version: 66.08
glider: 167
mission: 6
dive: 245
start: 10 26 110 0 4 42
data:
$ID,167
$MISSION,6
$DIVE,245
$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,-54431.473
$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,82
$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
$GPS1,251010,235407,2142.144,12625.097,41,1.3,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.6
$GPS2,261010,000420,2142.211,12625.052,13,1.4,13,-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,233.3,56120,-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,-228.7,0.0,0.0,0,99,0.00,0.00,-78.47,0.000,2,0.000,0.000,112,777,3312,0,0,0,0,0,0
$GC,102,-0.72,-228.7,6.3,-13.3,11,127,9.27,2.08,-9.98,0.000,4,0.209,0.029,2570,2235,3966,0,0,0,0,0,0
$GC,247,-0.72,-228.7,56.5,-23.9,36,255,0.00,2.20,0.00,0.000,6,0.000,0.034,2570,796,3968,0,0,0,0,0,0
$GC,572,-0.72,-228.7,145.0,-22.4,97,580,0.00,0.88,0.00,0.000,4,0.000,0.040,2570,190,3968,0,0,0,0,0,0
$GC,816,-0.72,-228.7,195.6,-18.0,141,823,0.00,0.80,0.00,0.000,6,0.000,0.019,2565,901,3968,0,0,0,0,0,0
$GC,1144,-0.72,-228.7,258.8,-18.0,202,1152,0.00,1.83,0.00,0.000,4,0.000,0.015,2557,2211,3969,0,0,0,0,0,0
$GC,1187,-0.72,-228.7,266.3,-17.5,209,1195,0.12,2.10,0.00,0.000,6,0.152,0.032,2590,794,3969,0,0,0,0,0,0
$GC,1520,-0.72,-228.7,316.6,-13.2,270,1528,0.00,0.88,0.00,0.000,4,0.000,0.042,2590,189,3969,0,0,0,0,0,0
$GC,1641,-0.72,-228.7,333.5,-13.5,291,1648,0.00,0.80,0.00,0.000,6,0.000,0.020,2590,904,3969,0,0,0,0,0,0
$GC,1976,-0.72,-228.7,374.1,-11.8,352,1984,0.00,1.05,0.00,0.000,4,0.000,0.040,2590,189,3968,0,0,0,0,0,0
$GC,2030,-0.72,-228.7,380.5,-11.6,361,2036,0.00,0.80,0.00,0.000,6,0.000,0.020,2589,894,3968,0,0,0,0,0,0
$GC,2362,-0.72,-228.7,419.4,-11.3,422,2370,0.00,1.02,0.00,0.000,4,0.000,0.041,2590,196,3966,0,0,0,0,0,0
$GC,2395,-0.72,-228.7,423.0,-11.7,427,2402,0.00,0.77,0.00,0.000,6,0.000,0.020,2589,870,3966,0,0,0,0,0,0
$GC,2728,-0.72,-228.7,458.8,-9.8,488,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,870,3963,0,0,0,0,0,0
$GC,3062,-0.72,-228.7,493.3,-10.9,549,3069,0.00,1.85,0.00,0.000,4,0.000,0.017,2589,2198,3960,0,0,0,0,0,0
$GC,3099,-0.72,-228.7,496.8,-8.3,555,3107,0.00,2.15,0.00,0.000,6,0.000,0.034,2589,764,3960,0,0,0,0,0,0
$GC,3434,-0.72,-228.7,529.2,-9.2,589,3437,0.00,2.03,0.00,0.000,4,0.000,0.016,2589,2183,3957,0,0,0,0,0,0
$GC,3480,-0.72,-228.7,533.1,-7.5,593,3484,0.00,2.15,0.00,0.000,6,0.000,0.034,2589,772,3957,0,0,0,0,0,0
$GC,3805,-0.72,-228.7,563.0,-8.9,623,3809,0.00,2.03,0.00,0.000,4,0.000,0.017,2589,2201,3955,0,0,0,0,0,0
$GC,3853,-0.72,-228.7,566.6,-7.4,627,3857,0.00,2.15,0.00,0.000,6,0.000,0.035,2589,778,3955,0,0,0,0,0,0
$GC,4178,-0.72,-228.7,595.6,-8.7,657,4182,0.00,2.00,0.00,0.000,4,0.000,0.017,2589,2189,3952,0,0,0,0,0,0
$GC,4251,-0.72,-228.7,600.9,-6.6,663,4255,0.00,2.15,0.00,0.000,6,0.000,0.035,2589,785,3951,0,0,0,0,0,0
$GC,4575,-0.72,-228.7,627.8,-8.5,679,4578,0.00,2.00,0.00,0.000,4,0.000,0.017,2588,2183,3949,0,0,0,0,0,0
$GC,4602,-0.72,-228.7,630.2,-7.6,680,4606,0.00,2.12,0.00,0.000,6,0.000,0.036,2587,797,3948,0,0,0,0,0,0
$GC,4926,-0.72,-228.7,657.4,-8.2,696,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,797,3946,0,0,0,0,0,0
$GC,5233,-0.72,-228.7,682.7,-8.2,711,5236,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2185,3944,0,0,0,0,0,0
$GC,5288,-0.72,-228.7,686.9,-7.2,713,5292,0.00,2.12,0.00,0.000,6,0.000,0.037,2589,800,3943,0,0,0,0,0,0
$GC,5612,-0.72,-228.7,713.7,-8.4,729,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,800,3941,0,0,0,0,0,0
$GC,5920,-0.72,-228.7,738.0,-7.5,744,5924,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2187,3939,0,0,0,0,0,0
$GC,5994,-0.72,-228.7,742.9,-6.2,747,5998,0.00,2.12,0.00,0.000,6,0.000,0.037,2588,802,3938,0,0,0,0,0,0
$GC,6322,-0.72,-228.7,766.1,-7.1,763,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,802,3936,0,0,0,0,0,0
$GC,6633,-0.72,-228.7,788.2,-7.0,778,6636,0.00,2.00,0.00,0.000,4,0.000,0.018,2588,2188,3933,0,0,0,0,0,0
$GC,6662,-0.72,-228.7,790.4,-6.5,779,6666,0.00,2.12,0.00,0.000,6,0.000,0.038,2587,804,3934,0,0,0,0,0,0
$GC,6989,-0.72,-228.7,813.9,-7.4,795,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,804,3932,0,0,0,0,0,0
$GC,7298,-0.72,-228.7,837.7,-8.0,810,7302,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2185,3930,0,0,0,0,0,0
$GC,7333,-0.72,-228.7,840.4,-7.4,811,7337,0.00,2.12,0.00,0.000,6,0.000,0.038,2587,807,3929,0,0,0,0,0,0
$GC,7655,-0.72,-228.7,865.6,-8.0,827,7658,0.00,2.00,0.00,0.000,4,0.000,0.018,2587,2189,3928,0,0,0,0,0,0
$GC,7682,-0.72,-228.7,867.7,-7.4,828,7686,0.00,2.12,0.00,0.000,6,0.000,0.039,2588,807,3928,0,0,0,0,0,0
$GC,8011,-0.72,-228.7,893.1,-7.6,844,8015,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2184,3926,0,0,0,0,0,0
$GC,8067,-0.72,-228.7,897.4,-6.5,846,8071,0.00,2.12,0.00,0.000,6,0.000,0.038,2588,810,3925,0,0,0,0,0,0
$GC,8385,-0.72,-228.7,919.7,-6.9,861,8389,0.00,2.00,0.00,0.000,4,0.000,0.019,2588,2207,3925,0,0,0,0,0,0
$GC,8431,-0.72,-228.7,922.7,-6.3,863,8435,0.00,2.12,0.00,0.000,6,0.000,0.039,2588,822,3924,0,0,0,0,0,0
$GC,8764,-0.72,-228.7,944.9,-6.6,879,8767,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2189,3922,0,0,0,0,0,0
$GC,8793,-0.72,-228.7,946.7,-6.0,880,8797,0.00,2.12,0.00,0.000,6,0.000,0.039,2588,815,3922,0,0,0,0,0,0
$GC,9116,-0.72,-228.7,965.9,-5.9,896,9119,0.00,1.95,0.00,0.000,4,0.000,0.019,2588,2182,3921,0,0,0,0,0,0
$GC,9156,-0.72,-228.7,968.1,-5.2,897,9163,0.00,2.10,0.00,0.000,6,0.000,0.038,2588,823,3921,0,0,0,0,0,0
$GC,9473,-0.72,-228.7,984.9,-5.2,913,9476,0.00,2.00,0.00,0.000,4,0.000,0.019,2588,2191,3919,0,0,0,0,0,0
$GC,9524,-0.72,-228.7,987.4,-5.4,915,9528,0.00,2.10,0.00,0.000,6,0.000,0.038,2588,829,3919,0,0,0,0,0,0
$STATE,9781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9781,begin apogee
$GC,9789,-0.14,0.0,1000.4,5.1,928,9979,0.52,0.00,181.77,1.419,4,0.107,0.000,2769,1013,3028,0,0,0,0,0,0
$STATE,9979,end apogee,CONTROL_FINISHED_OK
$STATE,9980,begin climb
$GC,9984,0.72,228.7,1005.8,0.0,937,10188,0.75,1.38,196.98,1.358,4,0.050,0.049,3060,199,2096,0,0,0,0,0,0
$GC,10407,0.72,228.7,939.1,18.9,955,10411,0.00,1.15,0.00,0.000,6,0.000,0.024,3060,1003,2086,0,0,0,0,0,0
$GC,10731,0.72,228.7,880.0,17.9,971,10734,0.00,1.25,0.00,0.000,4,0.000,0.047,3066,196,2083,0,0,0,0,0,0
$GC,10915,0.72,228.7,845.7,18.1,979,10919,0.00,1.15,0.00,0.000,6,0.000,0.026,3065,1009,2084,0,0,0,0,0,0
$GC,11244,0.72,228.7,790.0,17.3,995,11248,0.00,2.00,0.00,0.000,4,0.000,0.026,3065,2381,2082,0,0,0,0,0,0
$GC,11339,0.72,228.7,773.2,18.0,999,11343,0.00,2.10,0.00,0.000,6,0.000,0.036,3074,1013,2080,0,0,0,0,0,0
$GC,11670,0.72,228.7,714.4,18.1,1015,11674,0.00,2.00,0.00,0.000,4,0.000,0.024,3074,2383,2080,0,0,0,0,0,0
$GC,11725,0.72,228.7,703.7,17.3,1017,11729,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1023,2080,0,0,0,0,0,0
$GC,12047,0.72,228.7,643.7,18.8,1033,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1022,2079,0,0,0,0,0,0
$GC,12360,0.72,228.7,587.5,18.1,1051,12364,0.00,1.98,0.00,0.000,4,0.000,0.022,3083,2396,2079,0,0,0,0,0,0
$GC,12476,0.72,228.7,567.7,16.3,1061,12484,0.15,2.10,0.00,0.000,6,0.175,0.037,3052,1017,2079,0,0,0,0,0,0
$GC,12802,0.72,228.7,520.3,13.3,1092,12806,0.00,2.03,0.00,0.000,4,0.000,0.024,3053,2394,2079,0,0,0,0,0,0
$GC,12849,0.72,228.7,513.9,13.5,1096,12853,0.00,2.10,0.00,0.000,6,0.000,0.037,3061,1028,2078,0,0,0,0,0,0
$GC,13178,0.72,228.7,468.4,13.5,1147,13186,0.00,1.98,0.00,0.000,4,0.000,0.022,3061,2401,2078,0,0,0,0,0,0
$GC,13305,0.72,228.7,451.7,12.5,1170,13313,0.00,2.08,0.00,0.000,6,0.000,0.036,3068,1057,2078,0,0,0,0,0,0
$GC,13640,0.72,228.7,405.3,14.0,1231,13648,0.00,1.95,0.00,0.000,4,0.000,0.022,3068,2396,2078,0,0,0,0,0,0
$GC,13671,0.72,228.7,400.3,13.8,1236,13679,0.00,2.05,0.00,0.000,6,0.000,0.036,3076,1069,2078,0,0,0,0,0,0
$GC,14003,0.72,228.7,350.6,15.8,1297,14010,0.00,1.90,0.00,0.000,4,0.000,0.021,3076,2399,2078,0,0,0,0,0,0
$GC,14180,0.72,228.7,326.8,13.0,1329,14186,0.00,2.00,0.00,0.000,6,0.000,0.035,3083,1083,2078,0,0,0,0,0,0
$GC,14509,0.72,228.7,285.0,12.3,1390,14517,0.00,1.35,0.00,0.000,4,0.000,0.045,3090,192,2078,0,0,0,0,0,0
$GC,14617,0.72,228.7,271.2,12.3,1409,14624,0.10,1.25,0.00,0.000,6,0.158,0.023,3058,1095,2078,0,0,0,0,0,0
$GC,14954,0.77,265.4,235.8,9.9,1470,14989,0.00,1.90,28.27,0.822,4,0.000,0.018,3059,2406,1944,0,0,0,0,0,0
$GC,15024,0.79,284.0,228.3,10.5,1481,15046,0.00,2.03,16.48,0.782,6,0.000,0.035,3063,1079,1870,0,0,0,0,0,0
$GC,15374,0.81,304.3,187.2,10.4,1544,15396,0.00,1.40,17.33,0.749,4,0.000,0.044,3070,186,1787,0,0,0,0,0,0
$GC,15602,0.81,304.3,158.0,12.7,1585,15608,0.00,1.23,0.00,0.000,6,0.000,0.019,3069,1122,1785,0,0,0,0,0,0
$GC,15931,0.84,326.1,123.1,10.4,1646,15955,0.00,0.00,18.98,0.691,6,0.000,0.000,3070,1122,1697,0,0,0,0,0,0
$GC,16279,0.94,406.6,90.4,8.5,1709,16348,0.15,1.50,64.00,0.677,4,0.079,0.042,3146,181,1370,0,0,0,0,0,0
$GC,16483,0.94,406.6,65.9,11.2,1743,16491,0.00,1.20,0.00,0.000,6,0.000,0.018,3146,1111,1366,0,0,0,0,0,0
$GC,16812,0.94,406.6,29.5,15.9,1804,16820,0.00,1.40,0.00,0.000,4,0.000,0.042,3152,189,1365,0,0,0,0,0,0
$GC,16904,0.94,406.6,17.4,11.7,1820,16912,0.00,1.15,0.00,0.000,6,0.000,0.018,3151,1115,1365,0,0,0,0,0,0
$STATE,17032,end climb,SURFACE_DEPTH_REACHED
$STATE,17032,begin surface coast
$FINISH,0.7,1.021689
$STATE,17051,end surface coast,CONTROL_FINISHED_OK
$STATE,17051,begin surface
$SM_CCo,17129,0.00,0.000,0,0,1363,408.67
$SM_GC,1.48,7.72,0.00,0.00,0.034,0.000,0.000,112,768,1363,-8.37,-0.62,408.67
$IRIDIUM_FIX,2134.17,12536.58,251010,232315
$TT8_MAMPS,0.028462
$HUMID,38.58
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.60
$XPDR_PINGS,1
$24V_AH,23.0,45.667
$10V_AH,10.3,41.730
$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,18.800,125.200,523.800,0.000,0.000,51.486,68.169,228.425,0.250,0.000,14.262,4541.299,7651.206,595.017,4380.373,550.222,0.000,2214.734,0.000,4044.482,0.000,0.544,0.000
$DEVICE_MAMPS,208.845,48.960,1419.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1260.868,1611.676,2098.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,107008,1847
$CAP_FILE_SIZE,192703,0
$CFSIZE,260165632,151810048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062, 10.5,1
$GPS,261010,045130,2141.180,12623.277,40,1.3,41,-3.0