version: 66.08
glider: 167
mission: 6
dive: 242
start: 10 25 110 10 52 37
data:
$ID,167
$MISSION,6
$DIVE,242
$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,-54427.699
$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,43
$R_STBD_OVSHOOT,136
$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
$GPS1,251010,104207,2145.153,12628.187,33,1.5,33,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.8
$GPS2,251010,105214,2145.105,12628.190,13,1.6,13,-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,223.1,63735,-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,-228.7,0.0,0.0,0,83,0.00,0.00,-63.40,0.000,2,0.000,0.000,99,845,3313,0,0,0,0,0,0
$GC,86,-0.72,-228.7,6.3,-14.4,9,111,9.60,1.90,-9.77,0.000,4,0.218,0.031,2572,2183,3964,0,0,0,0,0,0
$GC,267,-0.72,-228.7,67.2,-24.0,41,275,0.00,2.12,0.00,0.000,6,0.000,0.032,2572,787,3966,0,0,0,0,0,0
$GC,591,-0.72,-228.7,153.1,-23.3,102,600,0.00,0.85,0.00,0.000,4,0.000,0.040,2571,192,3967,0,0,0,0,0,0
$GC,716,-0.72,-228.7,179.7,-19.7,123,723,0.00,0.68,0.00,0.000,6,0.000,0.021,2568,802,3967,0,0,0,0,0,0
$GC,1059,-0.72,-228.7,243.2,-18.2,184,1067,0.00,0.90,0.00,0.000,4,0.000,0.041,2567,186,3968,0,0,0,0,0,0
$GC,1262,-0.72,-228.7,279.6,-18.8,220,1269,0.00,0.62,0.00,0.000,6,0.000,0.021,2564,757,3968,0,0,0,0,0,0
$GC,1604,-0.72,-228.7,337.1,-16.2,281,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,758,3968,0,0,0,0,0,0
$GC,1940,-0.72,-228.7,390.4,-15.2,342,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,758,3968,0,0,0,0,0,0
$GC,2284,-0.72,-228.7,437.1,-13.1,403,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,758,3966,0,0,0,0,0,0
$GC,2620,-0.72,-228.7,479.9,-12.6,464,2628,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2118,3963,0,0,0,0,0,0
$GC,2689,-0.72,-228.7,486.9,-9.7,475,2696,0.00,2.03,0.00,0.000,6,0.000,0.034,2562,750,3963,0,0,0,0,0,0
$GC,3019,-0.72,-228.7,524.7,-11.3,516,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,751,3960,0,0,0,0,0,0
$GC,3341,-0.72,-228.7,564.4,-13.0,546,3344,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2130,3957,0,0,0,0,0,0
$GC,3379,-0.72,-228.7,569.9,-11.6,549,3386,0.00,2.08,0.00,0.000,6,0.000,0.034,2560,750,3958,0,0,0,0,0,0
$GC,3706,-0.72,-228.7,611.8,-12.7,576,3709,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2124,3955,0,0,0,0,0,0
$GC,3761,-0.72,-228.7,618.4,-10.2,578,3765,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,768,3954,0,0,0,0,0,0
$GC,4083,-0.72,-228.7,653.9,-10.4,594,4087,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2125,3951,0,0,0,0,0,0
$GC,4141,-0.72,-228.7,658.9,-8.0,596,4145,0.00,2.08,0.00,0.000,6,0.000,0.036,2561,756,3950,0,0,0,0,0,0
$GC,4458,-0.72,-228.7,690.1,-9.9,611,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,755,3948,0,0,0,0,0,0
$GC,4768,-0.72,-228.7,721.1,-10.1,626,4772,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2121,3945,0,0,0,0,0,0
$GC,4807,-0.72,-228.7,724.9,-8.3,627,4815,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,759,3944,0,0,0,0,0,0
$GC,5124,-0.72,-228.7,754.7,-9.5,643,5127,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2122,3942,0,0,0,0,0,0
$GC,5187,-0.72,-228.7,760.2,-7.8,645,5193,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,779,3942,0,0,0,0,0,0
$GC,5503,-0.72,-228.7,791.7,-10.2,661,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3940,0,0,0,0,0,0
$GC,5814,-0.72,-228.7,824.6,-10.9,676,5817,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2122,3937,0,0,0,0,0,0
$GC,5885,-0.72,-228.7,831.6,-10.3,679,5889,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,784,3936,0,0,0,0,0,0
$GC,6219,-0.72,-228.7,866.1,-10.2,695,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,784,3934,0,0,0,0,0,0
$GC,6531,-0.72,-228.7,896.8,-9.8,710,6534,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2120,3932,0,0,0,0,0,0
$GC,6592,-0.72,-228.7,902.6,-8.3,712,6599,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,784,3932,0,0,0,0,0,0
$GC,6908,-0.72,-228.7,930.7,-9.0,728,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,784,3929,0,0,0,0,0,0
$GC,7220,-0.72,-228.7,957.2,-8.5,743,7223,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2119,3927,0,0,0,0,0,0
$GC,7312,-0.72,-228.7,964.6,-7.8,747,7315,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,785,3927,0,0,0,0,0,0
$GC,7647,-0.72,-228.7,995.5,-9.6,763,7651,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2119,3924,0,0,0,0,0,0
$GC,7686,-0.72,-228.7,999.4,-8.7,764,7693,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,788,3924,0,0,0,0,0,0
$STATE,7711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7711,begin apogee
$GC,7717,-0.14,0.0,1001.9,9.2,766,7909,0.62,0.00,181.10,1.410,4,0.117,0.000,2769,941,3028,0,0,0,0,0,0
$STATE,7910,end apogee,CONTROL_FINISHED_OK
$STATE,7910,begin climb
$GC,7912,0.72,228.7,1012.1,0.0,775,8114,0.75,1.25,194.62,1.356,4,0.047,0.050,3061,192,2096,0,0,0,0,0,0
$GC,8143,0.72,228.7,988.2,18.5,786,8147,0.00,1.10,0.00,0.000,6,0.000,0.025,3061,918,2091,0,0,0,0,0,0
$GC,8478,0.72,228.7,928.1,18.3,802,8482,0.00,2.05,0.00,0.000,4,0.000,0.024,3061,2311,2084,0,0,0,0,0,0
$GC,8658,0.72,228.7,896.1,17.3,810,8661,0.00,2.00,0.00,0.000,6,0.000,0.037,3069,1016,2082,0,0,0,0,0,0
$GC,8986,0.72,228.7,835.3,18.6,826,8990,0.00,1.90,0.00,0.000,4,0.000,0.024,3069,2312,2081,0,0,0,0,0,0
$GC,9066,0.72,228.7,820.9,17.9,829,9069,0.00,1.98,0.00,0.000,6,0.000,0.037,3078,1023,2081,0,0,0,0,0,0
$GC,9389,0.72,228.7,759.6,19.5,845,9393,0.00,1.85,0.00,0.000,4,0.000,0.022,3078,2313,2080,0,0,0,0,0,0
$GC,9444,0.72,228.7,748.5,17.8,847,9448,0.00,2.00,0.00,0.000,6,0.000,0.037,3083,1027,2080,0,0,0,0,0,0
$GC,9767,0.72,228.7,688.9,18.6,863,9771,0.00,1.85,0.00,0.000,4,0.000,0.023,3083,2314,2080,0,0,0,0,0,0
$GC,9862,0.72,228.7,671.7,19.1,867,9866,0.15,1.95,0.00,0.000,6,0.180,0.037,3053,1039,2079,0,0,0,0,0,0
$GC,10189,0.72,228.7,616.1,16.2,883,10193,0.00,1.85,0.00,0.000,4,0.000,0.024,3053,2314,2079,0,0,0,0,0,0
$GC,10239,0.72,228.7,607.7,16.2,885,10243,0.00,1.95,0.00,0.000,6,0.000,0.037,3058,1053,2078,0,0,0,0,0,0
$GC,10564,0.72,228.7,557.9,14.7,913,10568,0.00,1.85,0.00,0.000,4,0.000,0.023,3059,2327,2078,0,0,0,0,0,0
$GC,10621,0.72,228.7,549.3,15.4,918,10624,0.00,1.95,0.00,0.000,6,0.000,0.037,3062,1052,2078,0,0,0,0,0,0
$GC,10952,0.72,228.7,499.6,14.3,949,10958,0.00,1.80,0.00,0.000,4,0.000,0.021,3062,2320,2078,0,0,0,0,0,0
$GC,11011,0.72,228.7,491.3,13.9,959,11017,0.00,1.92,0.00,0.000,6,0.000,0.037,3069,1056,2077,0,0,0,0,0,0
$GC,11351,0.72,228.7,443.4,13.3,1020,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1056,2077,0,0,0,0,0,0
$GC,11695,0.72,228.7,391.2,14.5,1081,11702,0.00,1.83,0.00,0.000,4,0.000,0.021,3069,2333,2077,0,0,0,0,0,0
$GC,11767,0.72,228.7,381.1,13.8,1093,11773,0.00,1.92,0.00,0.000,6,0.000,0.037,3075,1065,2076,0,0,0,0,0,0
$GC,12106,0.72,228.7,334.3,12.5,1154,12114,0.00,1.33,0.00,0.000,4,0.000,0.046,3082,189,2077,0,0,0,0,0,0
$GC,12198,0.72,228.7,321.3,14.0,1170,12207,0.00,1.08,0.00,0.000,6,0.000,0.024,3082,988,2077,0,0,0,0,0,0
$GC,12543,0.72,228.7,277.9,12.7,1231,12550,0.00,1.98,0.00,0.000,4,0.000,0.021,3082,2381,2077,0,0,0,0,0,0
$GC,12703,0.73,233.4,258.9,11.0,1259,12710,0.12,2.03,0.00,0.000,6,0.174,0.034,3057,1043,2077,0,0,0,0,0,0
$GC,13045,0.73,233.4,220.8,11.4,1320,13053,0.00,1.27,0.00,0.000,4,0.000,0.044,3063,193,2078,0,0,0,0,0,0
$GC,13215,0.73,233.4,201.9,11.2,1350,13224,0.00,1.15,0.00,0.000,6,0.000,0.021,3063,1067,2078,0,0,0,0,0,0
$GC,13562,0.80,292.8,168.8,9.2,1411,13617,0.00,1.40,49.40,0.756,4,0.000,0.044,3068,184,1835,0,0,0,0,0,0
$GC,13655,0.84,329.4,160.0,9.9,1425,13697,0.00,1.17,30.50,0.726,6,0.000,0.020,3068,1071,1685,0,0,0,0,0,0
$GC,14022,0.95,416.3,124.6,8.3,1491,14097,0.17,1.40,68.82,0.700,4,0.073,0.042,3153,194,1330,0,0,0,0,0,0
$GC,14160,0.95,416.3,103.5,18.7,1512,14168,0.00,1.12,0.00,0.000,6,0.000,0.020,3153,1054,1327,0,0,0,0,0,0
$GC,14491,0.95,416.3,52.1,15.5,1573,14499,0.00,1.90,0.00,0.000,4,0.000,0.018,3152,2383,1324,0,0,0,0,0,0
$GC,14564,0.98,435.9,42.1,10.5,1586,14588,0.00,2.08,16.05,0.598,6,0.000,0.031,3161,1020,1250,0,0,0,0,0,0
$STATE,14827,end climb,SURFACE_DEPTH_REACHED
$STATE,14827,begin surface coast
$FINISH,0.5,1.021690
$STATE,14852,end surface coast,CONTROL_FINISHED_OK
$STATE,14852,begin surface
$SM_CCo,14930,0.00,0.000,0,0,1244,437.62
$SM_GC,1.28,7.82,0.00,0.00,0.038,0.000,0.000,116,773,1244,-8.35,-0.48,437.62
$IRIDIUM_FIX,2138.81,12626.21,251010,101011
$TT8_MAMPS,0.028462
$HUMID,40.15
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.10
$XPDR_PINGS,0
$24V_AH,23.1,45.060
$10V_AH,10.3,41.165
$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,19.250,98.250,540.500,0.000,0.000,49.856,79.363,214.819,0.000,0.000,14.477,3987.648,6516.975,589.961,3916.062,502.272,0.000,2037.240,0.000,3588.373,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,59.670,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1115.990,1443.802,1880.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,96710,1638
$CAP_FILE_SIZE,167414,0
$CFSIZE,260165632,152133632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 30.8,1
$GPS,251010,150237,2144.094,12627.087,33,0.9,33,-3.0