version: 66.08
glider: 167
mission: 6
dive: 256
start: 10 28 110 2 12 42
data:
$ID,167
$MISSION,6
$DIVE,256
$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,-54445.309
$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,88
$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
$GPS1,281010,020137,2127.375,12609.552,28,1.0,29,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.7
$GPS2,281010,021219,2127.209,12609.491,12,1.8,17,-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,251.3,17675,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-65.28,0.000,2,0.000,0.000,110,780,3232,0,0,0,0,0,0
$GC,88,-0.72,-228.7,5.3,-11.4,9,120,9.27,2.05,-11.88,0.000,4,0.208,0.031,2567,2208,3965,0,0,0,0,0,0
$GC,214,-0.72,-228.7,52.3,-30.5,30,221,0.00,2.15,0.00,0.000,6,0.000,0.031,2567,795,3966,0,0,0,0,0,0
$GC,540,-0.72,-228.7,140.2,-21.6,91,548,0.00,0.88,0.00,0.000,4,0.000,0.041,2566,189,3967,0,0,0,0,0,0
$GC,666,-0.72,-228.7,171.2,-24.9,113,675,0.00,0.80,0.00,0.000,6,0.000,0.019,2562,922,3966,0,0,0,0,0,0
$GC,999,-0.72,-228.7,241.4,-18.5,174,1007,0.00,1.08,0.00,0.000,4,0.000,0.040,2562,189,3968,0,0,0,0,0,0
$GC,1182,-0.72,-228.7,275.3,-17.9,207,1190,0.00,0.77,0.00,0.000,6,0.000,0.019,2561,911,3968,0,0,0,0,0,0
$GC,1519,-0.72,-228.7,329.0,-15.1,268,1527,0.00,1.08,0.00,0.000,4,0.000,0.039,2560,179,3968,0,0,0,0,0,0
$GC,1706,-0.72,-228.7,359.7,-14.5,301,1712,0.00,0.77,0.00,0.000,6,0.000,0.020,2560,876,3969,0,0,0,0,0,0
$GC,2038,-0.72,-228.7,408.5,-13.7,362,2046,0.00,1.02,0.00,0.000,4,0.000,0.041,2560,179,3967,0,0,0,0,0,0
$GC,2107,-0.72,-228.7,418.9,-14.7,374,2115,0.00,0.75,0.00,0.000,6,0.000,0.021,2560,850,3967,0,0,0,0,0,0
$GC,2440,-0.72,-228.7,463.3,-13.2,435,2447,0.00,0.98,0.00,0.000,4,0.000,0.042,2560,189,3965,0,0,0,0,0,0
$GC,2499,-0.72,-228.7,471.2,-13.5,445,2506,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,821,3965,0,0,0,0,0,0
$GC,2832,-0.72,-228.7,513.5,-12.5,496,2835,0.00,1.83,0.00,0.000,4,0.000,0.017,2560,2128,3962,0,0,0,0,0,0
$GC,2880,-0.72,-228.7,518.7,-10.3,500,2884,0.00,2.08,0.00,0.000,6,0.000,0.034,2560,746,3961,0,0,0,0,0,0
$GC,3211,-0.72,-228.7,559.9,-13.0,531,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,746,3958,0,0,0,0,0,0
$GC,3533,-0.72,-228.7,600.0,-12.7,561,3537,0.10,1.95,0.00,0.000,4,0.169,0.018,2586,2109,3956,0,0,0,0,0,0
$GC,3604,-0.72,-228.7,607.3,-8.9,565,3608,0.00,2.08,0.00,0.000,6,0.000,0.036,2585,751,3955,0,0,0,0,0,0
$GC,3934,-0.72,-228.7,639.4,-9.9,581,3938,0.00,1.98,0.00,0.000,4,0.000,0.018,2585,2128,3952,0,0,0,0,0,0
$GC,3990,-0.72,-228.7,644.6,-8.4,583,3994,0.00,2.08,0.00,0.000,6,0.000,0.037,2586,761,3952,0,0,0,0,0,0
$GC,4306,-0.72,-228.7,672.7,-8.7,598,4310,0.00,1.92,0.00,0.000,4,0.000,0.017,2586,2124,3949,0,0,0,0,0,0
$GC,4369,-0.72,-228.7,677.5,-7.2,600,4376,0.00,2.08,0.00,0.000,6,0.000,0.037,2586,761,3948,0,0,0,0,0,0
$GC,4686,-0.72,-228.7,702.6,-7.7,616,4690,0.00,1.92,0.00,0.000,4,0.000,0.017,2585,2129,3945,0,0,0,0,0,0
$GC,4751,-0.72,-228.7,707.0,-6.4,618,4757,0.00,2.08,0.00,0.000,6,0.000,0.037,2585,775,3945,0,0,0,0,0,0
$GC,5067,-0.72,-228.7,730.7,-7.6,634,5071,0.00,1.92,0.00,0.000,4,0.000,0.017,2585,2127,3942,0,0,0,0,0,0
$GC,5151,-0.72,-228.7,736.6,-6.5,637,5157,0.00,2.05,0.00,0.000,6,0.000,0.037,2586,787,3942,0,0,0,0,0,0
$GC,5469,-0.72,-228.7,759.8,-7.6,653,5472,0.00,1.88,0.00,0.000,4,0.000,0.018,2585,2122,3939,0,0,0,0,0,0
$GC,5515,-0.72,-228.7,763.1,-6.2,655,5519,0.00,2.05,0.00,0.000,6,0.000,0.038,2585,783,3939,0,0,0,0,0,0
$GC,5850,-0.72,-228.7,788.9,-8.0,671,5854,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2131,3936,0,0,0,0,0,0
$GC,5905,-0.72,-228.7,793.1,-7.2,673,5909,0.00,2.05,0.00,0.000,6,0.000,0.038,2586,797,3936,0,0,0,0,0,0
$GC,6227,-0.72,-228.7,817.7,-7.6,689,6231,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2125,3934,0,0,0,0,0,0
$GC,6268,-0.72,-228.7,820.6,-6.9,690,6275,0.00,2.05,0.00,0.000,6,0.000,0.039,2586,792,3934,0,0,0,0,0,0
$GC,6584,-0.72,-228.7,844.4,-7.9,706,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,792,3932,0,0,0,0,0,0
$GC,6893,-0.72,-228.7,869.3,-8.0,721,6897,0.00,1.90,0.00,0.000,4,0.000,0.018,2586,2121,3929,0,0,0,0,0,0
$GC,6956,-0.72,-228.7,873.9,-7.3,723,6964,0.00,2.03,0.00,0.000,6,0.000,0.039,2586,804,3929,0,0,0,0,0,0
$GC,7273,-0.72,-228.7,899.1,-7.8,739,7276,0.00,1.90,0.00,0.000,4,0.000,0.019,2586,2126,3928,0,0,0,0,0,0
$GC,7313,-0.72,-228.7,902.0,-7.5,740,7320,0.00,2.05,0.00,0.000,6,0.000,0.040,2585,801,3928,0,0,0,0,0,0
$GC,7630,-0.72,-228.7,925.9,-7.5,756,7634,0.00,1.88,0.00,0.000,4,0.000,0.018,2586,2120,3926,0,0,0,0,0,0
$GC,7669,-0.72,-228.7,928.9,-6.8,757,7676,0.00,2.03,0.00,0.000,6,0.000,0.039,2586,807,3925,0,0,0,0,0,0
$GC,7987,-0.72,-228.7,952.8,-7.5,773,7991,0.00,1.85,0.00,0.000,4,0.000,0.019,2586,2115,3924,0,0,0,0,0,0
$GC,8037,-0.72,-228.7,956.5,-6.6,775,8041,0.00,2.00,0.00,0.000,6,0.000,0.040,2585,821,3924,0,0,0,0,0,0
$GC,8367,-0.72,-228.7,980.1,-7.4,791,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,821,3922,0,0,0,0,0,0
$STATE,8631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8631,begin apogee
$GC,8637,-0.14,0.0,1000.1,7.4,804,8829,0.52,0.00,182.05,1.414,4,0.108,0.000,2768,957,3028,0,0,0,0,0,0
$STATE,8832,end apogee,CONTROL_FINISHED_OK
$STATE,8832,begin climb
$GC,8834,0.72,228.7,1009.4,0.0,813,9038,0.77,1.27,196.57,1.356,4,0.052,0.050,3060,200,2096,0,0,0,0,0,0
$GC,9052,0.72,228.7,987.8,18.7,823,9056,0.00,1.17,0.00,0.000,6,0.000,0.023,3060,974,2093,0,0,0,0,0,0
$GC,9379,0.72,228.7,928.4,18.1,839,9383,0.00,2.08,0.00,0.000,4,0.000,0.021,3060,2391,2085,0,0,0,0,0,0
$GC,9492,0.72,228.7,909.0,17.2,844,9496,0.00,2.15,0.00,0.000,6,0.000,0.037,3069,1011,2083,0,0,0,0,0,0
$GC,9814,0.72,228.7,849.8,18.4,860,9818,0.00,2.03,0.00,0.000,4,0.000,0.022,3069,2385,2082,0,0,0,0,0,0
$GC,9854,0.72,228.7,842.6,17.0,861,9861,0.00,2.12,0.00,0.000,6,0.000,0.036,3078,1017,2082,0,0,0,0,0,0
$GC,10171,0.72,228.7,784.2,18.6,877,10175,0.00,2.00,0.00,0.000,4,0.000,0.024,3078,2385,2081,0,0,0,0,0,0
$GC,10216,0.72,228.7,775.7,17.1,879,10221,0.12,2.08,0.00,0.000,6,0.181,0.037,3056,1027,2081,0,0,0,0,0,0
$GC,10552,0.72,228.7,720.5,16.4,895,10556,0.00,2.00,0.00,0.000,4,0.000,0.021,3055,2391,2080,0,0,0,0,0,0
$GC,10636,0.72,228.7,707.1,14.5,898,10643,0.00,2.08,0.00,0.000,6,0.000,0.037,3062,1042,2079,0,0,0,0,0,0
$GC,10954,0.72,228.7,654.5,17.2,914,10957,0.00,1.98,0.00,0.000,4,0.000,0.024,3062,2386,2079,0,0,0,0,0,0
$GC,11026,0.72,228.7,642.0,16.7,917,11030,0.00,2.00,0.00,0.000,6,0.000,0.037,3070,1063,2080,0,0,0,0,0,0
$GC,11345,0.72,228.7,587.0,17.8,935,11348,0.00,1.95,0.00,0.000,4,0.000,0.025,3070,2388,2079,0,0,0,0,0,0
$GC,11437,0.72,228.7,571.9,17.5,943,11441,0.00,2.03,0.00,0.000,6,0.000,0.037,3078,1065,2079,0,0,0,0,0,0
$GC,11768,0.72,228.7,516.5,15.8,974,11772,0.00,1.33,0.00,0.000,4,0.000,0.046,3085,195,2079,0,0,0,0,0,0
$GC,11797,0.72,228.7,511.4,17.8,976,11805,0.08,1.23,0.00,0.000,6,0.168,0.025,3062,1065,2079,0,0,0,0,0,0
$GC,12136,0.72,228.7,459.8,14.5,1031,12143,0.00,1.92,0.00,0.000,4,0.000,0.022,3061,2400,2078,0,0,0,0,0,0
$GC,12197,0.72,228.7,451.2,13.6,1041,12204,0.00,2.03,0.00,0.000,6,0.000,0.037,3067,1075,2078,0,0,0,0,0,0
$GC,12539,0.72,228.7,400.7,14.8,1102,12547,0.00,1.92,0.00,0.000,4,0.000,0.022,3067,2382,2078,0,0,0,0,0,0
$GC,12680,0.72,228.7,381.3,13.1,1126,12687,0.00,2.00,0.00,0.000,6,0.000,0.036,3076,1084,2078,0,0,0,0,0,0
$GC,13021,0.72,228.7,333.9,15.2,1187,13027,0.00,1.35,0.00,0.000,4,0.000,0.045,3083,192,2078,0,0,0,0,0,0
$GC,13189,0.72,228.7,308.4,14.4,1217,13195,0.00,1.23,0.00,0.000,6,0.000,0.024,3083,1079,2078,0,0,0,0,0,0
$GC,13529,0.72,228.7,263.8,12.1,1278,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1080,2078,0,0,0,0,0,0
$GC,13873,0.72,228.7,222.2,11.4,1339,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1080,2078,0,0,0,0,0,0
$GC,14213,0.72,228.7,183.5,11.7,1400,14221,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1080,2079,0,0,0,0,0,0
$GC,14557,0.81,299.8,149.3,8.8,1461,14617,0.00,0.00,55.15,0.747,6,0.000,0.000,3083,1080,1805,0,0,0,0,0,0
$GC,14938,0.91,385.8,112.1,8.3,1529,15012,0.10,2.00,68.22,0.698,4,0.110,0.018,3129,2408,1455,0,0,0,0,0,0
$GC,15147,0.91,385.8,86.5,12.0,1564,15156,0.00,2.05,0.00,0.000,6,0.000,0.035,3130,1091,1449,0,0,0,0,0,0
$GC,15477,0.92,392.7,54.3,10.9,1625,15492,0.00,1.38,6.05,0.516,4,0.000,0.042,3137,189,1427,0,0,0,0,0,0
$GC,15593,0.92,392.7,41.2,12.7,1645,15601,0.00,1.25,0.00,0.000,6,0.000,0.018,3138,1180,1426,0,0,0,0,0,0
$STATE,15907,end climb,SURFACE_DEPTH_REACHED
$STATE,15907,begin surface coast
$FINISH,0.7,1.021888
$STATE,15931,end surface coast,CONTROL_FINISHED_OK
$STATE,15931,begin surface
$SM_CCo,15951,9.25,0.065,0,0,1398,400.08
$SM_GC,2.21,0.00,0.00,9.25,0.000,0.000,0.065,112,776,1398,-8.47,-0.42,400.08
$IRIDIUM_FIX,2120.26,12609.13,281010,020246
$TT8_MAMPS,0.028462
$HUMID,39.64
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.0,47.856
$10V_AH,10.2,43.755
$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,18.700,111.750,508.050,9.250,0.000,53.809,70.072,241.354,0.000,0.000,18.145,4182.437,7154.840,597.249,4120.795,525.282,0.000,2110.677,0.000,3761.754,0.000,0.543,0.000
$DEVICE_MAMPS,208.080,90.270,1414.485,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.861,1493.368,1976.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,100083,1708
$CAP_FILE_SIZE,177988,0
$CFSIZE,260165632,150790144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,297.2,1
$GPS,281010,064006,2126.391,12606.815,44,0.9,44,-2.9