.7,953.5,-8.9,762,7386,0.00,1.92,0.00,0.000,6,0.000,0.038,2575,838,3927,0,0,0,0,0,0
$GC,7715,-0.72,-228.7,984.4,-9.2,778,7719,0.00,1.80,0.00,0.000,4,0.000,0.020,2574,2092,3925,0,0,0,0,0,0
$GC,7750,-0.72,-228.7,987.5,-9.2,779,7754,0.00,1.95,0.00,0.000,6,0.000,0.039,2574,839,3925,0,0,0,0,0,0
$STATE,7904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7904,begin apogee
$GC,7909,-0.14,0.0,1001.4,9.0,787,8095,0.57,0.00,180.43,1.409,4,0.112,0.000,2770,838,3029,0,0,0,0,0,0
$STATE,8095,end apogee,CONTROL_FINISHED_OK
$STATE,8095,begin climb
$GC,8098,0.72,228.7,1010.8,0.0,795,8301,0.80,2.30,194.57,1.351,4,0.049,0.020,3061,2313,2096,0,0,0,0,0,0
$GC,8538,0.72,228.7,953.5,17.1,815,8545,0.00,2.08,0.00,0.000,6,0.000,0.037,3069,998,2087,0,0,0,0,0,0
$GC,8854,0.72,228.7,894.7,18.6,831,8858,0.00,1.23,0.00,0.000,4,0.000,0.047,3076,197,2085,0,0,0,0,0,0
$GC,9084,0.72,228.7,849.5,19.5,841,9087,0.00,1.00,0.00,0.000,6,0.000,0.028,3076,908,2085,0,0,0,0,0,0
$GC,9411,0.72,228.7,789.5,18.1,857,9415,0.00,2.00,0.00,0.000,4,0.000,0.023,3076,2291,2083,0,0,0,0,0,0
$GC,9534,0.72,228.7,768.2,18.1,862,9539,0.05,1.98,0.00,0.000,6,0.164,0.037,3059,1026,2082,0,0,0,0,0,0
$GC,9858,0.72,228.7,715.3,16.5,878,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1025,2082,0,0,0,0,0,0
$GC,10166,0.72,228.7,666.1,15.8,893,10169,0.00,1.88,0.00,0.000,4,0.000,0.022,3059,2297,2082,0,0,0,0,0,0
$GC,10218,0.72,228.7,658.2,15.2,895,10222,0.00,1.95,0.00,0.000,6,0.000,0.038,3064,1023,2081,0,0,0,0,0,0
$GC,10546,0.72,228.7,605.1,16.4,911,10549,0.00,1.83,0.00,0.000,4,0.000,0.021,3064,2303,2081,0,0,0,0,0,0
$GC,10696,0.72,228.7,582.5,15.8,922,10700,0.00,1.95,0.00,0.000,6,0.000,0.037,3068,1041,2080,0,0,0,0,0,0
$GC,11027,0.72,228.7,529.7,15.4,953,11031,0.00,1.83,0.00,0.000,4,0.000,0.023,3069,2308,2081,0,0,0,0,0,0
$GC,11074,0.72,228.7,522.8,16.0,957,11078,0.00,1.92,0.00,0.000,6,0.000,0.037,3077,1045,2080,0,0,0,0,0,0
$GC,11399,0.72,228.7,470.5,16.9,1004,11407,0.00,1.85,0.00,0.000,4,0.000,0.024,3077,2301,2080,0,0,0,0,0,0
$GC,11475,0.72,228.7,458.7,15.6,1017,11484,0.08,1.90,0.00,0.000,6,0.157,0.037,3060,1068,2080,0,0,0,0,0,0
$GC,11814,0.72,228.7,409.5,14.4,1078,11821,0.00,1.33,0.00,0.000,4,0.000,0.047,3065,193,2080,0,0,0,0,0,0
$GC,11871,0.72,228.7,400.6,15.0,1088,11879,0.00,1.08,0.00,0.000,6,0.000,0.025,3065,983,2080,0,0,0,0,0,0
$GC,12206,0.72,228.7,355.1,13.7,1149,12214,0.00,2.03,0.00,0.000,4,0.000,0.023,3065,2382,2079,0,0,0,0,0,0
$GC,12384,0.72,228.7,332.9,11.9,1181,12391,0.00,1.95,0.00,0.000,6,0.000,0.035,3073,1095,2080,0,0,0,0,0,0
$GC,12716,0.72,228.7,290.0,13.0,1242,12724,0.00,1.88,0.00,0.000,4,0.000,0.021,3073,2389,2080,0,0,0,0,0,0
$GC,12780,0.72,228.7,281.8,12.2,1253,12788,0.00,1.95,0.00,0.000,6,0.000,0.035,3080,1099,2079,0,0,0,0,0,0
$GC,13116,0.72,228.7,243.2,12.3,1314,13124,0.00,1.38,0.00,0.000,4,0.000,0.044,3087,190,2080,0,0,0,0,0,0
$GC,13180,0.72,228.7,234.9,12.8,1325,13188,0.10,1.27,0.00,0.000,6,0.149,0.021,3054,1126,2080,0,0,0,0,0,0
$GC,13515,0.77,270.4,200.6,9.7,1386,13550,0.00,0.00,31.90,0.785,6,0.000,0.000,3055,1126,1925,0,0,0,0,0,0
$GC,13880,0.85,334.8,163.6,9.0,1451,13935,0.12,0.00,51.60,0.744,6,0.083,0.000,3114,1127,1664,0,0,0,0,0,0
$GC,14257,0.85,334.8,113.7,13.1,1519,14265,0.00,1.42,0.00,0.000,4,0.000,0.041,3122,191,1658,0,0,0,0,0,0
$GC,14478,0.85,334.8,83.5,12.1,1560,14486,0.00,1.25,0.00,0.000,6,0.000,0.019,3122,1161,1658,0,0,0,0,0,0
$GC,14806,0.96,425.9,52.7,8.1,1621,14883,0.00,1.55,70.93,0.640,4,0.000,0.041,3128,187,1291,0,0,0,0,0,0
$GC,14997,0.96,425.9,32.4,13.6,1652,15005,0.00,1.23,0.00,0.000,6,0.000,0.018,3128,1128,1288,0,0,0,0,0,0
$STATE,15259,end climb,SURFACE_DEPTH_REACHED
$STATE,15259,begin surface coast
$FINISH,0.5,1.021645
$STATE,15281,end surface coast,CONTROL_FINISHED_OK
$STATE,15281,begin surface
$SM_CCo,15359,0.00,0.000,0,0,1284,427.80
$SM_GC,1.32,7.72,0.00,0.00,0.036,0.000,0.000,118,780,1284,-8.35,-0.28,427.80
$IRIDIUM_FIX,2152.74,12645.22,221010,212144
$TT8_MAMPS,0.028462
$HUMID,39.01
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.60
$XPDR_PINGS,0
$24V_AH,23.1,42.308
$10V_AH,10.3,38.616
$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,19.000,107.050,529.425,0.000,0.000,57.956,62.728,218.603,0.000,0.000,12.997,4172.582,6514.020,580.633,4153.836,515.536,0.000,2113.051,0.000,3828.403,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,75.735,1409.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.920,1505.953,1991.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,99990,1705
$CAP_FILE_SIZE,176032,0
$CFSIZE,260165632,153427968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033, 19.5,1
$GPS,231010,013007,2200.307,12642.560,29,1.0,30,-3.1