version: 66.08
glider: 167
mission: 6
dive: 253
start: 10 27 110 12 47 47
data:
$ID,167
$MISSION,6
$DIVE,253
$N_DIVES,265
$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,-54441.543
$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,50
$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
$GPS1,271010,123701,2131.427,12613.114,69,1.1,70,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.4
$GPS2,271010,124725,2131.349,12613.185,13,1.0,30,-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,238.8,27446,-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,-228.7,0.0,0.0,0,98,0.00,0.00,-76.50,0.000,2,0.000,0.000,101,767,3369,0,0,0,0,0,0
$GC,101,-0.72,-228.7,5.0,-9.7,10,126,9.88,2.08,-9.43,0.000,4,0.229,0.031,2566,2199,3965,0,0,0,0,0,0
$GC,165,-0.72,-228.7,38.2,-42.1,20,173,0.00,2.15,0.00,0.000,6,0.000,0.034,2567,797,3967,0,0,0,0,0,0
$GC,491,-0.72,-228.7,140.7,-24.3,81,499,0.00,0.88,0.00,0.000,4,0.000,0.038,2567,187,3966,0,0,0,0,0,0
$GC,745,-0.72,-228.7,201.5,-22.5,127,752,0.00,0.75,0.00,0.000,6,0.000,0.020,2564,868,3968,0,0,0,0,0,0
$GC,1075,-0.72,-228.7,265.4,-17.4,188,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,868,3969,0,0,0,0,0,0
$GC,1408,-0.72,-228.7,322.1,-17.1,249,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,868,3968,0,0,0,0,0,0
$GC,1738,-0.72,-228.7,377.8,-17.6,310,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,869,3967,0,0,0,0,0,0
$GC,2076,-0.72,-228.7,428.8,-13.3,371,2083,0.00,1.00,0.00,0.000,4,0.000,0.041,2563,189,3967,0,0,0,0,0,0
$GC,2177,-0.72,-228.7,443.4,-13.4,389,2183,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,824,3967,0,0,0,0,0,0
$GC,2510,-0.72,-228.7,489.0,-13.3,450,2518,0.00,1.83,0.00,0.000,4,0.000,0.016,2561,2121,3965,0,0,0,0,0,0
$GC,2542,-0.72,-228.7,492.7,-11.6,455,2552,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,766,3964,0,0,0,0,0,0
$GC,2872,-0.72,-228.7,533.1,-11.6,491,2876,0.00,1.90,0.00,0.000,4,0.000,0.016,2561,2120,3961,0,0,0,0,0,0
$GC,2911,-0.72,-228.7,537.4,-10.1,494,2918,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,772,3961,0,0,0,0,0,0
$GC,3236,-0.72,-228.7,575.5,-12.0,525,3240,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2119,3958,0,0,0,0,0,0
$GC,3320,-0.72,-228.7,584.4,-10.0,532,3327,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,763,3957,0,0,0,0,0,0
$GC,3652,-0.72,-228.7,622.4,-11.5,555,3656,0.00,0.82,0.00,0.000,4,0.000,0.046,2560,198,3954,0,0,0,0,0,0
$GC,3746,-0.72,-228.7,633.7,-11.3,559,3750,0.00,0.68,0.00,0.000,6,0.000,0.023,2561,757,3954,0,0,0,0,0,0
$GC,4076,-0.72,-228.7,670.2,-11.1,575,4080,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2147,3951,0,0,0,0,0,0
$GC,4170,-0.72,-228.7,679.5,-9.0,579,4174,0.00,2.05,0.00,0.000,6,0.000,0.036,2560,801,3950,0,0,0,0,0,0
$GC,4500,-0.72,-228.7,714.2,-10.5,595,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,801,3948,0,0,0,0,0,0
$GC,4811,-0.72,-228.7,746.2,-10.2,610,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,801,3945,0,0,0,0,0,0
$GC,5117,-0.72,-228.7,779.6,-10.8,625,5120,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2161,3942,0,0,0,0,0,0
$GC,5157,-0.72,-228.7,783.7,-9.4,626,5166,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,801,3942,0,0,0,0,0,0
$GC,5475,-0.72,-228.7,817.8,-11.2,642,5478,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2151,3939,0,0,0,0,0,0
$GC,5530,-0.72,-228.7,823.7,-10.1,644,5534,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,795,3939,0,0,0,0,0,0
$GC,5854,-0.72,-228.7,860.0,-11.3,660,5857,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2166,3936,0,0,0,0,0,0
$GC,5910,-0.72,-228.7,865.9,-9.4,662,5914,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,809,3936,0,0,0,0,0,0
$GC,6226,-0.72,-228.7,899.0,-10.2,677,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,809,3934,0,0,0,0,0,0
$GC,6539,-0.72,-228.7,929.2,-9.6,692,6542,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2148,3932,0,0,0,0,0,0
$GC,6617,-0.72,-228.7,936.3,-8.1,695,6621,0.00,2.03,0.00,0.000,6,0.000,0.038,2560,821,3930,0,0,0,0,0,0
$GC,6940,-0.72,-228.7,965.7,-9.3,711,6944,0.00,1.92,0.00,0.000,4,0.000,0.019,2560,2157,3929,0,0,0,0,0,0
$GC,6995,-0.72,-228.7,970.7,-8.6,713,6999,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,823,3928,0,0,0,0,0,0
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7323,-0.14,0.0,1001.0,9.7,729,7514,0.62,0.00,181.48,1.401,4,0.118,0.000,2769,987,3028,0,0,0,0,0,0
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7517,0.72,228.7,1010.2,0.0,738,7721,0.80,2.15,195.40,1.343,4,0.047,0.019,3060,2386,2096,0,0,0,0,0,0
$GC,7843,0.72,228.7,970.6,17.2,753,7848,0.00,2.22,0.00,0.000,6,0.000,0.037,3070,1001,2088,0,0,0,0,0,0
$GC,8171,0.72,228.7,908.6,19.5,769,8175,0.00,1.25,0.00,0.000,4,0.000,0.047,3077,190,2086,0,0,0,0,0,0
$GC,8360,0.72,228.7,869.3,20.6,777,8365,0.00,1.12,0.00,0.000,6,0.000,0.025,3077,999,2084,0,0,0,0,0,0
$GC,8682,0.72,228.7,805.9,19.9,793,8686,0.00,2.00,0.00,0.000,4,0.000,0.024,3077,2379,2084,0,0,0,0,0,0
$GC,8785,0.72,228.7,785.9,19.0,797,8790,0.12,2.10,0.00,0.000,6,0.181,0.037,3053,1017,2083,0,0,0,0,0,0
$GC,9101,0.72,228.7,730.5,17.4,812,9105,0.00,2.00,0.00,0.000,4,0.000,0.024,3053,2379,2082,0,0,0,0,0,0
$GC,9134,0.72,228.7,724.8,16.7,813,9138,0.00,2.10,0.00,0.000,6,0.000,0.037,3061,1013,2082,0,0,0,0,0,0
$GC,9457,0.72,228.7,671.8,16.7,829,9461,0.00,2.00,0.00,0.000,4,0.000,0.024,3061,2389,2081,0,0,0,0,0,0
$GC,9496,0.72,228.7,664.9,15.6,830,9503,0.00,2.10,0.00,0.000,6,0.000,0.037,3068,1016,2082,0,0,0,0,0,0
$GC,9812,0.72,228.7,611.4,17.3,846,9816,0.00,1.98,0.00,0.000,4,0.000,0.024,3068,2380,2081,0,0,0,0,0,0
$GC,9869,0.72,228.7,601.8,16.3,848,9873,0.00,2.05,0.00,0.000,6,0.000,0.037,3073,1031,2080,0,0,0,0,0,0
$GC,10199,0.72,228.7,544.7,17.2,879,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1031,2080,0,0,0,0,0,0
$GC,10522,0.72,228.7,491.8,16.1,913,10528,0.00,1.95,0.00,0.000,4,0.000,0.021,3074,2393,2080,0,0,0,0,0,0
$GC,10661,0.72,228.7,471.8,15.6,938,10669,0.00,2.08,0.00,0.000,6,0.000,0.037,3081,1051,2079,0,0,0,0,0,0
$GC,10994,0.72,228.7,422.5,15.8,999,11001,0.00,1.92,0.00,0.000,4,0.000,0.021,3081,2388,2078,0,0,0,0,0,0
$GC,11046,0.72,228.7,414.1,14.9,1008,11055,0.10,2.08,0.00,0.000,6,0.151,0.037,3058,1044,2079,0,0,0,0,0,0
$GC,11382,0.72,228.7,370.9,12.5,1069,11388,0.00,1.30,0.00,0.000,4,0.000,0.046,3064,186,2079,0,0,0,0,0,0
$GC,11451,0.72,228.7,361.2,14.8,1081,11457,0.00,1.15,0.00,0.000,6,0.000,0.021,3063,1042,2079,0,0,0,0,0,0
$GC,11787,0.73,233.9,319.7,10.9,1142,11795,0.00,1.92,0.00,0.000,4,0.000,0.021,3064,2374,2079,0,0,0,0,0,0
$GC,11863,0.76,262.6,311.3,10.2,1155,11898,0.00,2.05,25.60,0.884,6,0.000,0.036,3071,1013,1957,0,0,0,0,0,0
$GC,12225,0.76,262.6,264.2,13.7,1220,12233,0.00,1.98,0.00,0.000,4,0.000,0.020,3071,2364,1953,0,0,0,0,0,0
$GC,12305,0.76,262.6,254.1,12.7,1234,12313,0.00,2.05,0.00,0.000,6,0.000,0.035,3078,1037,1953,0,0,0,0,0,0
$GC,12639,0.76,262.6,211.1,14.5,1295,12646,0.00,1.92,0.00,0.000,4,0.000,0.019,3079,2384,1953,0,0,0,0,0,0
$GC,12740,0.76,262.6,198.0,12.6,1313,12747,0.00,2.05,0.00,0.000,6,0.000,0.034,3086,1032,1953,0,0,0,0,0,0
$GC,13074,0.83,317.6,158.7,9.3,1374,13123,0.00,1.33,44.70,0.746,4,0.000,0.044,3093,186,1733,0,0,0,0,0,0
$GC,13366,0.83,317.6,121.4,12.5,1426,13374,0.00,1.12,0.00,0.000,6,0.000,0.019,3093,1050,1729,0,0,0,0,0,0
$GC,13695,0.89,368.9,89.9,9.4,1487,13742,0.00,1.35,40.80,0.673,4,0.000,0.042,3098,193,1524,0,0,0,0,0,0
$GC,13766,1.00,453.4,83.3,8.4,1497,13840,0.10,1.10,67.72,0.659,6,0.057,0.020,3158,1033,1179,0,0,0,0,0,0
$GC,14160,1.00,453.4,28.3,14.8,1567,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1033,1174,0,0,0,0,0,0
$STATE,14359,end climb,SURFACE_DEPTH_REACHED
$STATE,14359,begin surface coast
$FINISH,0.5,1.009500
$STATE,14386,end surface coast,CONTROL_FINISHED_OK
$STATE,14387,begin surface
$SM_CCo,14465,0.00,0.000,0,0,1170,456.01
$SM_GC,1.11,7.82,0.00,0.00,0.038,0.000,0.000,121,780,1170,-8.37,-0.28,456.01
$IRIDIUM_FIX,2124.90,12611.87,271010,121203
$TT8_MAMPS,0.028462
$HUMID,39.84
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,1
$24V_AH,23.1,47.270
$10V_AH,10.2,43.199
$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,19.450,95.650,555.700,0.000,0.000,58.862,70.461,217.759,0.250,0.000,31.399,3909.295,6161.321,600.904,3908.724,486.334,0.000,2041.359,0.000,3555.724,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,58.905,1401.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.798,1420.763,1877.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,93610,1609
$CAP_FILE_SIZE,163628,0
$CFSIZE,260165632,151097344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 25.9,1
$GPS,271010,165007,2130.606,12611.381,39,1.1,40,-2.9