version: 66.08
glider: 167
mission: 6
dive: 249
start: 10 26 110 19 1 55
data:
$ID,167
$MISSION,6
$DIVE,249
$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,-54436.508
$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,35
$R_STBD_OVSHOOT,91
$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
$GPS1,261010,185109,2137.705,12618.951,38,1.8,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-40.9
$GPS2,261010,190132,2137.610,12618.848,13,2.0,13,-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,225.8,42492,-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,-228.7,0.0,0.0,0,107,0.00,0.00,-87.10,0.000,2,0.000,0.000,111,714,3352,0,0,0,0,0,0
$GC,110,-0.72,-228.7,5.1,-11.4,12,135,9.45,2.15,-10.20,0.000,4,0.215,0.029,2569,2246,3964,0,0,0,0,0,0
$GC,303,-0.72,-228.7,62.1,-26.2,46,311,0.00,2.22,0.00,0.000,6,0.000,0.035,2569,793,3966,0,0,0,0,0,0
$GC,629,-0.72,-228.7,156.0,-22.0,107,636,0.00,0.88,0.00,0.000,4,0.000,0.041,2570,189,3966,0,0,0,0,0,0
$GC,883,-0.72,-228.7,213.1,-20.9,153,890,0.00,0.77,0.00,0.000,6,0.000,0.020,2565,876,3967,0,0,0,0,0,0
$GC,1214,-0.72,-228.7,276.5,-17.1,214,1222,0.00,1.00,0.00,0.000,4,0.000,0.039,2565,192,3967,0,0,0,0,0,0
$GC,1467,-0.72,-228.7,322.3,-17.3,260,1475,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,873,3967,0,0,0,0,0,0
$GC,1803,-0.72,-228.7,373.7,-14.6,321,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,873,3967,0,0,0,0,0,0
$GC,2134,-0.72,-228.7,426.2,-16.3,382,2142,0.00,1.85,0.00,0.000,4,0.000,0.018,2561,2183,3966,0,0,0,0,0,0
$GC,2160,-0.72,-228.7,430.4,-15.2,386,2168,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,759,3966,0,0,0,0,0,0
$GC,2495,-0.72,-228.7,480.6,-13.8,447,2502,0.00,0.82,0.00,0.000,4,0.000,0.044,2561,190,3963,0,0,0,0,0,0
$GC,2531,-0.72,-228.7,485.9,-14.5,453,2539,0.00,0.75,0.00,0.000,6,0.000,0.021,2560,841,3963,0,0,0,0,0,0
$GC,2865,-0.72,-228.7,529.9,-12.7,494,2869,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2196,3960,0,0,0,0,0,0
$GC,2900,-0.72,-228.7,534.0,-10.2,497,2904,0.00,2.15,0.00,0.000,6,0.000,0.034,2560,762,3960,0,0,0,0,0,0
$GC,3225,-0.72,-228.7,570.8,-11.6,527,3229,0.00,2.00,0.00,0.000,4,0.000,0.017,2560,2176,3958,0,0,0,0,0,0
$GC,3272,-0.72,-228.7,575.4,-9.2,531,3276,0.00,2.12,0.00,0.000,6,0.000,0.034,2560,774,3957,0,0,0,0,0,0
$GC,3597,-0.72,-228.7,613.0,-11.8,556,3601,0.00,2.00,0.00,0.000,4,0.000,0.018,2560,2171,3954,0,0,0,0,0,0
$GC,3658,-0.72,-228.7,619.8,-9.5,558,3665,0.00,2.12,0.00,0.000,6,0.000,0.035,2560,772,3954,0,0,0,0,0,0
$GC,3977,-0.72,-228.7,656.5,-12.1,574,3980,0.00,2.00,0.00,0.000,4,0.000,0.018,2560,2180,3951,0,0,0,0,0,0
$GC,4038,-0.72,-228.7,663.8,-10.5,576,4045,0.00,2.12,0.00,0.000,6,0.000,0.036,2560,778,3950,0,0,0,0,0,0
$GC,4354,-0.72,-228.7,703.5,-12.9,592,4357,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2171,3947,0,0,0,0,0,0
$GC,4424,-0.72,-228.7,711.1,-10.2,595,4428,0.00,2.12,0.00,0.000,6,0.000,0.037,2560,779,3946,0,0,0,0,0,0
$GC,4758,-0.72,-228.7,749.5,-10.9,611,4761,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2170,3943,0,0,0,0,0,0
$GC,4791,-0.72,-228.7,752.8,-9.1,612,4795,0.00,2.12,0.00,0.000,6,0.000,0.037,2560,782,3943,0,0,0,0,0,0
$GC,5109,-0.72,-228.7,782.8,-8.8,627,5112,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2172,3940,0,0,0,0,0,0
$GC,5155,-0.72,-228.7,786.7,-7.6,629,5159,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,801,3940,0,0,0,0,0,0
$GC,5484,-0.72,-228.7,816.5,-9.1,645,5488,0.00,1.98,0.00,0.000,4,0.000,0.019,2560,2184,3937,0,0,0,0,0,0
$GC,5535,-0.72,-228.7,820.7,-6.7,647,5539,0.00,2.12,0.00,0.000,6,0.000,0.037,2560,798,3936,0,0,0,0,0,0
$GC,5857,-0.72,-228.7,849.9,-9.1,663,5861,0.00,2.00,0.00,0.000,4,0.000,0.019,2560,2178,3934,0,0,0,0,0,0
$GC,5883,-0.72,-228.7,852.0,-9.0,664,5887,0.00,2.10,0.00,0.000,6,0.000,0.038,2560,811,3934,0,0,0,0,0,0
$GC,6211,-0.72,-228.7,883.1,-9.8,680,6215,0.10,2.00,0.00,0.000,4,0.171,0.019,2586,2170,3931,0,0,0,0,0,0
$GC,6244,-0.72,-228.7,886.0,-7.8,681,6248,0.00,2.10,0.00,0.000,6,0.000,0.038,2585,806,3930,0,0,0,0,0,0
$GC,6562,-0.72,-228.7,910.9,-7.9,696,6565,0.00,1.95,0.00,0.000,4,0.000,0.018,2586,2177,3929,0,0,0,0,0,0
$GC,6617,-0.72,-228.7,915.2,-7.5,698,6621,0.00,2.08,0.00,0.000,6,0.000,0.038,2586,822,3929,0,0,0,0,0,0
$GC,6941,-0.72,-228.7,940.4,-8.1,714,6944,0.00,1.95,0.00,0.000,4,0.000,0.019,2585,2176,3927,0,0,0,0,0,0
$GC,6987,-0.72,-228.7,944.1,-7.4,716,6991,0.00,2.08,0.00,0.000,6,0.000,0.039,2585,825,3926,0,0,0,0,0,0
$GC,7316,-0.72,-228.7,969.7,-7.6,732,7320,0.00,1.95,0.00,0.000,4,0.000,0.019,2586,2179,3925,0,0,0,0,0,0
$GC,7355,-0.72,-228.7,972.8,-7.2,733,7363,0.00,2.08,0.00,0.000,6,0.000,0.039,2585,831,3924,0,0,0,0,0,0
$GC,7671,-0.72,-228.7,996.6,-7.7,749,7675,0.00,1.95,0.00,0.000,4,0.000,0.020,2585,2167,3922,0,0,0,0,0,0
$GC,7701,-0.72,-228.7,998.7,-7.3,750,7704,0.00,2.05,0.00,0.000,6,0.000,0.039,2586,835,3922,0,0,0,0,0,0
$STATE,7737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7737,begin apogee
$GC,7743,-0.14,0.0,1001.5,7.4,752,7934,0.55,0.00,181.52,1.403,4,0.106,0.000,2775,1001,3028,0,0,0,0,0,0
$STATE,7935,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7939,0.72,228.7,1010.3,0.0,761,8144,0.73,1.35,195.98,1.346,4,0.047,0.049,3064,196,2095,0,0,0,0,0,0
$GC,8358,0.72,228.7,947.9,19.2,780,8362,0.00,1.15,0.00,0.000,6,0.000,0.025,3063,994,2087,0,0,0,0,0,0
$GC,8685,0.72,228.7,887.9,18.4,796,8689,0.00,1.23,0.00,0.000,4,0.000,0.047,3069,197,2084,0,0,0,0,0,0
$GC,8892,0.72,228.7,847.2,18.9,805,8897,0.00,1.12,0.00,0.000,6,0.000,0.024,3069,1013,2083,0,0,0,0,0,0
$GC,9222,0.72,228.7,787.1,18.4,821,9225,0.00,2.00,0.00,0.000,4,0.000,0.022,3069,2384,2082,0,0,0,0,0,0
$GC,9344,0.72,228.7,764.8,17.3,826,9348,0.00,2.10,0.00,0.000,6,0.000,0.036,3079,1017,2082,0,0,0,0,0,0
$GC,9670,0.72,228.7,706.0,18.1,842,9674,0.00,1.98,0.00,0.000,4,0.000,0.024,3079,2379,2081,0,0,0,0,0,0
$GC,9731,0.72,228.7,694.7,17.4,844,9739,0.12,2.08,0.00,0.000,6,0.187,0.037,3054,1025,2081,0,0,0,0,0,0
$GC,10047,0.72,228.7,643.9,15.8,860,10051,0.00,1.98,0.00,0.000,4,0.000,0.022,3054,2396,2080,0,0,0,0,0,0
$GC,10126,0.72,228.7,631.9,14.2,863,10130,0.00,2.05,0.00,0.000,6,0.000,0.036,3062,1055,2080,0,0,0,0,0,0
$GC,10451,0.72,228.7,583.4,14.9,884,10455,0.00,1.90,0.00,0.000,4,0.000,0.022,3061,2381,2079,0,0,0,0,0,0
$GC,10580,0.72,228.7,564.9,16.0,895,10587,0.00,2.00,0.00,0.000,6,0.000,0.037,3067,1074,2079,0,0,0,0,0,0
$GC,10908,0.72,228.7,516.0,16.3,926,10911,0.00,1.35,0.00,0.000,4,0.000,0.047,3075,190,2080,0,0,0,0,0,0
$GC,10933,0.72,228.7,511.8,15.9,928,10937,0.00,1.25,0.00,0.000,6,0.000,0.024,3075,1092,2078,0,0,0,0,0,0
$GC,11264,0.72,228.7,459.9,17.3,982,11272,0.00,1.38,0.00,0.000,4,0.000,0.045,3081,195,2078,0,0,0,0,0,0
$GC,11300,0.72,228.7,453.4,17.6,988,11307,0.00,1.23,0.00,0.000,6,0.000,0.024,3081,1083,2078,0,0,0,0,0,0
$GC,11635,0.72,228.7,401.4,15.1,1049,11643,0.00,1.88,0.00,0.000,4,0.000,0.021,3081,2396,2078,0,0,0,0,0,0
$GC,11725,0.72,228.7,387.8,14.4,1065,11735,0.12,2.00,0.00,0.000,6,0.175,0.035,3058,1079,2078,0,0,0,0,0,0
$GC,12064,0.72,228.7,345.3,12.4,1126,12072,0.00,1.90,0.00,0.000,4,0.000,0.021,3058,2382,2078,0,0,0,0,0,0
$GC,12113,0.72,228.7,339.1,12.7,1134,12121,0.00,2.00,0.00,0.000,6,0.000,0.036,3060,1082,2078,0,0,0,0,0,0
$GC,12448,0.72,228.7,297.5,12.2,1195,12455,0.00,1.35,0.00,0.000,4,0.000,0.045,3067,191,2078,0,0,0,0,0,0
$GC,12699,0.72,228.7,262.3,13.0,1241,12706,0.00,1.23,0.00,0.000,6,0.000,0.023,3067,1096,2078,0,0,0,0,0,0
$GC,13035,0.81,298.4,226.6,8.8,1302,13096,0.00,1.38,54.10,0.809,4,0.000,0.041,3073,189,1810,0,0,0,0,0,0
$GC,13208,0.81,298.4,205.2,13.2,1331,13214,0.00,1.23,0.00,0.000,6,0.000,0.020,3073,1103,1806,0,0,0,0,0,0
$GC,13544,0.82,311.6,164.6,10.7,1392,13560,0.00,1.42,11.18,0.688,4,0.000,0.043,3079,191,1757,0,0,0,0,0,0
$GC,13600,0.82,311.6,157.2,14.3,1401,13607,0.00,1.20,0.00,0.000,6,0.000,0.020,3078,1109,1757,0,0,0,0,0,0
$GC,13931,0.98,436.0,121.9,7.1,1462,14033,0.15,0.00,98.50,0.698,6,0.082,0.000,3148,1110,1250,0,0,0,0,0,0
$GC,14354,0.98,436.0,61.2,13.0,1536,14362,0.00,1.40,0.00,0.000,4,0.000,0.041,3155,190,1244,0,0,0,0,0,0
$GC,14438,0.98,436.0,47.4,17.1,1551,14446,0.00,1.17,0.00,0.000,6,0.000,0.018,3154,1110,1244,0,0,0,0,0,0
$STATE,14756,end climb,SURFACE_DEPTH_REACHED
$STATE,14756,begin surface coast
$FINISH,1.2,1.021779
$STATE,14780,end surface coast,CONTROL_FINISHED_OK
$STATE,14781,begin surface
$SM_CCo,14859,0.00,0.000,0,0,1240,438.60
$SM_GC,1.55,8.25,0.00,0.00,0.068,0.000,0.000,133,773,1240,-8.35,-0.42,438.60
$IRIDIUM_FIX,2129.53,12618.35,261010,181818
$TT8_MAMPS,0.029211
$HUMID,39.64
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.0,46.473
$10V_AH,10.2,42.472
$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,19.475,115.400,541.275,0.000,0.000,58.345,66.424,229.298,0.000,0.000,14.290,3959.135,6415.066,608.345,3967.223,510.027,0.000,2087.090,0.000,3620.544,0.000,0.543,0.000
$DEVICE_MAMPS,214.965,52.020,1403.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1099.681,1415.297,1854.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,93477,1615
$CAP_FILE_SIZE,172501,0
$CFSIZE,260165632,151453696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 75.2,1
$GPS,261010,231058,2136.134,12618.063,45,1.5,46,-3.0