version: 66.08
glider: 167
mission: 6
dive: 231
start: 10 23 110 10 27 37
data:
$ID,167
$MISSION,6
$DIVE,231
$N_DIVES,244
$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,-54413.863
$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,38
$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
$GPS1,231010,101725,2157.527,12638.944,41,1.1,41,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.6
$GPS2,231010,102714,2157.622,12639.002,11,1.4,11,-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,212.5,93282,-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,-228.7,0.0,0.0,0,91,0.00,0.00,-70.88,0.000,2,0.000,0.000,113,847,3442,0,0,0,0,0,0
$GC,94,-0.72,-228.7,6.8,-15.3,10,118,9.50,0.00,-7.78,0.000,6,0.218,0.000,2577,847,3966,0,0,0,0,0,0
$GC,434,-0.72,-228.7,118.6,-25.7,73,442,0.00,0.98,0.00,0.000,4,0.000,0.041,2577,187,3967,0,0,0,0,0,0
$GC,689,-0.72,-228.7,178.1,-19.7,119,695,0.00,0.80,0.00,0.000,6,0.000,0.020,2572,881,3969,0,0,0,0,0,0
$GC,1030,-0.72,-228.7,242.6,-17.5,180,1039,0.00,1.02,0.00,0.000,4,0.000,0.041,2572,186,3968,0,0,0,0,0,0
$GC,1288,-0.72,-228.7,291.7,-18.6,226,1298,0.00,0.75,0.00,0.000,6,0.000,0.021,2568,839,3969,0,0,0,0,0,0
$GC,1632,-0.72,-228.7,344.9,-15.8,287,1639,0.00,0.95,0.00,0.000,4,0.000,0.041,2568,192,3969,0,0,0,0,0,0
$GC,1759,-0.72,-228.7,364.6,-14.7,309,1765,0.00,0.62,0.00,0.000,6,0.000,0.022,2564,747,3969,0,0,0,0,0,0
$GC,2099,-0.72,-228.7,413.9,-13.5,370,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,747,3968,0,0,0,0,0,0
$GC,2444,-0.72,-228.7,459.6,-12.4,431,2450,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2132,3966,0,0,0,0,0,0
$GC,2470,-0.72,-228.7,463.0,-12.1,435,2477,0.00,2.08,0.00,0.000,6,0.000,0.034,2561,744,3966,0,0,0,0,0,0
$GC,2814,-0.72,-228.7,507.0,-13.0,492,2818,0.00,1.95,0.00,0.000,4,0.000,0.016,2561,2128,3963,0,0,0,0,0,0
$GC,2853,-0.72,-228.7,512.3,-11.3,495,2860,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,765,3963,0,0,0,0,0,0
$GC,3178,-0.72,-228.7,554.4,-12.6,526,3182,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2132,3961,0,0,0,0,0,0
$GC,3217,-0.72,-228.7,559.0,-10.8,529,3224,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,770,3961,0,0,0,0,0,0
$GC,3544,-0.72,-228.7,596.1,-11.2,560,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,769,3957,0,0,0,0,0,0
$GC,3854,-0.72,-228.7,629.7,-10.5,577,3857,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2127,3955,0,0,0,0,0,0
$GC,3877,-0.72,-228.7,632.2,-10.4,578,3881,0.00,2.05,0.00,0.000,6,0.000,0.036,2561,774,3955,0,0,0,0,0,0
$GC,4212,-0.72,-228.7,666.4,-10.4,594,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,773,3952,0,0,0,0,0,0
$GC,4520,-0.72,-228.7,699.7,-10.9,609,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,774,3950,0,0,0,0,0,0
$GC,4830,-0.72,-228.7,734.1,-11.3,624,4834,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2122,3947,0,0,0,0,0,0
$GC,4901,-0.72,-228.7,741.5,-10.5,627,4905,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,775,3946,0,0,0,0,0,0
$GC,5234,-0.72,-228.7,779.0,-11.0,643,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,774,3944,0,0,0,0,0,0
$GC,5547,-0.72,-228.7,811.7,-10.2,658,5550,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2120,3941,0,0,0,0,0,0
$GC,5581,-0.72,-228.7,815.4,-9.1,659,5585,0.00,2.03,0.00,0.000,6,0.000,0.037,2560,782,3941,0,0,0,0,0,0
$GC,5898,-0.72,-228.7,844.6,-9.2,674,5901,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2123,3938,0,0,0,0,0,0
$GC,5932,-0.72,-228.7,847.7,-8.4,675,5936,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,784,3938,0,0,0,0,0,0
$GC,6255,-0.72,-228.7,878.8,-10.2,691,6258,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2123,3936,0,0,0,0,0,0
$GC,6293,-0.72,-228.7,882.7,-9.6,692,6301,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,785,3936,0,0,0,0,0,0
$GC,6611,-0.72,-228.7,915.8,-10.8,708,6615,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2121,3934,0,0,0,0,0,0
$GC,6650,-0.72,-228.7,920.0,-9.6,709,6657,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,799,3933,0,0,0,0,0,0
$GC,6969,-0.72,-228.7,953.0,-10.4,725,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,799,3932,0,0,0,0,0,0
$GC,7276,-0.72,-228.7,985.5,-10.4,740,7279,0.00,1.90,0.00,0.000,4,0.000,0.019,2562,2119,3930,0,0,0,0,0,0
$GC,7325,-0.72,-228.7,990.4,-9.1,742,7329,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,785,3930,0,0,0,0,0,0
$STATE,7423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7423,begin apogee
$GC,7431,-0.14,0.0,1000.3,10.1,747,7622,0.62,0.00,181.35,1.406,4,0.115,0.000,2771,952,3028,0,0,0,0,0,0
$STATE,7623,end apogee,CONTROL_FINISHED_OK
$STATE,7623,begin climb
$GC,7627,0.72,228.7,1010.2,0.0,756,7828,0.75,1.25,193.98,1.349,4,0.047,0.049,3060,202,2096,0,0,0,0,0,0
$GC,7848,0.72,228.7,988.1,17.3,766,7851,0.00,1.17,0.00,0.000,6,0.000,0.023,3060,982,2091,0,0,0,0,0,0
$GC,8169,0.72,228.7,930.4,18.2,782,8173,0.00,2.10,0.00,0.000,4,0.000,0.024,3060,2383,2083,0,0,0,0,0,0
$GC,8330,0.72,228.7,904.0,16.4,789,8335,0.00,2.12,0.00,0.000,6,0.000,0.037,3067,1012,2083,0,0,0,0,0,0
$GC,8653,0.72,228.7,846.6,17.6,805,8656,0.00,2.00,0.00,0.000,4,0.000,0.024,3067,2380,2081,0,0,0,0,0,0
$GC,8725,0.72,228.7,833.7,16.6,808,8729,0.00,2.10,0.00,0.000,6,0.000,0.036,3077,1019,2081,0,0,0,0,0,0
$GC,9054,0.72,228.7,774.7,18.4,824,9058,0.00,2.00,0.00,0.000,4,0.000,0.024,3077,2385,2080,0,0,0,0,0,0
$GC,9176,0.72,228.7,752.9,16.9,829,9181,0.12,2.10,0.00,0.000,6,0.183,0.037,3053,1023,2080,0,0,0,0,0,0
$GC,9494,0.72,228.7,705.2,14.7,844,9498,0.00,1.98,0.00,0.000,4,0.000,0.022,3054,2386,2079,0,0,0,0,0,0
$GC,9588,0.72,228.7,690.9,14.9,848,9592,0.00,2.08,0.00,0.000,6,0.000,0.037,3062,1035,2079,0,0,0,0,0,0
$GC,9918,0.72,228.7,639.3,16.4,864,9922,0.00,2.00,0.00,0.000,4,0.000,0.024,3062,2386,2078,0,0,0,0,0,0
$GC,9963,0.72,228.7,631.2,15.8,866,9967,0.00,2.08,0.00,0.000,6,0.000,0.037,3068,1029,2078,0,0,0,0,0,0
$GC,10291,0.72,228.7,577.6,16.8,887,10295,0.00,1.98,0.00,0.000,4,0.000,0.022,3068,2385,2078,0,0,0,0,0,0
$GC,10338,0.72,228.7,569.5,16.4,891,10342,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1042,2078,0,0,0,0,0,0
$GC,10669,0.72,228.7,510.7,17.5,922,10673,0.00,1.98,0.00,0.000,4,0.000,0.024,3078,2392,2077,0,0,0,0,0,0
$GC,10769,0.72,228.7,494.4,16.7,933,10776,0.12,2.05,0.00,0.000,6,0.181,0.037,3054,1049,2077,0,0,0,0,0,0
$GC,11112,0.72,228.7,445.5,13.4,994,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1049,2077,0,0,0,0,0,0
$GC,11455,0.72,228.7,399.0,13.3,1055,11461,0.00,1.95,0.00,0.000,4,0.000,0.021,3054,2401,2077,0,0,0,0,0,0
$GC,11579,0.72,228.7,382.9,12.1,1077,11586,0.00,2.05,0.00,0.000,6,0.000,0.037,3060,1055,2077,0,0,0,0,0,0
$GC,11921,0.72,228.7,338.1,13.6,1138,11929,0.00,1.95,0.00,0.000,4,0.000,0.022,3060,2390,2077,0,0,0,0,0,0
$GC,11977,0.72,228.7,330.7,12.6,1147,11984,0.00,2.03,0.00,0.000,6,0.000,0.037,3065,1058,2077,0,0,0,0,0,0
$GC,12317,0.72,228.7,285.7,11.6,1208,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1058,2077,0,0,0,0,0,0
$GC,12659,0.74,247.2,244.6,10.5,1269,12679,0.00,1.27,13.43,0.801,4,0.000,0.042,3071,187,2021,0,0,0,0,0,0
$GC,12737,0.74,247.2,235.0,12.8,1282,12745,0.00,1.23,0.00,0.000,6,0.000,0.021,3072,1102,2020,0,0,0,0,0,0
$GC,13080,0.77,269.6,197.3,10.4,1343,13109,0.00,0.00,19.42,0.772,6,0.000,0.000,3071,1102,1928,0,0,0,0,0,0
$GC,13444,0.81,302.3,160.1,10.0,1407,13477,0.00,1.38,27.15,0.737,4,0.000,0.041,3078,187,1796,0,0,0,0,0,0
$GC,13720,0.82,308.0,128.0,10.9,1457,13737,0.00,1.25,5.90,0.574,6,0.000,0.019,3078,1129,1772,0,0,0,0,0,0
$GC,14058,0.95,417.9,98.1,7.5,1519,14156,0.15,1.50,86.88,0.680,4,0.080,0.041,3155,185,1323,0,0,0,0,0,0
$GC,14399,0.95,417.9,49.9,14.3,1577,14407,0.05,1.23,0.00,0.000,6,0.142,0.018,3135,1129,1318,0,0,0,0,0,0
$GC,14730,0.95,417.9,9.9,12.0,1638,14740,0.00,1.42,0.00,0.000,4,0.000,0.039,3141,181,1318,0,0,0,0,0,0
$STATE,14782,end climb,SURFACE_DEPTH_REACHED
$STATE,14782,begin surface coast
$FINISH,2.1,1.021635
$STATE,14789,end surface coast,CONTROL_FINISHED_OK
$STATE,14789,begin surface
$SM_CCo,14869,0.00,0.000,0,0,1315,420.44
$SM_GC,1.29,7.70,0.00,0.00,0.033,0.000,0.000,116,851,1315,-8.38,1.72,420.44
$IRIDIUM_FIX,2150.42,12641.97,231010,101029
$TT8_MAMPS,0.028462
$HUMID,38.77
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,28.60
$XPDR_PINGS,0
$24V_AH,23.1,42.888
$10V_AH,10.3,39.155
$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,19.025,94.050,528.100,0.000,0.000,55.268,60.984,216.702,0.000,0.000,11.840,4010.104,6422.769,574.939,3929.191,500.348,0.000,2018.120,0.000,3616.642,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,51.255,1406.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1122.911,1460.050,1943.561,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,97006,1648
$CAP_FILE_SIZE,165467,0
$CFSIZE,260165632,153165824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 21.8,1
$GPS,231010,143637,2156.478,12638.403,36,1.1,36,-3.0