version: 66.08
glider: 167
mission: 6
dive: 244
start: 10 25 110 19 36 25
data:
$ID,167
$MISSION,6
$DIVE,244
$N_DIVES,256
$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,-54430.215
$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,103
$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
$GPS1,251010,192537,2143.408,12626.198,29,1.3,29,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.3
$GPS2,251010,193602,2143.384,12626.125,13,1.4,13,-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,227.5,58955,-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,18,-0.72,-228.7,0.0,0.0,0,101,0.00,0.00,-80.40,0.000,2,0.000,0.000,102,780,3347,0,0,0,0,0,0
$GC,104,-0.72,-228.7,5.2,-9.4,11,130,9.43,2.05,-9.70,0.000,4,0.212,0.030,2569,2212,3965,0,0,0,0,0,0
$GC,259,-0.72,-228.7,59.7,-27.1,38,267,0.00,2.17,0.00,0.000,6,0.000,0.033,2569,788,3966,0,0,0,0,0,0
$GC,583,-0.72,-228.7,148.9,-21.9,99,590,0.00,0.85,0.00,0.000,4,0.000,0.041,2569,195,3967,0,0,0,0,0,0
$GC,837,-0.72,-228.7,208.3,-21.7,145,845,0.00,0.73,0.00,0.000,6,0.000,0.020,2564,856,3968,0,0,0,0,0,0
$GC,1168,-0.72,-228.7,267.6,-16.9,206,1176,0.00,1.85,0.00,0.000,4,0.000,0.016,2560,2176,3968,0,0,0,0,0,0
$GC,1211,-0.72,-228.7,274.7,-15.7,213,1219,0.00,2.08,0.00,0.000,6,0.000,0.032,2561,780,3968,0,0,0,0,0,0
$GC,1545,-0.72,-228.7,333.7,-16.5,274,1553,0.00,0.85,0.00,0.000,4,0.000,0.041,2561,189,3967,0,0,0,0,0,0
$GC,1713,-0.72,-228.7,362.8,-16.8,304,1721,0.00,0.75,0.00,0.000,6,0.000,0.020,2560,869,3967,0,0,0,0,0,0
$GC,2050,-0.72,-228.7,412.3,-14.5,365,2058,0.10,1.00,0.00,0.000,4,0.179,0.041,2585,199,3967,0,0,0,0,0,0
$GC,2134,-0.72,-228.7,423.6,-13.1,380,2142,0.00,0.73,0.00,0.000,6,0.000,0.021,2585,841,3967,0,0,0,0,0,0
$GC,2467,-0.72,-228.7,462.9,-11.8,441,2474,0.00,1.88,0.00,0.000,4,0.000,0.016,2584,2194,3965,0,0,0,0,0,0
$GC,2506,-0.72,-228.7,466.8,-10.5,447,2513,0.00,2.12,0.00,0.000,6,0.000,0.033,2584,765,3964,0,0,0,0,0,0
$GC,2838,-0.72,-228.7,504.4,-11.7,505,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,765,3962,0,0,0,0,0,0
$GC,3157,-0.72,-228.7,538.1,-10.3,535,3160,0.00,2.00,0.00,0.000,4,0.000,0.016,2581,2170,3959,0,0,0,0,0,0
$GC,3214,-0.72,-228.7,543.5,-9.0,540,3218,0.00,2.12,0.00,0.000,6,0.000,0.034,2582,765,3959,0,0,0,0,0,0
$GC,3545,-0.72,-228.7,578.8,-10.8,571,3548,0.00,2.00,0.00,0.000,4,0.000,0.016,2582,2171,3956,0,0,0,0,0,0
$GC,3581,-0.72,-228.7,582.1,-8.5,574,3584,0.00,2.12,0.00,0.000,6,0.000,0.034,2582,770,3956,0,0,0,0,0,0
$GC,3905,-0.72,-228.7,616.7,-10.8,597,3909,0.00,2.03,0.00,0.000,4,0.000,0.017,2582,2202,3952,0,0,0,0,0,0
$GC,3983,-0.72,-228.7,624.7,-9.0,600,3987,0.00,2.12,0.00,0.000,6,0.000,0.035,2582,795,3953,0,0,0,0,0,0
$GC,4301,-0.72,-228.7,658.7,-10.8,615,4305,0.00,1.95,0.00,0.000,4,0.000,0.017,2582,2169,3950,0,0,0,0,0,0
$GC,4340,-0.72,-228.7,662.8,-9.1,616,4346,0.00,2.10,0.00,0.000,6,0.000,0.036,2581,785,3949,0,0,0,0,0,0
$GC,4656,-0.72,-228.7,695.2,-10.5,632,4660,0.00,1.98,0.00,0.000,4,0.000,0.017,2582,2170,3947,0,0,0,0,0,0
$GC,4691,-0.72,-228.7,698.6,-9.5,633,4695,0.00,2.10,0.00,0.000,6,0.000,0.036,2582,794,3946,0,0,0,0,0,0
$GC,5007,-0.72,-228.7,730.3,-9.8,648,5011,0.00,1.98,0.00,0.000,4,0.000,0.018,2582,2177,3944,0,0,0,0,0,0
$GC,5059,-0.72,-228.7,734.7,-7.9,650,5063,0.00,2.10,0.00,0.000,6,0.000,0.036,2582,800,3943,0,0,0,0,0,0
$GC,5387,-0.72,-228.7,764.0,-8.9,666,5390,0.00,1.95,0.00,0.000,4,0.000,0.017,2582,2170,3941,0,0,0,0,0,0
$GC,5455,-0.72,-228.7,769.6,-8.1,669,5459,0.00,2.08,0.00,0.000,6,0.000,0.037,2582,808,3941,0,0,0,0,0,0
$GC,5785,-0.72,-228.7,797.3,-8.5,685,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,808,3939,0,0,0,0,0,0
$GC,6092,-0.72,-228.7,824.3,-8.8,700,6096,0.00,1.95,0.00,0.000,4,0.000,0.018,2582,2172,3936,0,0,0,0,0,0
$GC,6120,-0.72,-228.7,826.6,-8.0,701,6124,0.00,2.10,0.00,0.000,6,0.000,0.038,2582,798,3936,0,0,0,0,0,0
$GC,6449,-0.72,-228.7,853.7,-8.2,717,6453,0.00,1.98,0.00,0.000,4,0.000,0.018,2582,2172,3934,0,0,0,0,0,0
$GC,6482,-0.72,-228.7,856.7,-7.6,718,6486,0.00,2.08,0.00,0.000,6,0.000,0.038,2582,823,3934,0,0,0,0,0,0
$GC,6800,-0.72,-228.7,883.6,-9.0,733,6804,0.00,1.92,0.00,0.000,4,0.000,0.018,2582,2168,3931,0,0,0,0,0,0
$GC,6833,-0.72,-228.7,886.5,-8.1,734,6837,0.00,2.05,0.00,0.000,6,0.000,0.038,2581,829,3931,0,0,0,0,0,0
$GC,7156,-0.72,-228.7,915.1,-8.8,750,7159,0.00,1.92,0.00,0.000,4,0.000,0.018,2581,2171,3929,0,0,0,0,0,0
$GC,7196,-0.72,-228.7,918.4,-8.2,751,7203,0.00,2.05,0.00,0.000,6,0.000,0.038,2582,833,3929,0,0,0,0,0,0
$GC,7512,-0.72,-228.7,945.7,-8.6,767,7516,0.00,1.92,0.00,0.000,4,0.000,0.018,2582,2159,3927,0,0,0,0,0,0
$GC,7546,-0.72,-228.7,948.4,-8.0,768,7549,0.00,2.03,0.00,0.000,6,0.000,0.039,2582,841,3927,0,0,0,0,0,0
$GC,7871,-0.72,-228.7,974.4,-7.9,784,7874,0.00,1.90,0.00,0.000,4,0.000,0.018,2582,2169,3925,0,0,0,0,0,0
$GC,7906,-0.72,-228.7,977.3,-7.2,785,7909,0.00,2.05,0.00,0.000,6,0.000,0.038,2582,835,3925,0,0,0,0,0,0
$STATE,8219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8220,begin apogee
$GC,8227,-0.14,0.0,1000.8,7.1,800,8414,0.55,0.00,181.15,1.405,4,0.109,0.000,2770,1007,3029,0,0,0,0,0,0
$STATE,8414,end apogee,CONTROL_FINISHED_OK
$STATE,8414,begin climb
$GC,8419,0.72,228.7,1007.4,0.0,808,8622,0.80,2.15,195.35,1.346,4,0.047,0.020,3061,2396,2095,0,0,0,0,0,0
$GC,8880,0.72,228.7,938.1,18.4,829,8884,0.00,2.17,0.00,0.000,6,0.000,0.037,3070,997,2087,0,0,0,0,0,0
$GC,9209,0.72,228.7,872.7,19.7,845,9213,0.00,1.23,0.00,0.000,4,0.000,0.047,3077,197,2084,0,0,0,0,0,0
$GC,9434,0.72,228.7,826.0,19.5,855,9438,0.00,1.12,0.00,0.000,6,0.000,0.026,3077,999,2085,0,0,0,0,0,0
$GC,9769,0.72,228.7,760.6,19.7,871,9773,0.00,2.00,0.00,0.000,4,0.000,0.024,3077,2380,2083,0,0,0,0,0,0
$GC,9819,0.72,228.7,750.6,18.4,873,9822,0.00,2.10,0.00,0.000,6,0.000,0.037,3084,1018,2083,0,0,0,0,0,0
$GC,10148,0.72,228.7,687.8,18.9,889,10151,0.00,2.00,0.00,0.000,4,0.000,0.024,3084,2390,2082,0,0,0,0,0,0
$GC,10216,0.72,228.7,674.2,19.2,892,10221,0.15,2.10,0.00,0.000,6,0.177,0.037,3053,1019,2081,0,0,0,0,0,0
$GC,10544,0.72,228.7,618.9,16.1,908,10548,0.00,2.00,0.00,0.000,4,0.000,0.023,3054,2390,2081,0,0,0,0,0,0
$GC,10614,0.72,228.7,608.5,14.8,911,10618,0.00,2.10,0.00,0.000,6,0.000,0.037,3062,1023,2081,0,0,0,0,0,0
$GC,10938,0.72,228.7,559.6,14.7,939,10942,0.00,1.98,0.00,0.000,4,0.000,0.021,3062,2396,2081,0,0,0,0,0,0
$GC,10967,0.72,228.7,555.4,14.4,941,10975,0.00,2.10,0.00,0.000,6,0.000,0.037,3069,1025,2080,0,0,0,0,0,0
$GC,11294,0.72,228.7,506.3,15.3,972,11298,0.00,1.98,0.00,0.000,4,0.000,0.021,3069,2388,2080,0,0,0,0,0,0
$GC,11435,0.72,228.7,485.0,16.2,993,11443,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1048,2080,0,0,0,0,0,0
$GC,11768,0.72,228.7,431.7,14.7,1054,11776,0.00,1.98,0.00,0.000,4,0.000,0.021,3078,2397,2079,0,0,0,0,0,0
$GC,11801,0.72,228.7,426.7,15.2,1059,11808,0.12,2.03,0.00,0.000,6,0.175,0.036,3054,1067,2080,0,0,0,0,0,0
$GC,12137,0.72,228.7,381.5,13.8,1120,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1067,2080,0,0,0,0,0,0
$GC,12472,0.72,228.7,338.2,12.6,1181,12479,0.00,1.90,0.00,0.000,4,0.000,0.020,3054,2396,2080,0,0,0,0,0,0
$GC,12526,0.72,228.7,331.4,11.2,1190,12534,0.00,2.03,0.00,0.000,6,0.000,0.036,3062,1080,2080,0,0,0,0,0,0
$GC,12860,0.72,228.7,291.4,12.3,1251,12866,0.00,1.35,0.00,0.000,4,0.000,0.045,3068,190,2080,0,0,0,0,0,0
$GC,12964,0.72,228.7,278.4,13.3,1269,12971,0.00,1.23,0.00,0.000,6,0.000,0.021,3068,1125,2080,0,0,0,0,0,0
$GC,13297,0.72,228.7,240.3,11.3,1330,13305,0.00,1.83,0.00,0.000,4,0.000,0.018,3068,2408,2080,0,0,0,0,0,0
$GC,13482,0.72,228.7,219.7,11.3,1363,13489,0.00,2.00,0.00,0.000,6,0.000,0.034,3075,1082,2081,0,0,0,0,0,0
$GC,13818,0.77,272.5,182.7,9.7,1424,13860,0.00,1.33,33.75,0.761,4,0.000,0.041,3081,184,1917,0,0,0,0,0,0
$GC,14061,0.77,272.5,155.4,12.0,1467,14068,0.00,1.23,0.00,0.000,6,0.000,0.018,3082,1135,1914,0,0,0,0,0,0
$GC,14392,0.83,321.3,119.3,9.5,1528,14437,0.00,1.88,39.10,0.702,4,0.000,0.018,3082,2406,1718,0,0,0,0,0,0
$GC,14526,0.93,400.0,107.4,8.5,1550,14599,0.00,2.05,62.62,0.685,6,0.000,0.034,3088,1077,1398,0,0,0,0,0,0
$GC,14919,1.06,506.7,68.0,7.6,1620,15009,0.20,1.40,83.68,0.643,4,0.067,0.041,3188,190,962,0,0,0,0,0,0
$GC,15110,1.06,506.7,37.1,21.4,1650,15118,0.00,1.25,0.00,0.000,6,0.000,0.018,3188,1149,960,0,0,0,0,0,0
$STATE,15287,end climb,SURFACE_DEPTH_REACHED
$STATE,15287,begin surface coast
$FINISH,0.5,1.021693
$STATE,15304,end surface coast,CONTROL_FINISHED_OK
$STATE,15304,begin surface
$SM_CCo,15384,0.00,0.000,0,0,956,508.51
$SM_GC,1.37,7.88,0.00,0.00,0.034,0.000,0.000,125,782,956,-8.35,-0.25,508.51
$IRIDIUM_FIX,2136.49,12626.21,251010,191947
$TT8_MAMPS,0.028462
$HUMID,40.51
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.00
$XPDR_PINGS,1
$24V_AH,23.1,45.471
$10V_AH,10.3,41.532
$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,19.225,120.850,595.650,0.000,0.000,55.193,80.856,223.533,0.250,0.000,13.885,4117.471,6628.756,633.122,4075.820,529.947,0.000,2163.133,0.000,3735.148,0.000,0.543,0.000
$DEVICE_MAMPS,211.905,50.490,1404.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.880,1483.503,1936.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,97025,1686
$CAP_FILE_SIZE,177725,0
$CFSIZE,260165632,151932928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 57.9,1
$GPS,251010,235407,2142.144,12625.097,41,1.3,41,-3.0