version: 66.08
glider: 167
mission: 6
dive: 232
start: 10 23 110 14 47 41
data:
$ID,167
$MISSION,6
$DIVE,232
$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,-54415.121
$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,36
$R_STBD_OVSHOOT,82
$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
$GPS1,231010,143637,2156.478,12638.403,36,1.1,36,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.9
$GPS2,231010,144719,2156.622,12638.533,14,1.0,31,-3.0
$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,219.0,91395,-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,-228.7,0.0,0.0,0,84,0.00,0.00,-63.17,0.000,2,0.000,0.000,112,851,3171,0,0,0,0,0,0
$GC,87,-0.72,-228.7,5.0,-11.1,9,119,9.62,1.00,-13.02,0.000,4,0.223,0.072,2579,187,3964,0,0,0,0,0,0
$GC,360,-0.72,-228.7,108.7,-31.0,58,368,0.00,0.80,0.00,0.000,6,0.000,0.021,2575,847,3965,0,0,0,0,0,0
$GC,690,-0.72,-228.7,188.3,-19.4,119,698,0.00,0.98,0.00,0.000,4,0.000,0.041,2575,187,3967,0,0,0,0,0,0
$GC,944,-0.72,-228.7,240.5,-20.5,165,950,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,852,3968,0,0,0,0,0,0
$GC,1275,-0.72,-228.7,298.5,-17.5,226,1283,0.00,0.98,0.00,0.000,4,0.000,0.041,2574,188,3968,0,0,0,0,0,0
$GC,1517,-0.72,-228.7,340.0,-16.0,270,1525,0.00,0.77,0.00,0.000,6,0.000,0.022,2574,849,3968,0,0,0,0,0,0
$GC,1855,-0.72,-228.7,390.8,-14.3,331,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,849,3967,0,0,0,0,0,0
$GC,2188,-0.72,-228.7,438.6,-13.5,392,2197,0.00,0.98,0.00,0.000,4,0.000,0.042,2574,187,3966,0,0,0,0,0,0
$GC,2226,-0.72,-228.7,443.9,-15.1,398,2236,0.00,0.77,0.00,0.000,6,0.000,0.022,2574,827,3965,0,0,0,0,0,0
$GC,2561,-0.72,-228.7,487.4,-12.2,459,2569,0.00,1.85,0.00,0.000,4,0.000,0.018,2574,2143,3963,0,0,0,0,0,0
$GC,2592,-0.72,-228.7,491.2,-11.7,464,2600,0.00,2.10,0.00,0.000,6,0.000,0.034,2574,755,3962,0,0,0,0,0,0
$GC,2921,-0.72,-228.7,532.2,-11.9,501,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,755,3960,0,0,0,0,0,0
$GC,3243,-0.72,-228.7,569.2,-11.1,531,3247,0.00,1.98,0.00,0.000,4,0.000,0.019,2574,2138,3958,0,0,0,0,0,0
$GC,3304,-0.72,-228.7,575.9,-9.4,536,3311,0.00,2.08,0.00,0.000,6,0.000,0.034,2574,762,3957,0,0,0,0,0,0
$GC,3631,-0.72,-228.7,612.4,-11.3,562,3635,0.00,1.98,0.00,0.000,4,0.000,0.018,2574,2142,3953,0,0,0,0,0,0
$GC,3672,-0.72,-228.7,617.1,-9.4,563,3680,0.00,2.08,0.00,0.000,6,0.000,0.035,2574,771,3954,0,0,0,0,0,0
$GC,3988,-0.72,-228.7,650.9,-10.8,579,3992,0.00,1.95,0.00,0.000,4,0.000,0.019,2573,2134,3951,0,0,0,0,0,0
$GC,4022,-0.72,-228.7,654.4,-9.4,580,4026,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,779,3951,0,0,0,0,0,0
$GC,4345,-0.72,-228.7,687.3,-9.8,596,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,779,3949,0,0,0,0,0,0
$GC,4654,-0.72,-228.7,716.9,-9.6,611,4657,0.00,1.95,0.00,0.000,4,0.000,0.020,2574,2138,3946,0,0,0,0,0,0
$GC,4702,-0.72,-228.7,720.8,-8.2,613,4706,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,772,3945,0,0,0,0,0,0
$GC,5031,-0.72,-228.7,752.4,-9.6,629,5035,0.00,1.95,0.00,0.000,4,0.000,0.020,2574,2132,3942,0,0,0,0,0,0
$GC,5102,-0.72,-228.7,758.7,-9.1,632,5106,0.00,2.05,0.00,0.000,6,0.000,0.037,2573,787,3942,0,0,0,0,0,0
$GC,5436,-0.72,-228.7,790.8,-9.6,648,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,787,3939,0,0,0,0,0,0
$GC,5745,-0.72,-228.7,820.9,-9.6,663,5749,0.00,1.95,0.00,0.000,4,0.000,0.020,2573,2140,3937,0,0,0,0,0,0
$GC,5796,-0.72,-228.7,825.5,-8.8,665,5800,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,781,3935,0,0,0,0,0,0
$GC,6117,-0.72,-228.7,855.5,-9.3,681,6121,0.00,1.92,0.00,0.000,4,0.000,0.021,2573,2130,3934,0,0,0,0,0,0
$GC,6141,-0.72,-228.7,857.5,-8.5,682,6145,0.00,2.05,0.00,0.000,6,0.000,0.038,2573,792,3934,0,0,0,0,0,0
$GC,6470,-0.72,-228.7,886.5,-8.9,698,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,791,3932,0,0,0,0,0,0
$GC,6777,-0.72,-228.7,913.0,-8.5,713,6781,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2122,3929,0,0,0,0,0,0
$GC,6849,-0.72,-228.7,918.2,-7.4,716,6852,0.00,2.05,0.00,0.000,6,0.000,0.039,2574,788,3929,0,0,0,0,0,0
$GC,7182,-0.72,-228.7,945.9,-8.2,732,7186,0.00,1.98,0.00,0.000,4,0.000,0.021,2574,2130,3927,0,0,0,0,0,0
$GC,7210,-0.72,-228.7,948.3,-8.1,733,7214,0.00,2.05,0.00,0.000,6,0.000,0.039,2573,798,3927,0,0,0,0,0,0
$GC,7538,-0.72,-228.7,975.4,-8.5,749,7542,0.00,1.95,0.00,0.000,4,0.000,0.022,2573,2124,3925,0,0,0,0,0,0
$GC,7594,-0.72,-228.7,980.1,-8.1,751,7597,0.00,2.03,0.00,0.000,6,0.000,0.039,2574,804,3924,0,0,0,0,0,0
$STATE,7830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7830,begin apogee
$GC,7838,-0.14,0.0,1001.1,9.0,763,8023,0.57,0.00,180.48,1.408,4,0.112,0.000,2769,972,3029,0,0,0,0,0,0
$STATE,8024,end apogee,CONTROL_FINISHED_OK
$STATE,8024,begin climb
$GC,8028,0.72,228.7,1010.9,0.0,771,8233,0.80,2.20,194.57,1.352,4,0.048,0.021,3060,2389,2095,0,0,0,0,0,0
$GC,8406,0.72,228.7,965.3,16.7,788,8410,0.00,2.20,0.00,0.000,6,0.000,0.037,3070,1003,2088,0,0,0,0,0,0
$GC,8728,0.72,228.7,908.3,18.0,804,8732,0.00,1.25,0.00,0.000,4,0.000,0.047,3076,190,2086,0,0,0,0,0,0
$GC,8940,0.72,228.7,866.7,19.3,813,8944,0.00,1.12,0.00,0.000,6,0.000,0.024,3076,999,2085,0,0,0,0,0,0
$GC,9263,0.72,228.7,807.4,18.5,829,9266,0.00,2.00,0.00,0.000,4,0.000,0.024,3076,2378,2084,0,0,0,0,0,0
$GC,9370,0.72,228.7,788.1,17.0,833,9377,0.12,2.12,0.00,0.000,6,0.181,0.037,3053,1007,2083,0,0,0,0,0,0
$GC,9686,0.72,228.7,736.3,16.1,849,9690,0.00,2.00,0.00,0.000,4,0.000,0.022,3053,2385,2082,0,0,0,0,0,0
$GC,9816,0.72,228.7,716.2,14.7,854,9825,0.00,2.08,0.00,0.000,6,0.000,0.037,3060,1033,2082,0,0,0,0,0,0
$GC,10132,0.72,228.7,663.9,17.1,870,10136,0.00,1.27,0.00,0.000,4,0.000,0.047,3068,197,2082,0,0,0,0,0,0
$GC,10180,0.72,228.7,655.4,18.4,872,10183,0.00,1.15,0.00,0.000,6,0.000,0.025,3067,1027,2082,0,0,0,0,0,0
$GC,10513,0.72,228.7,598.5,16.4,888,10516,0.00,1.95,0.00,0.000,4,0.000,0.024,3068,2381,2081,0,0,0,0,0,0
$GC,10626,0.72,228.7,580.3,15.7,898,10630,0.00,2.05,0.00,0.000,6,0.000,0.037,3077,1031,2081,0,0,0,0,0,0
$GC,10957,0.72,228.7,527.2,16.6,929,10961,0.00,1.98,0.00,0.000,4,0.000,0.023,3077,2385,2081,0,0,0,0,0,0
$GC,11066,0.72,228.7,510.5,14.3,938,11073,0.00,2.03,0.00,0.000,6,0.000,0.037,3084,1059,2080,0,0,0,0,0,0
$GC,11401,0.72,228.7,458.2,15.4,993,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1059,2080,0,0,0,0,0,0
$GC,11738,0.72,228.7,406.4,14.7,1054,11746,0.00,1.95,0.00,0.000,4,0.000,0.023,3085,2386,2080,0,0,0,0,0,0
$GC,11827,0.72,228.7,393.1,14.4,1069,11835,0.15,2.00,0.00,0.000,6,0.170,0.036,3053,1069,2080,0,0,0,0,0,0
$GC,12171,0.72,228.7,347.0,14.4,1130,12179,0.00,1.92,0.00,0.000,4,0.000,0.021,3052,2392,2080,0,0,0,0,0,0
$GC,12239,0.72,228.7,338.5,11.2,1141,12246,0.00,2.00,0.00,0.000,6,0.000,0.036,3060,1075,2080,0,0,0,0,0,0
$GC,12581,0.72,228.7,297.7,12.2,1202,12589,0.00,1.90,0.00,0.000,4,0.000,0.021,3060,2386,2079,0,0,0,0,0,0
$GC,12603,0.72,228.7,295.0,13.0,1205,12610,0.00,1.98,0.00,0.000,6,0.000,0.036,3066,1083,2080,0,0,0,0,0,0
$GC,12945,0.75,254.2,256.6,10.3,1266,12973,0.00,1.40,19.35,0.819,4,0.000,0.044,3073,181,1991,0,0,0,0,0,0
$GC,13020,0.75,254.2,248.1,12.6,1278,13028,0.00,1.30,0.00,0.000,6,0.000,0.021,3073,1157,1989,0,0,0,0,0,0
$GC,13361,0.75,254.2,209.7,12.1,1339,13368,0.00,1.48,0.00,0.000,4,0.000,0.043,3079,190,1988,0,0,0,0,0,0
$GC,13426,0.75,254.2,201.2,12.7,1350,13434,0.00,1.27,0.00,0.000,6,0.000,0.021,3079,1158,1989,0,0,0,0,0,0
$GC,13769,0.82,312.6,163.9,9.2,1411,13823,0.00,0.00,46.88,0.745,6,0.000,0.000,3079,1159,1754,0,0,0,0,0,0
$GC,14148,0.87,348.6,125.0,9.9,1479,14185,0.00,1.50,29.62,0.691,4,0.000,0.041,3082,193,1605,0,0,0,0,0,0
$GC,14301,0.92,387.2,109.9,9.9,1505,14339,0.00,1.27,31.65,0.674,6,0.000,0.020,3083,1167,1449,0,0,0,0,0,0
$GC,14659,1.09,528.5,76.7,6.5,1570,14781,0.25,1.85,110.85,0.644,4,0.060,0.019,3207,2396,873,0,0,0,0,0,0
$GC,14877,1.09,528.5,39.0,19.5,1604,14887,0.12,2.00,0.00,0.000,6,0.138,0.033,3175,1103,869,0,0,0,0,0,0
$STATE,15080,end climb,SURFACE_DEPTH_REACHED
$STATE,15080,begin surface coast
$FINISH,0.6,1.021614
$STATE,15098,end surface coast,CONTROL_FINISHED_OK
$STATE,15098,begin surface
$SM_CCo,15176,0.00,0.000,0,0,867,530.34
$SM_GC,1.29,7.82,0.00,0.00,0.033,0.000,0.000,122,777,867,-8.37,-0.37,530.34
$IRIDIUM_FIX,2148.09,12638.72,231010,141437
$TT8_MAMPS,0.027713
$HUMID,39.68
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.1,43.098
$10V_AH,10.2,39.334
$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,19.475,100.975,613.400,0.000,0.000,58.197,87.793,218.441,0.000,0.000,32.697,3994.265,6651.805,633.086,4010.330,506.451,0.000,2133.224,0.000,3643.031,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,71.910,1407.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.651,1442.559,1869.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96849,1644
$CAP_FILE_SIZE,170670,0
$CFSIZE,260165632,153071616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 55.1,1
$GPS,231010,190155,2155.165,12637.990,40,1.1,41,-3.0