version: 66.08
glider: 167
mission: 6
dive: 260
start: 10 28 110 19 53 37
data:
$ID,167
$MISSION,6
$DIVE,260
$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,-54450.344
$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,65
$R_STBD_OVSHOOT,81
$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
$GPS1,281010,194200,2122.336,12602.682,38,1.2,44,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.5
$GPS2,281010,195259,2122.245,12602.874,13,99.0,32,-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,244.6,3124,-19.7,-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,18,-0.73,-148.9,0.0,0.0,0,85,0.00,0.00,-64.75,0.000,2,0.000,0.000,112,749,3330,0,0,0,0,0,0
$GC,89,-0.78,-190.1,5.2,-9.1,9,114,9.32,2.05,-7.68,0.000,4,0.212,0.027,2549,2219,3806,0,0,0,0,0,0
$GC,170,-0.78,-190.1,39.2,-28.1,22,178,0.00,2.15,0.00,0.000,6,0.000,0.034,2548,813,3808,0,0,0,0,0,0
$GC,495,-0.78,-190.1,138.8,-23.4,83,503,0.00,0.90,0.00,0.000,4,0.000,0.040,2549,191,3809,0,0,0,0,0,0
$GC,748,-0.78,-190.1,197.8,-20.5,129,754,0.00,0.77,0.00,0.000,6,0.000,0.020,2544,896,3810,0,0,0,0,0,0
$GC,1081,-0.78,-190.1,264.0,-18.6,190,1088,0.00,1.02,0.00,0.000,4,0.000,0.040,2544,193,3811,0,0,0,0,0,0
$GC,1202,-0.78,-190.1,287.8,-20.0,212,1210,0.00,0.77,0.00,0.000,6,0.000,0.020,2539,889,3811,0,0,0,0,0,0
$GC,1538,-0.78,-190.1,344.4,-16.1,273,1546,0.12,1.05,0.00,0.000,4,0.182,0.041,2571,187,3810,0,0,0,0,0,0
$GC,1642,-0.78,-190.1,360.1,-15.1,291,1649,0.00,0.75,0.00,0.000,6,0.000,0.020,2569,850,3810,0,0,0,0,0,0
$GC,1976,-0.78,-190.1,406.4,-14.9,352,1984,0.00,1.90,0.00,0.000,4,0.000,0.015,2561,2207,3809,0,0,0,0,0,0
$GC,2030,-0.78,-190.1,413.3,-11.8,361,2036,0.00,2.15,0.00,0.000,6,0.000,0.033,2561,765,3809,0,0,0,0,0,0
$GC,2362,-0.78,-190.1,461.6,-15.0,422,2370,0.00,2.05,0.00,0.000,4,0.000,0.017,2560,2204,3807,0,0,0,0,0,0
$GC,2436,-0.78,-190.1,471.4,-12.5,435,2444,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,770,3806,0,0,0,0,0,0
$GC,2771,-0.78,-190.1,517.1,-13.0,484,2775,0.00,0.82,0.00,0.000,4,0.000,0.044,2561,199,3804,0,0,0,0,0,0
$GC,2900,-0.78,-190.1,534.9,-13.7,495,2907,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,844,3803,0,0,0,0,0,0
$GC,3225,-0.78,-190.1,574.6,-11.5,526,3229,0.00,0.98,0.00,0.000,4,0.000,0.043,2561,189,3801,0,0,0,0,0,0
$GC,3273,-0.78,-190.1,580.0,-11.9,530,3277,0.00,0.77,0.00,0.000,6,0.000,0.021,2560,836,3801,0,0,0,0,0,0
$GC,3601,-0.78,-190.1,618.3,-12.3,554,3605,0.00,1.80,0.00,0.000,4,0.000,0.017,2561,2139,3797,0,0,0,0,0,0
$GC,3636,-0.81,-210.6,622.3,-10.1,555,3640,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,768,3797,0,0,0,0,0,0
$GC,3953,-0.81,-210.6,660.1,-12.2,570,3957,0.00,1.92,0.00,0.000,4,0.000,0.017,2560,2138,3795,0,0,0,0,0,0
$GC,3986,-0.81,-210.6,664.3,-11.4,571,3990,0.00,2.10,0.00,0.000,6,0.000,0.036,2560,759,3794,0,0,0,0,0,0
$GC,4308,-0.81,-210.6,702.8,-12.0,587,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,759,3792,0,0,0,0,0,0
$GC,4620,-0.81,-213.1,738.3,-11.0,602,4623,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2131,3789,0,0,0,0,0,0
$GC,4675,-0.83,-228.7,744.2,-9.5,604,4679,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,773,3788,0,0,0,0,0,0
$GC,4993,-0.83,-228.7,778.4,-10.7,619,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,773,3786,0,0,0,0,0,0
$GC,5300,-0.83,-228.7,809.4,-9.6,634,5304,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2136,3784,0,0,0,0,0,0
$GC,5328,-0.83,-228.7,812.1,-8.6,635,5332,0.00,2.10,0.00,0.000,6,0.000,0.037,2561,768,3783,0,0,0,0,0,0
$GC,5652,-0.83,-228.7,840.4,-8.5,651,5655,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2129,3781,0,0,0,0,0,0
$GC,5707,-0.83,-228.7,844.8,-6.6,653,5711,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,776,3780,0,0,0,0,0,0
$GC,6031,-0.83,-228.7,871.6,-8.6,669,6035,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2135,3778,0,0,0,0,0,0
$GC,6070,-0.83,-228.7,875.0,-7.9,670,6077,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,785,3778,0,0,0,0,0,0
$GC,6386,-0.83,-228.7,903.7,-9.4,686,6390,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2128,3776,0,0,0,0,0,0
$GC,6466,-0.83,-228.7,910.5,-7.9,689,6470,0.00,2.05,0.00,0.000,6,0.000,0.039,2560,799,3775,0,0,0,0,0,0
$GC,6783,-0.83,-228.7,939.1,-9.1,704,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,799,3773,0,0,0,0,0,0
$GC,7092,-0.83,-228.7,966.3,-9.0,719,7096,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2139,3770,0,0,0,0,0,0
$GC,7171,-0.83,-228.7,972.8,-7.8,722,7175,0.00,2.08,0.00,0.000,6,0.000,0.039,2561,791,3770,0,0,0,0,0,0
$STATE,7491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7491,begin apogee
$GC,7497,-0.14,0.0,1001.5,9.2,738,7652,0.65,0.00,150.00,1.410,4,0.122,0.000,2774,965,3028,0,0,0,0,0,0
$STATE,7653,end apogee,CONTROL_FINISHED_OK
$STATE,7653,begin climb
$GC,7656,0.83,228.7,1007.5,0.0,745,7856,0.85,0.00,195.25,1.351,6,0.049,0.000,3100,965,2096,0,0,0,0,0,0
$GC,8166,0.83,228.7,918.7,21.7,769,8170,0.00,2.08,0.00,0.000,4,0.000,0.024,3100,2368,2087,0,0,0,0,0,0
$GC,8329,0.83,228.7,886.5,19.7,776,8333,0.00,2.10,0.00,0.000,6,0.000,0.036,3109,1011,2084,0,0,0,0,0,0
$GC,8656,0.83,228.7,816.1,20.8,792,8660,0.00,2.00,0.00,0.000,4,0.000,0.022,3109,2375,2084,0,0,0,0,0,0
$GC,8794,0.83,228.7,789.0,19.8,798,8798,0.00,2.05,0.00,0.000,6,0.000,0.037,3119,1030,2083,0,0,0,0,0,0
$GC,9123,0.83,228.7,720.1,21.0,814,9126,0.00,1.98,0.00,0.000,4,0.000,0.022,3119,2382,2082,0,0,0,0,0,0
$GC,9174,0.83,228.7,709.4,19.4,816,9179,0.15,2.03,0.00,0.000,6,0.190,0.036,3090,1047,2082,0,0,0,0,0,0
$GC,9496,0.83,228.7,652.3,17.3,832,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1046,2082,0,0,0,0,0,0
$GC,9806,0.83,228.7,597.6,18.0,847,9810,0.00,1.92,0.00,0.000,4,0.000,0.022,3090,2382,2080,0,0,0,0,0,0
$GC,9925,0.83,228.7,576.5,16.9,857,9931,0.00,2.05,0.00,0.000,6,0.000,0.037,3097,1044,2080,0,0,0,0,0,0
$GC,10250,0.83,228.7,516.4,18.0,888,10254,0.00,1.95,0.00,0.000,4,0.000,0.023,3097,2399,2080,0,0,0,0,0,0
$GC,10268,0.83,228.7,513.1,17.9,889,10275,0.00,2.08,0.00,0.000,6,0.000,0.036,3106,1042,2079,0,0,0,0,0,0
$GC,10599,0.83,228.7,455.4,16.4,943,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1042,2079,0,0,0,0,0,0
$GC,10931,0.83,228.7,398.6,16.1,1004,10939,0.00,1.95,0.00,0.000,4,0.000,0.024,3106,2364,2079,0,0,0,0,0,0
$GC,11012,0.83,228.7,385.4,14.7,1018,11020,0.00,2.03,0.00,0.000,6,0.000,0.037,3115,1054,2078,0,0,0,0,0,0
$GC,11346,0.83,228.7,330.6,15.0,1079,11353,0.00,1.88,0.00,0.000,4,0.000,0.020,3115,2378,2078,0,0,0,0,0,0
$GC,11468,0.83,228.7,311.6,14.8,1101,11475,0.12,1.98,0.00,0.000,6,0.181,0.035,3092,1074,2078,0,0,0,0,0,0
$GC,11801,0.83,228.7,265.6,13.0,1162,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1074,2079,0,0,0,0,0,0
$GC,12137,0.83,228.7,222.1,12.9,1223,12145,0.00,1.85,0.00,0.000,4,0.000,0.020,3092,2388,2079,0,0,0,0,0,0
$GC,12305,0.83,233.1,203.3,10.9,1253,12312,0.00,1.98,0.00,0.000,6,0.000,0.034,3098,1069,2079,0,0,0,0,0,0
$GC,12638,0.88,273.8,167.9,9.1,1314,12680,0.00,1.38,34.70,0.754,4,0.000,0.044,3105,187,1911,0,0,0,0,0,0
$GC,12801,0.88,273.8,148.4,14.1,1342,12809,0.00,1.23,0.00,0.000,6,0.000,0.019,3105,1124,1908,0,0,0,0,0,0
$GC,13128,0.92,301.8,114.0,9.7,1403,13159,0.00,0.00,23.20,0.689,6,0.000,0.000,3105,1125,1796,0,0,0,0,0,0
$GC,13482,0.97,346.9,79.8,8.9,1467,13528,0.00,1.45,36.38,0.659,4,0.000,0.042,3112,194,1612,0,0,0,0,0,0
$GC,13600,1.02,386.7,69.3,9.1,1486,13639,0.08,1.23,32.70,0.640,6,0.067,0.019,3161,1135,1452,0,0,0,0,0,0
$GC,13962,1.02,386.7,18.3,12.0,1551,13970,0.00,1.42,0.00,0.000,4,0.000,0.039,3168,191,1447,0,0,0,0,0,0
$GC,14036,1.02,386.7,8.8,15.1,1564,14044,0.00,1.20,0.00,0.000,6,0.000,0.018,3168,1155,1447,0,0,0,0,0,0
$STATE,14070,end climb,SURFACE_DEPTH_REACHED
$STATE,14070,begin surface coast
$FINISH,0.7,1.021921
$STATE,14088,end surface coast,CONTROL_FINISHED_OK
$STATE,14088,begin surface
$SM_CCo,14106,21.80,0.305,1,0,1398,400.08
$SM_GC,1.56,0.00,0.00,21.80,0.000,0.000,0.305,106,790,1398,-8.49,0.00,400.08
$IRIDIUM_FIX,2113.32,12559.43,281010,191910
$TT8_MAMPS,0.028462
$HUMID,39.56
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.0,48.612
$10V_AH,10.3,44.468
$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,19.050,93.425,472.225,21.800,0.000,67.660,84.992,226.876,0.000,0.000,33.799,3854.312,6044.416,558.078,3844.299,488.704,0.000,1936.978,0.000,3464.684,0.000,0.545,0.000
$DEVICE_MAMPS,211.905,50.490,1409.895,305.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.391,1392.588,1867.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,90093,1573
$CAP_FILE_SIZE,160603,0
$CFSIZE,260165632,150454272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161, 96.8,1
$GPS,281010,235030,2120.892,12602.163,41,1.1,41,-2.9