version: 66.08
glider: 167
mission: 6
dive: 239
start: 10 24 110 21 39 24
data:
$ID,167
$MISSION,6
$DIVE,239
$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,-54423.926
$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,45
$R_STBD_OVSHOOT,90
$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
$GPS1,241010,213055,2148.235,12631.803,36,1.3,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.1
$GPS2,241010,213901,2148.347,12631.917,11,1.9,16,-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,227.9,72530,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.72,-228.7,0.0,0.0,0,81,0.00,0.00,-63.78,0.000,2,0.000,0.000,104,776,3156,0,0,0,0,0,0
$GC,85,-0.72,-228.7,5.0,-11.3,9,116,9.68,2.03,-13.10,0.000,4,0.223,0.028,2570,2221,3963,0,0,0,0,0,0
$GC,265,-0.72,-228.7,61.3,-25.6,41,273,0.00,2.17,0.00,0.000,6,0.000,0.033,2570,795,3965,0,0,0,0,0,0
$GC,591,-0.72,-228.7,143.3,-22.2,102,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,795,3966,0,0,0,0,0,0
$GC,927,-0.72,-228.7,213.5,-18.3,163,934,0.00,0.88,0.00,0.000,4,0.000,0.041,2570,189,3967,0,0,0,0,0,0
$GC,1107,-0.72,-228.7,248.6,-19.3,195,1114,0.00,0.80,0.00,0.000,6,0.000,0.019,2565,896,3967,0,0,0,0,0,0
$GC,1438,-0.72,-228.7,303.5,-15.5,256,1446,0.00,1.02,0.00,0.000,4,0.000,0.040,2565,193,3967,0,0,0,0,0,0
$GC,1578,-0.72,-228.7,326.7,-15.1,281,1585,0.00,0.75,0.00,0.000,6,0.000,0.021,2562,868,3967,0,0,0,0,0,0
$GC,1912,-0.72,-228.7,377.0,-14.7,342,1920,0.00,1.00,0.00,0.000,4,0.000,0.040,2561,188,3967,0,0,0,0,0,0
$GC,1993,-0.72,-228.7,389.4,-16.1,356,2001,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,853,3967,0,0,0,0,0,0
$GC,2325,-0.72,-228.7,437.8,-13.8,417,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,853,3966,0,0,0,0,0,0
$GC,2654,-0.72,-228.7,480.4,-12.3,478,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,854,3963,0,0,0,0,0,0
$GC,2985,-0.72,-228.7,524.4,-13.1,523,2989,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2187,3961,0,0,0,0,0,0
$GC,3020,-0.72,-228.7,528.3,-10.7,526,3024,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,755,3960,0,0,0,0,0,0
$GC,3345,-0.72,-228.7,565.4,-11.4,556,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,754,3957,0,0,0,0,0,0
$GC,3677,-0.72,-228.7,602.9,-11.8,586,3680,0.00,2.03,0.00,0.000,4,0.000,0.018,2561,2170,3955,0,0,0,0,0,0
$GC,3710,-0.72,-228.7,607.0,-10.2,587,3714,0.00,2.15,0.00,0.000,6,0.000,0.035,2561,753,3955,0,0,0,0,0,0
$GC,4026,-0.72,-228.7,643.6,-12.0,602,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,753,3952,0,0,0,0,0,0
$GC,4337,-0.72,-228.7,681.7,-12.5,617,4340,0.00,2.05,0.00,0.000,4,0.000,0.018,2561,2169,3950,0,0,0,0,0,0
$GC,4398,-0.72,-228.7,688.5,-9.7,619,4406,0.00,2.17,0.00,0.000,6,0.000,0.036,2561,755,3949,0,0,0,0,0,0
$GC,4714,-0.72,-228.7,723.3,-10.8,635,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,755,3947,0,0,0,0,0,0
$GC,5026,-0.72,-228.7,754.9,-10.1,650,5029,0.00,2.05,0.00,0.000,4,0.000,0.018,2561,2170,3944,0,0,0,0,0,0
$GC,5081,-0.72,-228.7,760.1,-8.8,652,5085,0.00,2.17,0.00,0.000,6,0.000,0.037,2561,759,3943,0,0,0,0,0,0
$GC,5403,-0.72,-228.7,791.7,-10.3,668,5407,0.00,0.85,0.00,0.000,4,0.000,0.047,2561,189,3941,0,0,0,0,0,0
$GC,5466,-0.72,-228.7,798.6,-11.0,670,5473,0.00,0.75,0.00,0.000,6,0.000,0.024,2561,779,3941,0,0,0,0,0,0
$GC,5783,-0.72,-228.7,831.8,-10.2,686,5786,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2157,3938,0,0,0,0,0,0
$GC,5852,-0.72,-228.7,837.8,-8.7,689,5857,0.00,2.12,0.00,0.000,6,0.000,0.038,2561,767,3938,0,0,0,0,0,0
$GC,6180,-0.72,-228.7,868.9,-9.2,705,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,766,3936,0,0,0,0,0,0
$GC,6490,-0.72,-228.7,898.5,-9.6,720,6493,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2155,3934,0,0,0,0,0,0
$GC,6530,-0.72,-228.7,902.2,-8.6,721,6537,0.00,2.15,0.00,0.000,6,0.000,0.038,2560,759,3933,0,0,0,0,0,0
$GC,6847,-0.72,-228.7,931.9,-9.3,737,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,759,3931,0,0,0,0,0,0
$GC,7158,-0.72,-228.7,960.3,-9.0,752,7162,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2165,3928,0,0,0,0,0,0
$GC,7209,-0.72,-228.7,964.7,-8.0,754,7213,0.00,2.15,0.00,0.000,6,0.000,0.038,2561,767,3928,0,0,0,0,0,0
$GC,7531,-0.72,-228.7,993.2,-9.0,770,7535,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2157,3926,0,0,0,0,0,0
$GC,7560,-0.72,-228.7,995.8,-8.1,771,7565,0.00,2.15,0.00,0.000,6,0.000,0.038,2561,769,3926,0,0,0,0,0,0
$STATE,7611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7612,begin apogee
$GC,7618,-0.14,0.0,1000.2,8.5,774,7804,0.62,0.00,181.12,1.406,4,0.116,0.000,2770,997,3028,0,0,0,0,0,0
$STATE,7805,end apogee,CONTROL_FINISHED_OK
$STATE,7805,begin climb
$GC,7807,0.72,228.7,1008.3,0.0,782,8009,0.80,2.15,194.52,1.346,4,0.048,0.021,3061,2384,2096,0,0,0,0,0,0
$GC,8245,0.72,228.7,947.7,18.1,802,8252,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,998,2088,0,0,0,0,0,0
$GC,8563,0.72,228.7,886.3,19.5,818,8567,0.00,1.23,0.00,0.000,4,0.000,0.047,3076,194,2085,0,0,0,0,0,0
$GC,8773,0.72,228.7,842.8,21.4,827,8777,0.00,1.12,0.00,0.000,6,0.000,0.026,3075,993,2085,0,0,0,0,0,0
$GC,9100,0.72,228.7,780.1,19.2,843,9104,0.00,2.03,0.00,0.000,4,0.000,0.022,3075,2383,2084,0,0,0,0,0,0
$GC,9223,0.72,228.7,757.2,18.6,848,9227,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1026,2083,0,0,0,0,0,0
$GC,9547,0.72,228.7,695.3,19.8,864,9551,0.00,1.98,0.00,0.000,4,0.000,0.021,3083,2399,2082,0,0,0,0,0,0
$GC,9617,0.72,228.7,681.7,19.1,867,9622,0.15,2.08,0.00,0.000,6,0.182,0.035,3053,1043,2082,0,0,0,0,0,0
$GC,9945,0.72,228.7,626.7,16.0,883,9949,0.00,1.95,0.00,0.000,4,0.000,0.024,3053,2393,2082,0,0,0,0,0,0
$GC,9991,0.72,228.7,619.2,15.1,885,9995,0.00,2.08,0.00,0.000,6,0.000,0.036,3062,1037,2081,0,0,0,0,0,0
$GC,10314,0.72,228.7,565.5,16.2,910,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1036,2081,0,0,0,0,0,0
$GC,10635,0.72,228.7,513.9,16.2,940,10638,0.00,1.98,0.00,0.000,4,0.000,0.022,3061,2398,2080,0,0,0,0,0,0
$GC,10743,0.72,228.7,497.4,14.7,951,10751,0.00,2.08,0.00,0.000,6,0.000,0.037,3067,1037,2080,0,0,0,0,0,0
$GC,11071,0.72,228.7,447.3,16.2,1012,11079,0.00,2.00,0.00,0.000,4,0.000,0.023,3067,2399,2080,0,0,0,0,0,0
$GC,11181,0.72,228.7,431.1,14.6,1031,11188,0.00,2.03,0.00,0.000,6,0.000,0.035,3076,1065,2079,0,0,0,0,0,0
$GC,11517,0.72,228.7,379.4,14.8,1092,11525,0.00,1.98,0.00,0.000,4,0.000,0.023,3076,2401,2080,0,0,0,0,0,0
$GC,11575,0.72,228.7,370.8,14.1,1102,11582,0.00,2.03,0.00,0.000,6,0.000,0.036,3084,1083,2079,0,0,0,0,0,0
$GC,11910,0.72,228.7,320.1,14.9,1163,11918,0.00,1.35,0.00,0.000,4,0.000,0.045,3091,190,2079,0,0,0,0,0,0
$GC,11960,0.72,228.7,312.1,16.5,1171,11968,0.10,1.25,0.00,0.000,6,0.161,0.023,3059,1095,2079,0,0,0,0,0,0
$GC,12295,0.74,242.9,271.0,10.6,1232,12310,0.00,1.42,10.38,0.803,4,0.000,0.044,3066,181,2038,0,0,0,0,0,0
$GC,12362,0.74,242.9,263.1,12.0,1243,12370,0.00,1.25,0.00,0.000,6,0.000,0.021,3065,1112,2037,0,0,0,0,0,0
$GC,12697,0.74,242.9,223.9,11.2,1304,12705,0.00,1.40,0.00,0.000,4,0.000,0.043,3070,191,2037,0,0,0,0,0,0
$GC,12734,0.74,242.9,219.6,11.6,1310,12742,0.00,1.23,0.00,0.000,6,0.000,0.021,3071,1108,2037,0,0,0,0,0,0
$GC,13067,0.78,277.0,186.2,10.0,1371,13103,0.00,1.92,28.52,0.768,4,0.000,0.019,3071,2412,1898,0,0,0,0,0,0
$GC,13144,0.81,301.8,178.5,10.3,1383,13173,0.00,2.08,21.02,0.739,6,0.000,0.034,3077,1055,1797,0,0,0,0,0,0
$GC,13502,0.81,302.0,140.9,11.1,1447,13511,0.00,1.30,0.00,0.000,4,0.000,0.042,3084,190,1793,0,0,0,0,0,0
$GC,13630,0.81,302.0,126.8,12.2,1470,13638,0.00,1.17,0.00,0.000,6,0.000,0.020,3084,1098,1793,0,0,0,0,0,0
$GC,13957,0.89,366.0,93.7,9.0,1531,14016,0.00,1.92,50.70,0.679,4,0.000,0.018,3084,2407,1536,0,0,0,0,0,0
$GC,14115,0.98,439.5,79.4,8.7,1557,14182,0.10,2.12,58.60,0.656,6,0.054,0.033,3145,1028,1236,0,0,0,0,0,0
$GC,14504,0.98,439.5,31.6,12.4,1626,14512,0.00,1.25,0.00,0.000,4,0.000,0.040,3151,191,1231,0,0,0,0,0,0
$GC,14653,0.98,439.5,11.8,12.7,1652,14661,0.00,1.17,0.00,0.000,6,0.000,0.019,3151,1121,1231,0,0,0,0,0,0
$STATE,14713,end climb,SURFACE_DEPTH_REACHED
$STATE,14713,begin surface coast
$FINISH,0.5,1.009475
$STATE,14736,end surface coast,CONTROL_FINISHED_OK
$STATE,14736,begin surface
$SM_CCo,14815,0.00,0.000,0,0,1229,441.29
$SM_GC,1.30,7.75,0.00,0.00,0.034,0.000,0.000,107,782,1229,-8.37,-0.23,441.29
$IRIDIUM_FIX,2141.13,12630.83,241010,171728
$TT8_MAMPS,0.028462
$HUMID,39.28
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.1,44.483
$10V_AH,10.2,40.608
$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,19.200,96.800,544.875,0.000,0.000,31.050,41.512,207.284,0.000,0.000,17.281,4052.180,6160.370,595.398,3968.244,500.910,0.000,2073.172,0.000,3703.248,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,47.430,1406.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.819,1480.027,1989.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,97029,1667
$CAP_FILE_SIZE,168640,0
$CFSIZE,260165632,152420352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 31.5,1
$GPS,251010,014737,2147.571,12630.817,40,1.2,41,-3.0