version: 66.08
glider: 167
mission: 6
dive: 230
start: 10 23 110 6 10 47
data:
$ID,167
$MISSION,6
$DIVE,230
$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,-54412.605
$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,35
$R_STBD_OVSHOOT,109
$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
$GPS1,231010,060037,2158.641,12641.004,26,1.3,27,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.3
$GPS2,231010,061026,2158.738,12640.962,13,1.7,13,-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,228.0,97128,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-64.82,0.000,2,0.000,0.000,113,778,3354,0,0,0,0,0,0
$GC,89,-0.72,-228.7,6.2,-13.6,9,114,9.55,0.93,-9.38,0.000,4,0.220,0.073,2581,172,3965,0,0,0,0,0,0
$GC,352,-0.72,-228.7,102.3,-28.2,57,360,0.00,0.80,0.00,0.000,6,0.000,0.021,2578,851,3967,0,0,0,0,0,0
$GC,682,-0.72,-228.7,178.7,-19.8,118,690,0.00,0.98,0.00,0.000,4,0.000,0.041,2578,189,3968,0,0,0,0,0,0
$GC,909,-0.72,-228.7,226.3,-19.6,159,917,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,852,3968,0,0,0,0,0,0
$GC,1244,-0.72,-228.7,287.1,-17.5,220,1252,0.00,1.85,0.00,0.000,4,0.000,0.016,2565,2180,3969,0,0,0,0,0,0
$GC,1266,-0.72,-228.7,290.5,-16.7,223,1274,0.00,2.10,0.00,0.000,6,0.000,0.033,2564,766,3968,0,0,0,0,0,0
$GC,1605,-0.72,-228.7,345.6,-15.6,284,1612,0.00,0.82,0.00,0.000,4,0.000,0.042,2564,192,3968,0,0,0,0,0,0
$GC,1706,-0.72,-228.7,362.4,-15.7,302,1714,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,837,3969,0,0,0,0,0,0
$GC,2038,-0.72,-228.7,413.0,-14.8,363,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,837,3968,0,0,0,0,0,0
$GC,2370,-0.72,-228.7,460.9,-13.2,424,2378,0.00,0.95,0.00,0.000,4,0.000,0.041,2561,192,3966,0,0,0,0,0,0
$GC,2418,-0.72,-228.7,467.6,-13.3,432,2426,0.00,0.62,0.00,0.000,6,0.000,0.023,2561,741,3966,0,0,0,0,0,0
$GC,2752,-0.72,-228.7,509.6,-12.6,486,2755,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2130,3963,0,0,0,0,0,0
$GC,2821,-0.72,-228.7,517.0,-10.1,492,2825,0.00,2.03,0.00,0.000,6,0.000,0.034,2560,774,3963,0,0,0,0,0,0
$GC,3152,-0.72,-228.7,558.4,-13.0,523,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,774,3961,0,0,0,0,0,0
$GC,3472,-0.72,-228.7,597.1,-12.1,553,3476,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2134,3957,0,0,0,0,0,0
$GC,3513,-0.72,-228.7,601.4,-10.0,556,3520,0.00,2.05,0.00,0.000,6,0.000,0.035,2560,772,3957,0,0,0,0,0,0
$GC,3829,-0.72,-228.7,637.3,-11.5,572,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,772,3955,0,0,0,0,0,0
$GC,4138,-0.72,-228.7,672.2,-11.1,587,4142,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2138,3952,0,0,0,0,0,0
$GC,4224,-0.72,-228.7,680.8,-9.5,590,4230,0.00,2.08,0.00,0.000,6,0.000,0.036,2560,772,3951,0,0,0,0,0,0
$GC,4540,-0.72,-228.7,716.3,-11.3,606,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,771,3949,0,0,0,0,0,0
$GC,4851,-0.72,-228.7,750.9,-11.3,621,4854,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2136,3947,0,0,0,0,0,0
$GC,4885,-0.72,-228.7,754.6,-9.6,622,4889,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,760,3946,0,0,0,0,0,0
$GC,5201,-0.72,-228.7,789.5,-11.3,637,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,759,3944,0,0,0,0,0,0
$GC,5513,-0.72,-228.7,823.7,-10.9,652,5517,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2133,3941,0,0,0,0,0,0
$GC,5563,-0.72,-228.7,829.0,-9.6,654,5567,0.00,2.08,0.00,0.000,6,0.000,0.038,2560,779,3940,0,0,0,0,0,0
$GC,5891,-0.72,-228.7,863.3,-10.2,670,5895,0.00,1.95,0.00,0.000,4,0.000,0.019,2560,2122,3938,0,0,0,0,0,0
$GC,5953,-0.72,-228.7,868.7,-8.6,672,5959,0.00,2.05,0.00,0.000,6,0.000,0.038,2560,784,3938,0,0,0,0,0,0
$GC,6270,-0.72,-228.7,897.3,-8.7,688,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,784,3936,0,0,0,0,0,0
$GC,6580,-0.72,-228.7,925.3,-8.9,703,6584,0.00,1.92,0.00,0.000,4,0.000,0.019,2560,2124,3934,0,0,0,0,0,0
$GC,6613,-0.72,-228.7,928.3,-8.6,704,6617,0.00,2.05,0.00,0.000,6,0.000,0.038,2560,790,3933,0,0,0,0,0,0
$GC,6936,-0.72,-228.7,957.5,-9.4,720,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,790,3931,0,0,0,0,0,0
$GC,7246,-0.72,-228.7,986.5,-9.5,735,7249,0.00,1.95,0.00,0.000,4,0.000,0.020,2560,2125,3929,0,0,0,0,0,0
$GC,7284,-0.72,-228.7,990.1,-8.3,736,7291,0.00,2.05,0.00,0.000,6,0.000,0.039,2560,791,3929,0,0,0,0,0,0
$STATE,7412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7412,begin apogee
$GC,7418,-0.14,0.0,1001.7,9.1,743,7604,0.62,0.00,180.90,1.408,4,0.116,0.000,2770,960,3030,0,0,0,0,0,0
$STATE,7605,end apogee,CONTROL_FINISHED_OK
$STATE,7605,begin climb
$GC,7608,0.72,228.7,1009.0,0.0,751,7809,0.75,1.27,194.05,1.347,4,0.050,0.049,3059,197,2095,0,0,0,0,0,0
$GC,7950,0.72,228.7,958.5,20.4,766,7956,0.00,1.15,0.00,0.000,6,0.000,0.024,3059,989,2087,0,0,0,0,0,0
$GC,8266,0.72,228.7,899.2,18.8,782,8269,0.00,1.25,0.00,0.000,4,0.000,0.046,3064,189,2084,0,0,0,0,0,0
$GC,8412,0.72,228.7,870.3,20.2,788,8416,0.00,1.17,0.00,0.000,6,0.000,0.024,3064,1026,2083,0,0,0,0,0,0
$GC,8734,0.72,228.7,811.3,18.1,804,8738,0.00,1.98,0.00,0.000,4,0.000,0.024,3064,2385,2081,0,0,0,0,0,0
$GC,8871,0.72,228.7,787.7,17.5,810,8875,0.00,2.08,0.00,0.000,6,0.000,0.037,3069,1025,2081,0,0,0,0,0,0
$GC,9204,0.72,228.7,729.1,17.2,826,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1025,2080,0,0,0,0,0,0
$GC,9513,0.72,228.7,677.4,16.3,841,9517,0.00,1.98,0.00,0.000,4,0.000,0.022,3069,2386,2079,0,0,0,0,0,0
$GC,9632,0.72,228.7,659.9,15.6,846,9636,0.00,2.05,0.00,0.000,6,0.000,0.036,3078,1036,2079,0,0,0,0,0,0
$GC,9959,0.72,228.7,608.1,15.9,862,9962,0.00,1.98,0.00,0.000,4,0.000,0.022,3078,2394,2079,0,0,0,0,0,0
$GC,10013,0.72,228.7,599.3,15.4,864,10018,0.12,2.08,0.00,0.000,6,0.183,0.036,3054,1039,2078,0,0,0,0,0,0
$GC,10344,0.72,228.7,549.8,15.7,895,10348,0.00,1.98,0.00,0.000,4,0.000,0.024,3054,2394,2078,0,0,0,0,0,0
$GC,10390,0.72,228.7,542.5,15.6,899,10394,0.00,2.08,0.00,0.000,6,0.000,0.037,3061,1039,2078,0,0,0,0,0,0
$GC,10717,0.72,228.7,493.1,14.8,933,10724,0.00,1.95,0.00,0.000,4,0.000,0.023,3062,2395,2078,0,0,0,0,0,0
$GC,10801,0.72,228.7,480.8,15.4,948,10809,0.00,2.08,0.00,0.000,6,0.000,0.037,3063,1054,2077,0,0,0,0,0,0
$GC,11134,0.72,228.7,431.0,15.1,1009,11140,0.00,1.92,0.00,0.000,4,0.000,0.021,3063,2388,2078,0,0,0,0,0,0
$GC,11208,0.72,228.7,420.3,13.9,1022,11215,0.00,2.08,0.00,0.000,6,0.000,0.037,3064,1046,2077,0,0,0,0,0,0
$GC,11544,0.72,228.7,375.0,13.8,1083,11551,0.00,1.30,0.00,0.000,4,0.000,0.045,3070,184,2077,0,0,0,0,0,0
$GC,11574,0.72,228.7,370.2,14.5,1088,11582,0.00,1.20,0.00,0.000,6,0.000,0.021,3070,1078,2077,0,0,0,0,0,0
$GC,11907,0.72,228.7,325.2,14.5,1149,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1078,2077,0,0,0,0,0,0
$GC,12238,0.72,228.7,279.9,12.7,1210,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1078,2077,0,0,0,0,0,0
$GC,12573,0.74,241.8,240.6,10.7,1271,12589,0.00,1.88,9.35,0.761,4,0.000,0.018,3071,2394,2042,0,0,0,0,0,0
$GC,12682,0.75,255.1,228.5,10.7,1289,12703,0.00,2.05,12.27,0.771,6,0.000,0.034,3078,1041,1988,0,0,0,0,0,0
$GC,13032,0.75,255.1,184.3,12.9,1352,13039,0.00,1.98,0.00,0.000,4,0.000,0.019,3078,2400,1986,0,0,0,0,0,0
$GC,13106,0.75,255.1,175.1,11.7,1365,13112,0.00,2.03,0.00,0.000,6,0.000,0.034,3084,1060,1986,0,0,0,0,0,0
$GC,13437,0.80,296.3,140.7,9.8,1426,13482,0.00,1.98,34.08,0.731,4,0.000,0.018,3085,2393,1818,0,0,0,0,0,0
$GC,13722,0.88,357.8,110.1,9.1,1477,13781,0.00,2.10,48.80,0.695,6,0.000,0.034,3091,1026,1569,0,0,0,0,0,0
$GC,14100,0.96,426.6,74.2,8.9,1545,14161,0.12,1.33,54.80,0.654,4,0.090,0.042,3157,185,1288,0,0,0,0,0,0
$GC,14255,0.96,426.6,52.3,13.4,1570,14263,0.00,1.15,0.00,0.000,6,0.000,0.019,3157,1079,1284,0,0,0,0,0,0
$GC,14581,0.96,426.6,8.7,14.2,1631,14589,0.00,1.35,0.00,0.000,4,0.000,0.041,3162,188,1283,0,0,0,0,0,0
$STATE,14616,end climb,SURFACE_DEPTH_REACHED
$STATE,14616,begin surface coast
$FINISH,0.5,1.009478
$STATE,14642,end surface coast,CONTROL_FINISHED_OK
$STATE,14642,begin surface
$SM_CCo,14720,0.00,0.000,0,0,1280,429.03
$SM_GC,1.40,7.80,0.00,0.00,0.036,0.000,0.000,121,846,1280,-8.36,1.61,429.03
$IRIDIUM_FIX,2148.09,12640.58,231010,060637
$TT8_MAMPS,0.029211
$HUMID,39.28
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,28.30
$XPDR_PINGS,1
$24V_AH,23.1,42.695
$10V_AH,10.2,38.975
$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,18.975,90.850,534.250,0.000,0.000,55.802,58.556,211.922,0.250,0.000,14.672,3980.901,6322.837,577.683,3912.560,490.916,0.000,2021.609,0.000,3604.616,0.000,0.544,0.000
$DEVICE_MAMPS,219.555,72.675,1407.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.867,1450.591,1930.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,97005,1641
$CAP_FILE_SIZE,164212,0
$CFSIZE,260165632,153255936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,321.4,1
$GPS,231010,101725,2157.527,12638.944,41,1.1,41,-3.1