version: 66.08
glider: 167
mission: 6
dive: 259
start: 10 28 110 15 34 32
data:
$ID,167
$MISSION,6
$DIVE,259
$N_DIVES,270
$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,-54449.082
$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,51
$R_STBD_OVSHOOT,100
$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
$GPS1,281010,152337,2123.608,12603.332,27,1.7,28,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.5
$GPS2,281010,153356,2123.618,12603.389,11,2.0,11,-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,224.1,5312,-18.1,-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,-175.8,0.0,0.0,0,93,0.00,0.00,-72.25,0.000,2,0.000,0.000,108,762,3411,0,0,0,0,0,0
$GC,96,-0.72,-175.8,6.6,-14.3,10,120,9.52,2.05,-5.32,0.000,4,0.216,0.029,2568,2228,3751,0,0,0,0,0,0
$GC,284,-0.72,-175.8,64.2,-27.9,43,292,0.00,2.17,0.00,0.000,6,0.000,0.034,2568,803,3753,0,0,0,0,0,0
$GC,608,-0.72,-175.8,156.9,-22.5,104,616,0.00,0.88,0.00,0.000,4,0.000,0.041,2569,193,3753,0,0,0,0,0,0
$GC,861,-0.72,-175.8,211.2,-22.6,150,869,0.00,0.73,0.00,0.000,6,0.000,0.021,2564,860,3754,0,0,0,0,0,0
$GC,1196,-0.72,-175.8,268.6,-15.3,211,1203,0.00,0.98,0.00,0.000,4,0.000,0.039,2564,192,3755,0,0,0,0,0,0
$GC,1292,-0.72,-175.8,285.0,-15.8,228,1300,0.00,0.73,0.00,0.000,6,0.000,0.020,2561,867,3755,0,0,0,0,0,0
$GC,1628,-0.72,-175.8,337.6,-15.0,289,1635,0.00,1.00,0.00,0.000,4,0.000,0.040,2561,183,3755,0,0,0,0,0,0
$GC,1743,-0.72,-175.8,355.8,-14.7,310,1751,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,869,3755,0,0,0,0,0,0
$GC,2076,-0.72,-175.8,398.4,-13.0,371,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,870,3753,0,0,0,0,0,0
$GC,2408,-0.72,-175.8,442.5,-12.7,432,2416,0.00,1.85,0.00,0.000,4,0.000,0.017,2561,2186,3752,0,0,0,0,0,0
$GC,2477,-0.73,-186.7,450.7,-10.7,444,2485,0.00,2.15,0.00,0.000,6,0.000,0.033,2560,765,3751,0,0,0,0,0,0
$GC,2813,-0.73,-186.7,493.5,-12.4,505,2820,0.00,0.82,0.00,0.000,4,0.000,0.044,2561,195,3748,0,0,0,0,0,0
$GC,2978,-0.73,-186.7,516.6,-13.9,523,2985,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,818,3747,0,0,0,0,0,0
$GC,3305,-0.73,-186.7,555.1,-11.3,554,3308,0.00,0.93,0.00,0.000,4,0.000,0.043,2559,193,3744,0,0,0,0,0,0
$GC,3352,-0.73,-186.7,560.5,-11.6,558,3356,0.00,0.62,0.00,0.000,6,0.000,0.023,2560,732,3745,0,0,0,0,0,0
$GC,3683,-0.73,-186.7,598.8,-11.8,589,3687,0.00,1.98,0.00,0.000,4,0.000,0.017,2560,2143,3741,0,0,0,0,0,0
$GC,3745,-0.78,-227.0,605.2,-9.4,592,3751,0.00,2.10,0.00,0.000,6,0.000,0.035,2560,754,3740,0,0,0,0,0,0
$GC,4061,-0.78,-227.0,640.7,-11.8,608,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,753,3739,0,0,0,0,0,0
$GC,4370,-0.78,-227.0,676.4,-11.2,623,4373,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2127,3735,0,0,0,0,0,0
$GC,4478,-0.78,-228.7,686.6,-9.1,627,4486,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,749,3734,0,0,0,0,0,0
$GC,4794,-0.78,-228.7,720.0,-10.8,643,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,749,3731,0,0,0,0,0,0
$GC,5105,-0.78,-228.7,752.3,-10.0,658,5109,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2122,3728,0,0,0,0,0,0
$GC,5161,-0.78,-228.7,757.7,-8.2,660,5165,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,746,3728,0,0,0,0,0,0
$GC,5483,-0.78,-228.7,788.8,-9.7,676,5487,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2125,3726,0,0,0,0,0,0
$GC,5501,-0.78,-228.7,790.5,-9.6,676,5508,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,745,3725,0,0,0,0,0,0
$GC,5818,-0.78,-228.7,820.7,-9.6,692,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,745,3723,0,0,0,0,0,0
$GC,6127,-0.78,-228.7,849.8,-9.1,707,6130,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2120,3721,0,0,0,0,0,0
$GC,6197,-0.78,-228.7,855.2,-7.4,710,6201,0.00,2.10,0.00,0.000,6,0.000,0.039,2560,757,3720,0,0,0,0,0,0
$GC,6526,-0.78,-228.7,884.9,-9.3,726,6529,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2118,3717,0,0,0,0,0,0
$GC,6574,-0.78,-228.7,888.9,-8.2,728,6578,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,765,3717,0,0,0,0,0,0
$GC,6902,-0.78,-228.7,919.0,-9.4,744,6906,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2123,3714,0,0,0,0,0,0
$GC,6936,-0.78,-228.7,922.3,-8.6,745,6940,0.00,2.10,0.00,0.000,6,0.000,0.039,2560,760,3714,0,0,0,0,0,0
$GC,7254,-0.78,-228.7,952.7,-9.8,760,7258,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2117,3714,0,0,0,0,0,0
$GC,7323,-0.78,-228.7,959.0,-8.9,763,7327,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,772,3714,0,0,0,0,0,0
$GC,7652,-0.78,-228.7,990.0,-9.7,779,7655,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2128,3712,0,0,0,0,0,0
$GC,7685,-0.78,-228.7,993.3,-8.7,780,7689,0.00,2.10,0.00,0.000,6,0.000,0.040,2560,773,3711,0,0,0,0,0,0
$STATE,7772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7772,begin apogee
$GC,7778,-0.14,0.0,1001.6,9.6,784,7922,0.62,0.00,138.77,1.414,4,0.123,0.000,2766,945,3029,0,0,0,0,0,0
$STATE,7922,end apogee,CONTROL_FINISHED_OK
$STATE,7923,begin climb
$GC,7925,0.78,228.7,1008.4,0.0,790,8125,0.82,0.00,194.50,1.356,6,0.054,0.000,3076,945,2096,0,0,0,0,0,0
$GC,8447,0.78,228.7,931.2,18.4,815,8450,0.00,2.03,0.00,0.000,4,0.000,0.024,3076,2310,2085,0,0,0,0,0,0
$GC,8599,0.78,228.7,904.1,16.8,821,8606,0.00,2.03,0.00,0.000,6,0.000,0.037,3085,1017,2084,0,0,0,0,0,0
$GC,8915,0.78,228.7,843.1,19.9,837,8919,0.00,1.90,0.00,0.000,4,0.000,0.024,3085,2328,2082,0,0,0,0,0,0
$GC,9061,0.78,228.7,815.6,19.7,843,9065,0.00,2.00,0.00,0.000,6,0.000,0.037,3093,1029,2082,0,0,0,0,0,0
$GC,9383,0.78,228.7,752.3,19.1,859,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1029,2081,0,0,0,0,0,0
$GC,9694,0.78,228.7,692.2,19.8,874,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1029,2081,0,0,0,0,0,0
$GC,10003,0.78,228.7,634.9,18.2,889,10007,0.00,1.88,0.00,0.000,4,0.000,0.022,3092,2323,2080,0,0,0,0,0,0
$GC,10026,0.78,228.7,630.4,17.9,890,10030,0.00,1.95,0.00,0.000,6,0.000,0.037,3099,1049,2080,0,0,0,0,0,0
$GC,10358,0.78,228.7,573.5,16.6,912,10362,0.00,1.85,0.00,0.000,4,0.000,0.021,3099,2341,2079,0,0,0,0,0,0
$GC,10520,0.78,228.7,545.0,16.6,926,10527,0.00,1.98,0.00,0.000,6,0.000,0.037,3105,1066,2079,0,0,0,0,0,0
$GC,10847,0.78,228.7,489.6,16.7,962,10855,0.00,1.33,0.00,0.000,4,0.000,0.046,3112,194,2079,0,0,0,0,0,0
$GC,10904,0.78,228.7,479.6,17.9,972,10913,0.10,1.10,0.00,0.000,6,0.178,0.024,3081,989,2079,0,0,0,0,0,0
$GC,11239,0.78,228.7,428.7,15.7,1033,11245,0.00,2.03,0.00,0.000,4,0.000,0.022,3081,2401,2078,0,0,0,0,0,0
$GC,11324,0.78,228.7,416.5,14.7,1048,11331,0.00,2.05,0.00,0.000,6,0.000,0.036,3089,1073,2078,0,0,0,0,0,0
$GC,11658,0.78,228.7,367.6,14.4,1109,11665,0.00,1.90,0.00,0.000,4,0.000,0.021,3088,2393,2078,0,0,0,0,0,0
$GC,11774,0.78,228.7,350.2,14.3,1130,11782,0.00,2.03,0.00,0.000,6,0.000,0.036,3098,1078,2078,0,0,0,0,0,0
$GC,12107,0.78,228.7,299.3,15.4,1191,12115,0.00,1.90,0.00,0.000,4,0.000,0.021,3098,2394,2077,0,0,0,0,0,0
$GC,12221,0.78,228.7,283.2,13.0,1211,12228,0.00,2.00,0.00,0.000,6,0.000,0.035,3102,1075,2078,0,0,0,0,0,0
$GC,12554,0.78,228.7,236.6,14.9,1272,12562,0.00,1.92,0.00,0.000,4,0.000,0.021,3102,2400,2078,0,0,0,0,0,0
$GC,12705,0.78,228.7,216.2,12.4,1299,12714,0.12,1.98,0.00,0.000,6,0.172,0.034,3078,1079,2078,0,0,0,0,0,0
$GC,13041,0.82,253.8,177.1,10.0,1360,13069,0.00,1.38,18.73,0.754,4,0.000,0.044,3084,183,1994,0,0,0,0,0,0
$GC,13209,0.82,253.8,158.7,11.5,1389,13215,0.00,1.27,0.00,0.000,6,0.000,0.019,3084,1158,1991,0,0,0,0,0,0
$GC,13537,0.90,324.9,129.4,8.1,1450,13607,0.00,1.52,57.12,0.720,4,0.000,0.043,3088,191,1703,0,0,0,0,0,0
$GC,13643,0.91,329.4,119.9,10.9,1465,13652,0.00,1.27,5.03,0.522,6,0.000,0.019,3088,1158,1685,0,0,0,0,0,0
$GC,13973,0.97,378.0,88.7,9.0,1526,14020,0.12,1.55,39.33,0.666,4,0.090,0.041,3154,179,1485,0,0,0,0,0,0
$GC,14129,0.97,378.0,69.1,14.2,1552,14137,0.00,1.25,0.00,0.000,6,0.000,0.018,3154,1133,1482,0,0,0,0,0,0
$GC,14456,0.98,388.7,33.3,10.7,1613,14472,0.00,1.42,9.38,0.554,4,0.000,0.037,3160,177,1442,0,0,0,0,0,0
$GC,14555,0.98,388.7,23.1,11.9,1630,14563,0.00,1.23,0.00,0.000,6,0.000,0.017,3160,1153,1442,0,0,0,0,0,0
$STATE,14707,end climb,SURFACE_DEPTH_REACHED
$STATE,14708,begin surface coast
$FINISH,1.0,1.021859
$STATE,14725,end surface coast,CONTROL_FINISHED_OK
$STATE,14725,begin surface
$SM_CCo,14743,14.62,0.142,1,0,1398,400.08
$SM_GC,1.40,0.00,0.00,14.62,0.000,0.000,0.142,125,747,1398,-8.43,-1.22,400.08
$IRIDIUM_FIX,2115.63,12602.66,281010,151539
$TT8_MAMPS,0.028462
$HUMID,39.72
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,28.60
$XPDR_PINGS,0
$24V_AH,23.0,48.433
$10V_AH,10.2,44.294
$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,19.025,98.275,462.850,14.625,0.000,56.161,80.353,217.994,0.000,0.000,12.730,4069.427,6232.049,563.086,4004.678,507.936,0.000,2010.501,0.000,3664.781,0.000,0.543,0.000
$DEVICE_MAMPS,216.495,50.490,1413.720,141.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.468,1473.734,2001.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96773,1661
$CAP_FILE_SIZE,168576,0
$CFSIZE,260165632,150528000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100, 51.6,1
$GPS,281010,194200,2122.336,12602.682,38,1.2,44,-2.9