version: 66.08
glider: 167
mission: 6
dive: 235
start: 10 24 110 4 6 24
data:
$ID,167
$MISSION,6
$DIVE,235
$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,-54418.895
$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,44
$R_STBD_OVSHOOT,75
$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
$GPS1,241010,035537,2152.494,12635.896,37,0.8,38,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.7
$GPS2,241010,040602,2152.449,12635.852,15,1.1,15,-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,232.8,82681,-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,-228.7,0.0,0.0,0,93,0.00,0.00,-71.68,0.000,2,0.000,0.000,113,775,3427,0,0,0,0,0,0
$GC,96,-0.72,-228.7,6.6,-14.1,10,120,9.48,0.82,-8.07,0.000,4,0.217,0.070,2580,190,3963,0,0,0,0,0,0
$GC,362,-0.72,-228.7,107.3,-27.2,58,370,0.00,0.80,0.00,0.000,6,0.000,0.020,2576,887,3964,0,0,0,0,0,0
$GC,694,-0.72,-228.7,181.7,-19.4,119,702,0.00,1.02,0.00,0.000,4,0.000,0.041,2576,193,3966,0,0,0,0,0,0
$GC,946,-0.72,-228.7,232.9,-18.9,165,953,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,896,3966,0,0,0,0,0,0
$GC,1279,-0.72,-228.7,292.2,-15.0,226,1287,0.00,1.02,0.00,0.000,4,0.000,0.040,2574,196,3966,0,0,0,0,0,0
$GC,1533,-0.72,-228.7,331.3,-14.7,272,1541,0.00,0.80,0.00,0.000,6,0.000,0.020,2571,895,3966,0,0,0,0,0,0
$GC,1868,-0.72,-228.7,379.5,-15.1,333,1875,0.00,1.02,0.00,0.000,4,0.000,0.041,2571,197,3966,0,0,0,0,0,0
$GC,1973,-0.72,-228.7,395.9,-15.8,352,1981,0.00,0.77,0.00,0.000,6,0.000,0.021,2570,873,3966,0,0,0,0,0,0
$GC,2307,-0.72,-228.7,444.8,-14.2,413,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,874,3964,0,0,0,0,0,0
$GC,2638,-0.72,-228.7,489.1,-13.2,474,2646,0.00,1.00,0.00,0.000,4,0.000,0.042,2570,196,3961,0,0,0,0,0,0
$GC,2785,-0.72,-228.7,508.2,-13.2,495,2788,0.00,0.77,0.00,0.000,6,0.000,0.021,2570,850,3960,0,0,0,0,0,0
$GC,3117,-0.72,-228.7,548.4,-11.6,526,3121,0.00,1.90,0.00,0.000,4,0.000,0.018,2570,2202,3958,0,0,0,0,0,0
$GC,3147,-0.72,-228.7,551.7,-10.4,528,3153,0.00,2.15,0.00,0.000,6,0.000,0.034,2571,772,3958,0,0,0,0,0,0
$GC,3472,-0.72,-228.7,587.6,-10.8,559,3476,0.00,2.03,0.00,0.000,4,0.000,0.017,2571,2184,3955,0,0,0,0,0,0
$GC,3501,-0.72,-228.7,590.6,-10.0,561,3508,0.00,2.12,0.00,0.000,6,0.000,0.034,2571,789,3954,0,0,0,0,0,0
$GC,3830,-0.72,-228.7,625.7,-11.2,582,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,788,3952,0,0,0,0,0,0
$GC,4140,-0.72,-228.7,659.6,-11.0,597,4144,0.00,2.03,0.00,0.000,4,0.000,0.018,2570,2197,3949,0,0,0,0,0,0
$GC,4188,-0.72,-228.7,664.0,-9.2,599,4192,0.00,2.15,0.00,0.000,6,0.000,0.036,2570,788,3948,0,0,0,0,0,0
$GC,4515,-0.72,-228.7,699.9,-10.7,615,4519,0.00,2.00,0.00,0.000,4,0.000,0.018,2571,2192,3946,0,0,0,0,0,0
$GC,4549,-0.72,-228.7,703.3,-9.7,616,4553,0.00,2.15,0.00,0.000,6,0.000,0.036,2571,792,3946,0,0,0,0,0,0
$GC,4866,-0.72,-228.7,735.5,-10.0,631,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,792,3943,0,0,0,0,0,0
$GC,5175,-0.72,-228.7,766.9,-10.5,646,5178,0.00,2.00,0.00,0.000,4,0.000,0.018,2571,2195,3940,0,0,0,0,0,0
$GC,5237,-0.72,-228.7,772.7,-9.0,648,5244,0.00,2.15,0.00,0.000,6,0.000,0.037,2570,797,3940,0,0,0,0,0,0
$GC,5554,-0.72,-228.7,804.5,-9.9,664,5558,0.00,2.00,0.00,0.000,4,0.000,0.018,2570,2185,3938,0,0,0,0,0,0
$GC,5582,-0.72,-228.7,807.3,-9.4,665,5586,0.00,2.12,0.00,0.000,6,0.000,0.037,2570,804,3937,0,0,0,0,0,0
$GC,5906,-0.72,-228.7,838.3,-9.9,681,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,803,3935,0,0,0,0,0,0
$GC,6214,-0.72,-228.7,869.7,-10.3,696,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,804,3932,0,0,0,0,0,0
$GC,6524,-0.72,-228.7,900.5,-9.9,711,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,804,3931,0,0,0,0,0,0
$GC,6832,-0.72,-228.7,929.2,-9.1,726,6836,0.00,1.98,0.00,0.000,4,0.000,0.019,2570,2184,3929,0,0,0,0,0,0
$GC,6871,-0.72,-228.7,932.6,-8.1,727,6879,0.00,2.15,0.00,0.000,6,0.000,0.038,2570,792,3929,0,0,0,0,0,0
$GC,7189,-0.72,-228.7,958.9,-8.2,743,7193,0.00,2.00,0.00,0.000,4,0.000,0.019,2571,2184,3927,0,0,0,0,0,0
$GC,7250,-0.72,-228.7,963.7,-7.7,745,7257,0.00,2.12,0.00,0.000,6,0.000,0.038,2570,810,3927,0,0,0,0,0,0
$GC,7567,-0.72,-228.7,988.1,-7.8,761,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,809,3924,0,0,0,0,0,0
$STATE,7729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7729,begin apogee
$GC,7737,-0.14,0.0,1001.5,8.2,769,7928,0.60,0.00,181.48,1.405,4,0.111,0.000,2774,1036,3028,0,0,0,0,0,0
$STATE,7928,end apogee,CONTROL_FINISHED_OK
$STATE,7928,begin climb
$GC,7933,0.72,228.7,1010.1,0.0,778,8137,0.77,2.08,194.80,1.349,4,0.044,0.020,3060,2395,2095,0,0,0,0,0,0
$GC,8278,0.72,228.7,968.1,16.7,794,8283,0.00,2.20,0.00,0.000,6,0.000,0.036,3071,1003,2088,0,0,0,0,0,0
$GC,8608,0.72,228.7,904.8,19.5,810,8611,0.00,1.25,0.00,0.000,4,0.000,0.047,3078,189,2086,0,0,0,0,0,0
$GC,8788,0.72,228.7,867.0,21.7,818,8792,0.00,1.15,0.00,0.000,6,0.000,0.023,3078,1025,2085,0,0,0,0,0,0
$GC,9122,0.72,228.7,802.6,19.0,834,9126,0.00,1.95,0.00,0.000,4,0.000,0.024,3077,2373,2083,0,0,0,0,0,0
$GC,9239,0.72,228.7,781.0,17.7,839,9244,0.08,2.08,0.00,0.000,6,0.159,0.037,3062,1031,2083,0,0,0,0,0,0
$GC,9568,0.72,228.7,725.9,16.8,855,9572,0.00,1.95,0.00,0.000,4,0.000,0.023,3062,2378,2082,0,0,0,0,0,0
$GC,9669,0.72,228.7,709.0,15.6,859,9672,0.00,2.05,0.00,0.000,6,0.000,0.037,3069,1040,2082,0,0,0,0,0,0
$GC,9991,0.72,228.7,654.3,17.4,875,9994,0.00,1.92,0.00,0.000,4,0.000,0.024,3069,2371,2082,0,0,0,0,0,0
$GC,10106,0.72,228.7,635.8,15.9,880,10110,0.00,2.00,0.00,0.000,6,0.000,0.036,3077,1063,2081,0,0,0,0,0,0
$GC,10434,0.72,228.7,577.2,16.7,901,10438,0.00,1.92,0.00,0.000,4,0.000,0.024,3077,2381,2081,0,0,0,0,0,0
$GC,10516,0.72,228.7,563.5,16.4,908,10519,0.00,2.00,0.00,0.000,6,0.000,0.036,3084,1069,2081,0,0,0,0,0,0
$GC,10848,0.72,228.7,509.0,15.4,939,10852,0.00,1.90,0.00,0.000,4,0.000,0.021,3084,2388,2080,0,0,0,0,0,0
$GC,10950,0.72,228.7,492.5,15.5,952,10958,0.10,2.00,0.00,0.000,6,0.149,0.035,3060,1086,2080,0,0,0,0,0,0
$GC,11284,0.72,228.7,443.7,14.0,1013,11291,0.00,1.35,0.00,0.000,4,0.000,0.047,3066,194,2080,0,0,0,0,0,0
$GC,11323,0.72,228.7,437.6,14.5,1019,11330,0.00,1.23,0.00,0.000,6,0.000,0.024,3066,1078,2079,0,0,0,0,0,0
$GC,11656,0.72,228.7,391.7,14.7,1080,11664,0.00,1.88,0.00,0.000,4,0.000,0.024,3066,2367,2079,0,0,0,0,0,0
$GC,11911,0.72,228.7,359.9,11.6,1126,11918,0.00,1.95,0.00,0.000,6,0.000,0.036,3073,1095,2080,0,0,0,0,0,0
$GC,12246,0.72,228.7,314.9,12.2,1187,12254,0.00,1.38,0.00,0.000,4,0.000,0.045,3080,189,2079,0,0,0,0,0,0
$GC,12299,0.72,228.7,307.3,14.0,1196,12307,0.00,1.20,0.00,0.000,6,0.000,0.021,3080,1099,2079,0,0,0,0,0,0
$GC,12635,0.75,252.2,264.8,10.3,1257,12655,0.00,0.00,17.45,0.827,6,0.000,0.000,3080,1100,2000,0,0,0,0,0,0
$GC,12982,0.75,252.2,221.9,12.1,1320,12990,0.00,1.85,0.00,0.000,4,0.000,0.021,3080,2379,1998,0,0,0,0,0,0
$GC,13114,0.76,258.2,207.7,10.9,1343,13130,0.00,2.00,6.07,0.648,6,0.000,0.034,3087,1058,1977,0,0,0,0,0,0
$GC,13458,0.78,277.4,168.6,10.5,1405,13479,0.00,1.35,17.50,0.729,4,0.000,0.044,3094,187,1898,0,0,0,0,0,0
$GC,13552,0.78,277.4,157.0,12.7,1421,13559,0.00,1.20,0.00,0.000,6,0.000,0.020,3094,1105,1896,0,0,0,0,0,0
$GC,13881,0.90,374.9,123.5,7.9,1482,13965,0.00,1.48,77.20,0.706,4,0.000,0.042,3099,186,1499,0,0,0,0,0,0
$GC,14064,0.90,374.9,101.6,14.4,1511,14072,0.00,1.23,0.00,0.000,6,0.000,0.019,3099,1116,1494,0,0,0,0,0,0
$GC,14392,1.01,466.2,69.1,8.1,1572,14473,0.12,1.45,71.93,0.645,4,0.091,0.040,3168,190,1126,0,0,0,0,0,0
$GC,14502,1.01,466.2,55.5,14.5,1587,14510,0.00,1.23,0.00,0.000,6,0.000,0.018,3168,1121,1124,0,0,0,0,0,0
$GC,14829,1.01,466.2,9.3,13.7,1648,14837,0.00,1.40,0.00,0.000,4,0.000,0.041,3174,191,1122,0,0,0,0,0,0
$STATE,14869,end climb,SURFACE_DEPTH_REACHED
$STATE,14869,begin surface coast
$FINISH,0.5,1.008710
$STATE,14886,end surface coast,CONTROL_FINISHED_OK
$STATE,14886,begin surface
$SM_CCo,14964,0.00,0.000,0,0,1120,468.28
$SM_GC,1.48,7.75,0.00,0.00,0.030,0.000,0.000,108,888,1120,-8.36,2.77,468.28
$IRIDIUM_FIX,2143.45,12634.08,241010,030344
$TT8_MAMPS,0.028462
$HUMID,38.46
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.1,43.692
$10V_AH,10.3,39.875
$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,18.900,91.500,566.425,0.000,0.000,59.192,87.258,214.327,0.000,0.000,15.917,4019.528,6439.412,605.352,3992.595,507.396,0.000,2070.857,0.000,3652.040,0.000,0.542,0.000
$DEVICE_MAMPS,217.260,69.615,1404.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1128.811,1464.626,1930.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96967,1658
$CAP_FILE_SIZE,167056,0
$CFSIZE,260165632,152797184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,279.0,1
$GPS,241010,081705,2151.040,12634.422,37,1.6,42,-3.0