version: 66.08
glider: 167
mission: 6
dive: 233
start: 10 23 110 19 12 37
data:
$ID,167
$MISSION,6
$DIVE,233
$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,-54416.379
$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,42
$R_STBD_OVSHOOT,84
$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
$GPS1,231010,190155,2155.165,12637.990,40,1.1,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.9
$GPS2,231010,191214,2155.176,12638.207,15,1.7,15,-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,231.4,89111,-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,-228.7,0.0,0.0,0,106,0.00,0.00,-85.32,0.000,2,0.000,0.000,113,775,3364,0,0,0,0,0,0
$GC,109,-0.72,-228.7,6.1,-12.8,12,133,9.55,0.90,-9.10,0.000,4,0.220,0.075,2581,180,3965,0,0,0,0,0,0
$GC,373,-0.72,-228.7,112.5,-29.9,60,381,0.00,0.80,0.00,0.000,6,0.000,0.021,2577,865,3967,0,0,0,0,0,0
$GC,709,-0.72,-228.7,188.7,-23.3,121,716,0.00,1.83,0.00,0.000,4,0.000,0.016,2568,2203,3968,0,0,0,0,0,0
$GC,935,-0.72,-228.7,226.8,-14.9,161,942,0.00,2.17,0.00,0.000,6,0.000,0.033,2568,746,3968,0,0,0,0,0,0
$GC,1277,-0.72,-228.7,287.0,-15.5,222,1286,0.00,0.80,0.00,0.000,4,0.000,0.042,2568,189,3968,0,0,0,0,0,0
$GC,1413,-0.72,-228.7,308.7,-17.6,245,1419,0.00,0.73,0.00,0.000,6,0.000,0.021,2564,823,3968,0,0,0,0,0,0
$GC,1752,-0.72,-228.7,361.6,-15.6,306,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3968,0,0,0,0,0,0
$GC,2096,-0.72,-228.7,414.5,-13.7,367,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3967,0,0,0,0,0,0
$GC,2432,-0.72,-228.7,460.3,-12.6,428,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3965,0,0,0,0,0,0
$GC,2777,-0.72,-228.7,505.8,-13.5,486,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3962,0,0,0,0,0,0
$GC,3100,-0.72,-228.7,548.8,-12.9,516,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3960,0,0,0,0,0,0
$GC,3427,-0.72,-228.7,589.0,-11.6,547,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3957,0,0,0,0,0,0
$GC,3749,-0.72,-228.7,626.4,-11.4,567,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3954,0,0,0,0,0,0
$GC,4056,-0.72,-228.7,659.9,-10.4,582,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,823,3952,0,0,0,0,0,0
$GC,4367,-0.72,-228.7,692.1,-10.5,597,4371,0.00,0.93,0.00,0.000,4,0.000,0.045,2564,202,3948,0,0,0,0,0,0
$GC,4445,-0.72,-228.7,701.4,-11.4,600,4449,0.00,0.62,0.00,0.000,6,0.000,0.024,2562,705,3948,0,0,0,0,0,0
$GC,4769,-0.72,-228.7,735.7,-10.4,616,4773,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2108,3945,0,0,0,0,0,0
$GC,4832,-0.72,-228.7,741.6,-8.8,618,4840,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,749,3945,0,0,0,0,0,0
$GC,5148,-0.72,-228.7,773.3,-10.4,634,5152,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2132,3941,0,0,0,0,0,0
$GC,5211,-0.72,-228.7,779.3,-9.2,636,5218,0.00,2.12,0.00,0.000,6,0.000,0.037,2561,738,3941,0,0,0,0,0,0
$GC,5528,-0.72,-228.7,812.0,-10.5,652,5531,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2118,3938,0,0,0,0,0,0
$GC,5566,-0.72,-228.7,815.7,-8.7,653,5573,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,746,3938,0,0,0,0,0,0
$GC,5884,-0.72,-228.7,846.3,-9.6,669,5888,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2111,3935,0,0,0,0,0,0
$GC,5934,-0.72,-228.7,850.9,-8.6,671,5938,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,756,3935,0,0,0,0,0,0
$GC,6262,-0.72,-228.7,881.1,-9.2,687,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,756,3933,0,0,0,0,0,0
$GC,6574,-0.72,-228.7,909.7,-9.1,702,6578,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2116,3930,0,0,0,0,0,0
$GC,6635,-0.72,-228.7,915.0,-7.5,704,6642,0.00,2.10,0.00,0.000,6,0.000,0.038,2561,751,3930,0,0,0,0,0,0
$GC,6953,-0.72,-228.7,943.4,-9.0,720,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,750,3928,0,0,0,0,0,0
$GC,7261,-0.72,-228.7,970.3,-8.7,735,7265,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2110,3927,0,0,0,0,0,0
$GC,7330,-0.72,-228.7,975.7,-7.5,738,7334,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,763,3925,0,0,0,0,0,0
$STATE,7613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7621,-0.14,0.0,1000.7,8.9,752,7812,0.62,0.00,180.68,1.404,4,0.116,0.000,2772,937,3028,0,0,0,0,0,0
$STATE,7812,end apogee,CONTROL_FINISHED_OK
$STATE,7812,begin climb
$GC,7817,0.72,228.7,1009.0,0.0,761,8018,0.77,1.23,194.10,1.348,4,0.047,0.050,3079,203,2096,0,0,0,0,0,0
$GC,8069,0.72,228.7,976.1,20.9,773,8073,0.00,1.05,0.00,0.000,6,0.000,0.024,3080,919,2090,0,0,0,0,0,0
$GC,8402,0.72,228.7,909.4,19.4,789,8406,0.00,2.08,0.00,0.000,4,0.000,0.024,3080,2312,2085,0,0,0,0,0,0
$GC,8614,0.72,228.7,871.1,17.9,798,8624,0.08,2.00,0.00,0.000,6,0.161,0.037,3056,1026,2082,0,0,0,0,0,0
$GC,8932,0.72,228.7,818.5,16.4,814,8935,0.00,1.88,0.00,0.000,4,0.000,0.022,3056,2315,2081,0,0,0,0,0,0
$GC,9000,0.72,228.7,807.5,15.6,817,9004,0.00,1.95,0.00,0.000,6,0.000,0.037,3063,1042,2081,0,0,0,0,0,0
$GC,9333,0.72,228.7,752.2,17.3,833,9337,0.00,1.83,0.00,0.000,4,0.000,0.024,3063,2310,2080,0,0,0,0,0,0
$GC,9441,0.72,228.7,734.6,17.0,837,9447,0.00,1.92,0.00,0.000,6,0.000,0.037,3069,1052,2080,0,0,0,0,0,0
$GC,9758,0.72,228.7,676.6,18.8,853,9762,0.00,1.83,0.00,0.000,4,0.000,0.023,3069,2312,2080,0,0,0,0,0,0
$GC,9826,0.72,228.7,664.1,17.1,856,9830,0.00,1.92,0.00,0.000,6,0.000,0.037,3077,1052,2080,0,0,0,0,0,0
$GC,10161,0.72,228.7,602.9,17.6,872,10164,0.00,1.83,0.00,0.000,4,0.000,0.023,3077,2314,2080,0,0,0,0,0,0
$GC,10207,0.72,228.7,595.0,16.6,875,10211,0.12,1.90,0.00,0.000,6,0.177,0.037,3053,1070,2079,0,0,0,0,0,0
$GC,10537,0.72,228.7,545.9,14.4,906,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1069,2079,0,0,0,0,0,0
$GC,10858,0.72,228.7,500.1,14.6,936,10861,0.00,1.77,0.00,0.000,4,0.000,0.021,3053,2315,2078,0,0,0,0,0,0
$GC,10999,0.72,228.7,481.0,13.0,960,11007,0.00,1.90,0.00,0.000,6,0.000,0.037,3060,1085,2078,0,0,0,0,0,0
$GC,11340,0.72,228.7,435.0,14.3,1021,11347,0.00,1.77,0.00,0.000,4,0.000,0.024,3061,2318,2078,0,0,0,0,0,0
$GC,11403,0.72,228.7,426.1,14.2,1032,11411,0.00,1.90,0.00,0.000,6,0.000,0.037,3067,1085,2077,0,0,0,0,0,0
$GC,11745,0.72,228.7,376.5,13.8,1093,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1085,2077,0,0,0,0,0,0
$GC,12083,0.72,228.7,329.7,13.4,1154,12092,0.00,1.77,0.00,0.000,4,0.000,0.022,3067,2309,2077,0,0,0,0,0,0
$GC,12247,0.72,228.7,308.9,12.7,1182,12255,0.00,1.88,0.00,0.000,6,0.000,0.037,3072,1086,2077,0,0,0,0,0,0
$GC,12588,0.72,228.7,264.7,12.6,1243,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1086,2077,0,0,0,0,0,0
$GC,12925,0.74,248.4,226.6,10.5,1304,12947,0.00,1.33,14.25,0.781,4,0.000,0.042,3079,186,2017,0,0,0,0,0,0
$GC,13061,0.74,248.4,208.5,12.6,1327,13067,0.00,1.12,0.00,0.000,6,0.000,0.021,3079,1033,2016,0,0,0,0,0,0
$GC,13403,0.80,291.9,171.0,9.7,1388,13444,0.00,2.00,36.05,0.754,4,0.000,0.019,3079,2377,1837,0,0,0,0,0,0
$GC,13575,0.80,296.3,152.9,11.0,1417,13590,0.00,1.92,4.20,0.506,6,0.000,0.034,3086,1113,1822,0,0,0,0,0,0
$GC,13910,0.87,349.8,116.3,9.4,1479,13963,0.00,1.42,43.40,0.698,4,0.000,0.044,3093,194,1602,0,0,0,0,0,0
$GC,14113,0.87,349.8,94.3,11.2,1514,14122,0.00,1.25,0.00,0.000,6,0.000,0.019,3093,1147,1598,0,0,0,0,0,0
$GC,14441,0.99,445.1,63.8,8.0,1575,14525,0.12,1.75,74.80,0.642,4,0.087,0.016,3155,2369,1213,0,0,0,0,0,0
$GC,14583,0.99,445.1,46.0,13.4,1596,14591,0.00,1.92,0.00,0.000,6,0.000,0.033,3163,1128,1211,0,0,0,0,0,0
$STATE,14878,end climb,SURFACE_DEPTH_REACHED
$STATE,14878,begin surface coast
$FINISH,0.4,0.997882
$STATE,14904,end surface coast,CONTROL_FINISHED_OK
$STATE,14904,begin surface
$SM_CCo,14981,0.00,0.000,0,0,1206,446.94
$SM_GC,1.43,7.82,0.00,0.00,0.037,0.000,0.000,123,788,1206,-8.35,-0.06,446.94
$IRIDIUM_FIX,2145.77,12640.58,231010,191906
$TT8_MAMPS,0.028462
$HUMID,39.48
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.50
$XPDR_PINGS,1
$24V_AH,23.1,43.294
$10V_AH,10.2,39.514
$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,19.100,78.825,547.475,0.000,0.000,58.588,86.237,213.583,0.250,0.000,15.995,3988.980,6534.892,597.339,3969.645,487.598,0.000,2040.832,0.000,3622.416,0.000,0.544,0.000
$DEVICE_MAMPS,220.320,74.970,1403.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1126.910,1459.641,1935.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,96991,1655
$CAP_FILE_SIZE,161241,0
$CFSIZE,260165632,152985600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 43.2,1
$GPS,231010,232331,2153.919,12637.086,37,1.5,38,-3.0