version: 66.08
glider: 167
mission: 6
dive: 243
start: 10 25 110 15 13 24
data:
$ID,167
$MISSION,6
$DIVE,243
$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,-54428.957
$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,54
$R_STBD_OVSHOOT,102
$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
$GPS1,251010,150237,2144.094,12627.087,33,0.9,33,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.8
$GPS2,251010,151302,2144.103,12627.095,12,1.9,12,-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,223.3,61086,-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,16,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,92,0.00,0.00,-71.12,0.000,2,0.000,0.000,111,771,3310,0,0,0,0,0,0
$GC,95,-0.72,-228.7,5.6,-13.2,10,119,9.43,2.08,-10.20,0.000,4,0.214,0.030,2569,2213,3964,0,0,0,0,0,0
$GC,339,-0.72,-228.7,79.0,-24.1,54,347,0.00,2.15,0.00,0.000,6,0.000,0.034,2569,802,3966,0,0,0,0,0,0
$GC,665,-0.72,-228.7,158.6,-20.9,115,672,0.00,0.88,0.00,0.000,4,0.000,0.041,2569,193,3968,0,0,0,0,0,0
$GC,919,-0.72,-228.7,211.6,-19.6,161,926,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,820,3968,0,0,0,0,0,0
$GC,1250,-0.72,-228.7,271.0,-17.2,222,1257,0.00,0.90,0.00,0.000,4,0.000,0.040,2565,200,3969,0,0,0,0,0,0
$GC,1369,-0.72,-228.7,292.0,-17.7,243,1377,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,752,3969,0,0,0,0,0,0
$GC,1706,-0.72,-228.7,348.2,-15.7,304,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,752,3969,0,0,0,0,0,0
$GC,2040,-0.72,-228.7,403.1,-15.3,365,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,753,3968,0,0,0,0,0,0
$GC,2371,-0.72,-228.7,447.2,-13.4,426,2379,0.00,1.92,0.00,0.000,4,0.000,0.016,2561,2123,3965,0,0,0,0,0,0
$GC,2436,-0.72,-228.7,454.5,-10.2,437,2442,0.00,2.08,0.00,0.000,6,0.000,0.033,2561,735,3967,0,0,0,0,0,0
$GC,2769,-0.72,-228.7,498.2,-13.0,498,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,735,3963,0,0,0,0,0,0
$GC,3103,-0.72,-228.7,545.5,-13.8,530,3107,0.00,1.95,0.00,0.000,4,0.000,0.016,2560,2119,3961,0,0,0,0,0,0
$GC,3166,-0.72,-228.7,553.2,-11.2,535,3174,0.00,2.08,0.00,0.000,6,0.000,0.034,2560,745,3960,0,0,0,0,0,0
$GC,3491,-0.72,-228.7,593.6,-12.3,566,3495,0.00,1.92,0.00,0.000,4,0.000,0.017,2560,2122,3958,0,0,0,0,0,0
$GC,3570,-0.72,-228.7,601.9,-10.0,572,3574,0.00,2.08,0.00,0.000,6,0.000,0.035,2560,753,3957,0,0,0,0,0,0
$GC,3886,-0.72,-228.7,637.6,-11.4,587,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,753,3955,0,0,0,0,0,0
$GC,4196,-0.72,-228.7,672.8,-11.4,602,4199,0.00,1.92,0.00,0.000,4,0.000,0.017,2560,2114,3952,0,0,0,0,0,0
$GC,4258,-0.72,-228.7,679.3,-9.7,604,4264,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,749,3951,0,0,0,0,0,0
$GC,4574,-0.72,-228.7,715.4,-11.8,620,4578,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2119,3948,0,0,0,0,0,0
$GC,4632,-0.72,-228.7,721.5,-10.2,622,4636,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,755,3948,0,0,0,0,0,0
$GC,4953,-0.72,-228.7,758.9,-11.6,638,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,755,3945,0,0,0,0,0,0
$GC,5262,-0.72,-228.7,794.7,-11.3,653,5266,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2120,3942,0,0,0,0,0,0
$GC,5303,-0.72,-228.7,798.9,-9.9,654,5310,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,763,3942,0,0,0,0,0,0
$GC,5620,-0.72,-228.7,833.5,-10.8,670,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,764,3940,0,0,0,0,0,0
$GC,5929,-0.72,-228.7,865.6,-10.1,685,5933,0.10,1.92,0.00,0.000,4,0.167,0.018,2586,2105,3937,0,0,0,0,0,0
$GC,6021,-0.72,-228.7,872.6,-6.8,689,6025,0.00,2.08,0.00,0.000,6,0.000,0.037,2586,758,3936,0,0,0,0,0,0
$GC,6349,-0.72,-228.7,899.1,-8.3,705,6352,0.00,1.95,0.00,0.000,4,0.000,0.018,2586,2116,3934,0,0,0,0,0,0
$GC,6420,-0.72,-228.7,904.0,-6.9,708,6424,0.00,2.05,0.00,0.000,6,0.000,0.038,2586,778,3934,0,0,0,0,0,0
$GC,6753,-0.72,-228.7,929.6,-7.2,724,6757,0.00,1.90,0.00,0.000,4,0.000,0.018,2586,2116,3931,0,0,0,0,0,0
$GC,6811,-0.72,-228.7,933.5,-6.1,726,6814,0.00,2.08,0.00,0.000,6,0.000,0.038,2586,768,3931,0,0,0,0,0,0
$GC,7127,-0.72,-228.7,956.2,-7.4,741,7131,0.00,1.95,0.00,0.000,4,0.000,0.019,2586,2106,3929,0,0,0,0,0,0
$GC,7178,-0.72,-228.7,959.8,-6.9,743,7182,0.00,2.05,0.00,0.000,6,0.000,0.039,2586,776,3929,0,0,0,0,0,0
$GC,7507,-0.72,-228.7,984.7,-7.6,759,7511,0.00,1.92,0.00,0.000,4,0.000,0.019,2586,2114,3928,0,0,0,0,0,0
$GC,7598,-0.72,-228.7,991.3,-7.5,763,7602,0.00,2.05,0.00,0.000,6,0.000,0.039,2586,784,3926,0,0,0,0,0,0
$STATE,7722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7722,begin apogee
$GC,7730,-0.14,0.0,1000.9,7.6,769,7916,0.55,0.00,181.43,1.411,4,0.109,0.000,2775,938,3029,0,0,0,0,0,0
$STATE,7917,end apogee,CONTROL_FINISHED_OK
$STATE,7917,begin climb
$GC,7921,0.72,228.7,1009.6,0.0,777,8125,0.75,1.23,195.52,1.353,4,0.047,0.049,3053,203,2095,0,0,0,0,0,0
$GC,8381,0.72,228.7,943.5,18.4,798,8385,0.00,1.02,0.00,0.000,6,0.000,0.024,3053,934,2085,0,0,0,0,0,0
$GC,8716,0.72,228.7,883.7,17.9,814,8719,0.00,1.12,0.00,0.000,4,0.000,0.046,3058,197,2082,0,0,0,0,0,0
$GC,8875,0.72,228.7,853.1,18.9,821,8879,0.00,1.02,0.00,0.000,6,0.000,0.028,3059,923,2082,0,0,0,0,0,0
$GC,9208,0.72,228.7,791.8,18.3,837,9211,0.00,2.03,0.00,0.000,4,0.000,0.022,3059,2305,2080,0,0,0,0,0,0
$GC,9349,0.72,228.7,768.1,16.3,843,9353,0.00,1.98,0.00,0.000,6,0.000,0.036,3066,1024,2079,0,0,0,0,0,0
$GC,9677,0.72,228.7,711.1,17.3,859,9680,0.00,1.85,0.00,0.000,4,0.000,0.022,3067,2319,2079,0,0,0,0,0,0
$GC,9711,0.72,228.7,705.4,16.0,860,9715,0.00,1.98,0.00,0.000,6,0.000,0.035,3076,1025,2079,0,0,0,0,0,0
$GC,10033,0.72,228.7,651.6,16.3,876,10037,0.00,1.85,0.00,0.000,4,0.000,0.021,3075,2318,2079,0,0,0,0,0,0
$GC,10105,0.72,228.7,639.3,15.7,879,10109,0.00,1.98,0.00,0.000,6,0.000,0.036,3083,1039,2078,0,0,0,0,0,0
$GC,10426,0.72,228.7,585.2,17.3,898,10430,0.00,1.88,0.00,0.000,4,0.000,0.024,3083,2308,2078,0,0,0,0,0,0
$GC,10544,0.72,228.7,565.4,16.1,908,10552,0.10,1.92,0.00,0.000,6,0.154,0.037,3060,1058,2078,0,0,0,0,0,0
$GC,10870,0.72,228.7,518.8,14.2,939,10873,0.00,1.83,0.00,0.000,4,0.000,0.024,3060,2318,2077,0,0,0,0,0,0
$GC,10908,0.72,228.7,513.4,13.8,942,10915,0.00,1.92,0.00,0.000,6,0.000,0.037,3066,1075,2077,0,0,0,0,0,0
$GC,11236,0.72,228.7,469.7,13.7,994,11244,0.00,1.33,0.00,0.000,4,0.000,0.046,3073,198,2077,0,0,0,0,0,0
$GC,11291,0.72,228.7,461.6,16.5,1003,11299,0.00,1.10,0.00,0.000,6,0.000,0.024,3073,1015,2077,0,0,0,0,0,0
$GC,11624,0.72,228.7,411.1,16.4,1064,11632,0.00,1.98,0.00,0.000,4,0.000,0.021,3073,2371,2077,0,0,0,0,0,0
$GC,11700,0.72,228.7,399.9,14.3,1077,11706,0.00,1.98,0.00,0.000,6,0.000,0.036,3079,1072,2077,0,0,0,0,0,0
$GC,12034,0.72,228.7,351.5,13.9,1138,12042,0.00,1.33,0.00,0.000,4,0.000,0.045,3086,191,2077,0,0,0,0,0,0
$GC,12180,0.72,228.7,329.4,14.3,1164,12188,0.08,1.17,0.00,0.000,6,0.161,0.023,3062,1051,2077,0,0,0,0,0,0
$GC,12514,0.72,228.7,289.8,11.1,1225,12521,0.00,1.30,0.00,0.000,4,0.000,0.044,3066,192,2077,0,0,0,0,0,0
$GC,12540,0.72,228.7,286.6,11.3,1229,12546,0.00,1.17,0.00,0.000,6,0.000,0.023,3067,1064,2077,0,0,0,0,0,0
$GC,12871,0.72,228.7,249.9,11.3,1290,12879,0.00,1.88,0.00,0.000,4,0.000,0.020,3067,2372,2077,0,0,0,0,0,0
$GC,13066,0.74,246.6,228.8,10.5,1325,13086,0.00,1.95,13.35,0.772,6,0.000,0.034,3072,1078,2022,0,0,0,0,0,0
$GC,13415,0.75,249.6,190.1,11.0,1388,13424,0.00,1.38,3.88,0.511,4,0.000,0.044,3079,187,2012,0,0,0,0,0,0
$GC,13668,0.75,249.6,152.5,11.2,1434,13675,0.00,1.17,0.00,0.000,6,0.000,0.020,3082,1104,2010,0,0,0,0,0,0
$GC,13999,0.89,366.7,124.2,7.3,1495,14097,0.00,1.48,92.95,0.710,4,0.000,0.042,3087,186,1532,0,0,0,0,0,0
$GC,14199,0.92,388.4,104.0,10.4,1526,14222,0.00,1.23,18.17,0.649,6,0.000,0.018,3087,1122,1444,0,0,0,0,0,0
$GC,14543,1.05,493.4,68.7,7.7,1589,14634,0.20,1.42,82.82,0.644,4,0.066,0.038,3188,188,1014,0,0,0,0,0,0
$GC,14692,1.05,493.4,45.5,18.4,1611,14701,0.08,1.20,0.00,0.000,6,0.151,0.018,3164,1121,1013,0,0,0,0,0,0
$STATE,14965,end climb,SURFACE_DEPTH_REACHED
$STATE,14965,begin surface coast
$FINISH,1.0,1.021686
$STATE,14991,end surface coast,CONTROL_FINISHED_OK
$STATE,14991,begin surface
$SM_CCo,15069,0.00,0.000,0,0,1008,495.51
$SM_GC,1.25,7.82,0.00,0.00,0.036,0.000,0.000,103,783,1008,-8.36,-0.20,495.51
$IRIDIUM_FIX,2136.49,12628.07,251010,151546
$TT8_MAMPS,0.028462
$HUMID,39.13
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.1,45.265
$10V_AH,10.3,41.348
$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,19.100,98.600,588.125,0.000,0.000,56.164,90.449,218.234,0.000,0.000,13.185,4057.581,6397.913,610.977,4096.332,507.544,0.000,2121.773,0.000,3747.146,0.000,0.543,0.000
$DEVICE_MAMPS,214.200,59.670,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.203,1472.921,1969.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96910,1666
$CAP_FILE_SIZE,171106,0
$CFSIZE,260165632,152039424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 40.8,1
$GPS,251010,192537,2143.408,12626.198,29,1.3,29,-3.0