version: 66.08
glider: 167
mission: 6
dive: 251
start: 10 27 110 3 56 43
data:
$ID,167
$MISSION,6
$DIVE,251
$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,-54439.027
$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,60
$R_STBD_OVSHOOT,76
$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
$GPS1,271010,034500,2134.751,12616.153,68,1.4,73,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.8
$GPS2,271010,035622,2134.668,12616.120,12,99.0,31,-2.9
$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,229.7,35326,-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,19,-0.72,-228.7,0.0,0.0,0,110,0.00,0.00,-88.35,0.000,2,0.000,0.000,110,753,3842,0,0,0,0,0,0
$GC,113,-0.72,-228.7,5.8,-10.3,12,131,9.45,2.12,-1.90,0.000,4,0.215,0.033,2571,2208,3963,0,0,0,0,0,0
$GC,245,-0.72,-228.7,57.6,-29.8,35,253,0.00,2.15,0.00,0.000,6,0.000,0.035,2569,804,3965,0,0,0,0,0,0
$GC,568,-0.72,-228.7,148.8,-23.6,96,576,0.00,0.88,0.00,0.000,4,0.000,0.041,2570,197,3965,0,0,0,0,0,0
$GC,825,-0.72,-228.7,205.4,-21.9,142,833,0.00,0.75,0.00,0.000,6,0.000,0.021,2565,874,3966,0,0,0,0,0,0
$GC,1161,-0.72,-228.7,266.4,-16.1,203,1168,0.00,1.00,0.00,0.000,4,0.000,0.039,2565,190,3966,0,0,0,0,0,0
$GC,1297,-0.72,-228.7,289.5,-17.2,227,1303,0.00,0.77,0.00,0.000,6,0.000,0.020,2560,898,3966,0,0,0,0,0,0
$GC,1630,-0.72,-228.7,345.3,-16.7,288,1638,0.00,1.02,0.00,0.000,4,0.000,0.039,2561,195,3966,0,0,0,0,0,0
$GC,1663,-0.72,-228.7,351.1,-17.8,293,1670,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,895,3966,0,0,0,0,0,0
$GC,1998,-0.72,-228.7,403.1,-15.1,354,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,897,3966,0,0,0,0,0,0
$GC,2333,-0.72,-228.7,451.3,-14.2,415,2339,0.00,1.02,0.00,0.000,4,0.000,0.041,2560,198,3964,0,0,0,0,0,0
$GC,2455,-0.72,-228.7,469.1,-14.7,437,2462,0.00,0.75,0.00,0.000,6,0.000,0.021,2560,851,3963,0,0,0,0,0,0
$GC,2785,-0.72,-228.7,513.1,-12.9,489,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,851,3960,0,0,0,0,0,0
$GC,3106,-0.72,-228.7,553.7,-12.2,519,3109,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2204,3958,0,0,0,0,0,0
$GC,3153,-0.72,-228.7,558.9,-9.8,523,3157,0.00,2.20,0.00,0.000,6,0.000,0.034,2560,740,3957,0,0,0,0,0,0
$GC,3485,-0.72,-228.7,598.9,-12.5,554,3489,0.10,2.10,0.00,0.000,4,0.167,0.018,2586,2202,3955,0,0,0,0,0,0
$GC,3549,-0.72,-228.7,605.0,-8.5,557,3553,0.00,2.20,0.00,0.000,6,0.000,0.035,2586,748,3954,0,0,0,0,0,0
$GC,3876,-0.72,-228.7,637.3,-9.6,573,3880,0.00,2.08,0.00,0.000,4,0.000,0.017,2586,2204,3951,0,0,0,0,0,0
$GC,3950,-0.72,-228.7,643.5,-8.1,576,3954,0.00,2.17,0.00,0.000,6,0.000,0.036,2586,762,3950,0,0,0,0,0,0
$GC,4272,-0.72,-228.7,672.2,-8.9,592,4276,0.00,2.03,0.00,0.000,4,0.000,0.017,2586,2176,3948,0,0,0,0,0,0
$GC,4341,-0.72,-228.7,677.5,-7.3,595,4344,0.00,2.17,0.00,0.000,6,0.000,0.037,2586,768,3947,0,0,0,0,0,0
$GC,4670,-0.72,-228.7,705.5,-8.6,611,4673,0.00,2.05,0.00,0.000,4,0.000,0.018,2586,2182,3944,0,0,0,0,0,0
$GC,4709,-0.72,-228.7,708.8,-7.2,612,4716,0.00,2.17,0.00,0.000,6,0.000,0.037,2586,776,3944,0,0,0,0,0,0
$GC,5027,-0.72,-228.7,736.1,-8.7,628,5031,0.00,2.03,0.00,0.000,4,0.000,0.018,2585,2184,3941,0,0,0,0,0,0
$GC,5083,-0.72,-228.7,740.7,-7.9,630,5087,0.00,2.17,0.00,0.000,6,0.000,0.037,2586,782,3941,0,0,0,0,0,0
$GC,5399,-0.72,-228.7,767.0,-8.2,645,5403,0.00,2.03,0.00,0.000,4,0.000,0.018,2586,2202,3939,0,0,0,0,0,0
$GC,5453,-0.72,-228.7,770.7,-6.7,647,5457,0.00,2.17,0.00,0.000,6,0.000,0.037,2586,781,3938,0,0,0,0,0,0
$GC,5775,-0.72,-228.7,794.9,-7.4,663,5778,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2184,3936,0,0,0,0,0,0
$GC,5838,-0.72,-228.7,799.3,-6.7,665,5846,0.00,2.15,0.00,0.000,6,0.000,0.037,2586,795,3935,0,0,0,0,0,0
$GC,6154,-0.72,-228.7,823.1,-7.7,681,6158,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2191,3933,0,0,0,0,0,0
$GC,6209,-0.72,-228.7,826.9,-6.5,683,6213,0.00,2.15,0.00,0.000,6,0.000,0.038,2586,801,3932,0,0,0,0,0,0
$GC,6528,-0.72,-228.7,851.1,-7.5,698,6531,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2183,3930,0,0,0,0,0,0
$GC,6583,-0.72,-228.7,855.0,-6.4,700,6588,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,804,3930,0,0,0,0,0,0
$GC,6907,-0.72,-228.7,879.6,-8.0,716,6911,0.00,2.00,0.00,0.000,4,0.000,0.019,2586,2189,3929,0,0,0,0,0,0
$GC,6954,-0.72,-228.7,883.2,-7.4,718,6958,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,813,3928,0,0,0,0,0,0
$GC,7282,-0.72,-228.7,910.5,-8.5,734,7286,0.00,2.00,0.00,0.000,4,0.000,0.019,2586,2193,3926,0,0,0,0,0,0
$GC,7317,-0.72,-228.7,913.5,-7.9,735,7321,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,821,3926,0,0,0,0,0,0
$GC,7634,-0.72,-228.7,942.1,-9.3,750,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,821,3924,0,0,0,0,0,0
$GC,7945,-0.72,-228.7,970.7,-9.1,765,7949,0.00,2.00,0.00,0.000,4,0.000,0.019,2586,2189,3923,0,0,0,0,0,0
$GC,8006,-0.72,-228.7,976.0,-8.3,767,8013,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,808,3922,0,0,0,0,0,0
$STATE,8278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8285,-0.14,0.0,1000.0,8.9,781,8472,0.52,0.00,182.20,1.411,4,0.107,0.000,2768,1030,3029,0,0,0,0,0,0
$STATE,8472,end apogee,CONTROL_FINISHED_OK
$STATE,8472,begin climb
$GC,8475,0.72,228.7,1010.9,0.0,789,8679,0.77,1.40,196.98,1.356,4,0.050,0.048,3063,201,2096,0,0,0,0,0,0
$GC,8916,0.72,228.7,948.5,18.6,809,8920,0.00,1.12,0.00,0.000,6,0.000,0.024,3063,996,2086,0,0,0,0,0,0
$GC,9244,0.72,228.7,890.7,17.8,825,9247,0.00,1.25,0.00,0.000,4,0.000,0.047,3068,187,2083,0,0,0,0,0,0
$GC,9424,0.72,228.7,857.5,18.1,833,9428,0.00,1.15,0.00,0.000,6,0.000,0.023,3068,1019,2083,0,0,0,0,0,0
$GC,9756,0.72,228.7,798.7,17.5,849,9760,0.00,1.95,0.00,0.000,4,0.000,0.023,3068,2376,2081,0,0,0,0,0,0
$GC,9875,0.72,228.7,778.0,17.6,854,9879,0.00,2.10,0.00,0.000,6,0.000,0.037,3078,1011,2080,0,0,0,0,0,0
$GC,10198,0.72,228.7,717.1,18.9,870,10202,0.00,1.98,0.00,0.000,4,0.000,0.024,3077,2374,2080,0,0,0,0,0,0
$GC,10261,0.72,228.7,705.3,18.1,872,10268,0.12,2.08,0.00,0.000,6,0.183,0.037,3055,1023,2079,0,0,0,0,0,0
$GC,10577,0.72,228.7,654.5,15.5,888,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1023,2079,0,0,0,0,0,0
$GC,10887,0.72,228.7,605.9,15.4,903,10890,0.00,1.98,0.00,0.000,4,0.000,0.022,3055,2380,2080,0,0,0,0,0,0
$GC,10951,0.72,228.7,596.4,14.4,906,10958,0.00,2.10,0.00,0.000,6,0.000,0.037,3061,1012,2079,0,0,0,0,0,0
$GC,11276,0.72,228.7,545.9,15.4,937,11280,0.00,2.00,0.00,0.000,4,0.000,0.024,3061,2380,2079,0,0,0,0,0,0
$GC,11302,0.72,228.7,542.4,15.7,939,11306,0.00,2.08,0.00,0.000,6,0.000,0.037,3069,1023,2078,0,0,0,0,0,0
$GC,11628,0.72,228.7,490.2,15.2,974,11637,0.00,2.00,0.00,0.000,4,0.000,0.022,3067,2382,2078,0,0,0,0,0,0
$GC,11819,0.72,228.7,463.7,12.2,1007,11826,0.00,2.03,0.00,0.000,6,0.000,0.037,3077,1056,2078,0,0,0,0,0,0
$GC,12159,0.72,228.7,412.7,14.6,1068,12169,0.00,1.30,0.00,0.000,4,0.000,0.047,3084,196,2078,0,0,0,0,0,0
$GC,12249,0.72,228.7,398.4,15.3,1083,12256,0.08,1.17,0.00,0.000,6,0.165,0.024,3061,1041,2078,0,0,0,0,0,0
$GC,12592,0.72,232.0,354.9,11.0,1144,12601,0.00,1.98,0.00,0.000,4,0.000,0.021,3061,2399,2077,0,0,0,0,0,0
$GC,12639,0.74,241.2,349.8,10.8,1151,12653,0.00,2.05,8.88,0.855,6,0.000,0.037,3066,1054,2045,0,0,0,0,0,0
$GC,12988,0.74,241.2,307.9,12.3,1213,12995,0.00,1.92,0.00,0.000,4,0.000,0.021,3066,2406,2043,0,0,0,0,0,0
$GC,13091,0.74,241.2,294.2,11.8,1231,13098,0.00,2.00,0.00,0.000,6,0.000,0.035,3074,1082,2044,0,0,0,0,0,0
$GC,13434,0.74,241.2,250.2,13.4,1292,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1082,2043,0,0,0,0,0,0
$GC,13778,0.77,267.4,209.7,10.3,1353,13806,0.00,1.40,22.65,0.789,4,0.000,0.044,3080,184,1938,0,0,0,0,0,0
$GC,14024,0.77,267.4,177.2,12.0,1396,14032,0.00,1.23,0.00,0.000,6,0.000,0.021,3081,1106,1936,0,0,0,0,0,0
$GC,14365,0.83,314.8,142.1,9.6,1457,14411,0.00,1.85,38.78,0.730,4,0.000,0.017,3081,2398,1744,0,0,0,0,0,0
$GC,14440,0.83,314.8,133.6,11.3,1468,14448,0.00,2.05,0.00,0.000,6,0.000,0.034,3086,1081,1743,0,0,0,0,0,0
$GC,14771,0.95,414.7,104.1,7.8,1529,14860,0.12,1.38,79.28,0.689,4,0.090,0.041,3151,200,1336,0,0,0,0,0,0
$GC,14961,0.95,414.7,81.4,12.5,1559,14969,0.00,1.27,0.00,0.000,6,0.000,0.018,3151,1174,1331,0,0,0,0,0,0
$GC,15286,0.95,414.7,35.4,12.2,1620,15294,0.00,1.50,0.00,0.000,4,0.000,0.041,3156,188,1330,0,0,0,0,0,0
$GC,15345,0.97,432.9,31.0,10.5,1629,15369,0.00,1.25,14.73,0.584,6,0.000,0.019,3157,1136,1263,0,0,0,0,0,0
$STATE,15538,end climb,SURFACE_DEPTH_REACHED
$STATE,15538,begin surface coast
$FINISH,0.3,1.021802
$STATE,15561,end surface coast,CONTROL_FINISHED_OK
$STATE,15561,begin surface
$SM_CCo,15640,0.00,0.000,0,0,1259,434.43
$SM_GC,1.46,7.78,0.00,0.00,0.034,0.000,0.000,103,743,1259,-8.37,-1.33,434.43
$IRIDIUM_FIX,2127.21,12615.11,271010,030319
$TT8_MAMPS,0.028462
$HUMID,39.80
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.0,46.870
$10V_AH,10.2,42.841
$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,18.950,113.775,543.475,0.000,0.000,63.823,87.708,248.124,0.000,0.000,33.612,4089.975,6969.828,600.393,4114.533,520.787,0.000,2116.922,0.000,3714.738,0.000,0.545,0.000
$DEVICE_MAMPS,214.965,48.195,1410.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.590,1459.919,1913.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96877,1668
$CAP_FILE_SIZE,176846,0
$CFSIZE,260165632,151257088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 26.8,1
$GPS,271010,081931,2133.485,12614.572,90,1.0,91,-2.9