version: 66.08
glider: 167
mission: 6
dive: 262
start: 10 29 110 4 25 0
data:
$ID,167
$MISSION,6
$DIVE,262
$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,-54452.863
$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,36
$R_STBD_OVSHOOT,103
$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
$GPS1,291010,041437,2121.917,12600.809,35,1.0,35,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.0
$GPS2,291010,042438,2121.815,12600.825,11,1.6,11,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$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,4.8,5162,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.72,-228.7,0.0,0.0,0,95,0.00,0.00,-72.72,0.000,2,0.000,0.000,113,779,3227,0,0,0,0,0,0
$GC,98,-0.72,-228.7,5.0,-10.2,10,122,9.52,0.00,-12.15,0.000,6,0.217,0.000,2577,778,3963,0,0,0,0,0,0
$GC,440,-0.72,-228.7,121.3,-28.2,73,448,0.00,0.88,0.00,0.000,4,0.000,0.043,2577,183,3966,0,0,0,0,0,0
$GC,693,-0.72,-228.7,186.5,-24.3,119,699,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,867,3967,0,0,0,0,0,0
$GC,1033,-0.72,-228.7,247.5,-17.6,180,1042,0.00,1.00,0.00,0.000,4,0.000,0.041,2574,188,3968,0,0,0,0,0,0
$GC,1195,-0.72,-228.7,275.3,-17.1,208,1204,0.00,0.77,0.00,0.000,6,0.000,0.020,2569,877,3968,0,0,0,0,0,0
$GC,1540,-0.72,-228.7,327.6,-13.4,269,1547,0.00,1.02,0.00,0.000,4,0.000,0.040,2568,181,3968,0,0,0,0,0,0
$GC,1610,-0.72,-228.7,338.4,-15.4,281,1616,0.00,0.75,0.00,0.000,6,0.000,0.021,2564,843,3968,0,0,0,0,0,0
$GC,1951,-0.72,-228.7,389.8,-15.4,342,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,844,3967,0,0,0,0,0,0
$GC,2293,-0.72,-228.7,436.6,-12.7,403,2300,0.00,1.85,0.00,0.000,4,0.000,0.017,2561,2187,3965,0,0,0,0,0,0
$GC,2356,-0.72,-228.7,443.3,-10.6,413,2363,0.00,2.12,0.00,0.000,6,0.000,0.033,2561,753,3965,0,0,0,0,0,0
$GC,2697,-0.72,-228.7,486.3,-12.1,474,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,753,3963,0,0,0,0,0,0
$GC,3033,-0.72,-228.7,527.5,-11.9,515,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,753,3961,0,0,0,0,0,0
$GC,3355,-0.72,-228.7,567.0,-12.6,545,3359,0.00,2.00,0.00,0.000,4,0.000,0.017,2561,2159,3957,0,0,0,0,0,0
$GC,3390,-0.72,-228.7,571.1,-9.6,548,3394,0.00,2.12,0.00,0.000,6,0.000,0.035,2561,772,3957,0,0,0,0,0,0
$GC,3726,-0.72,-228.7,606.8,-9.6,576,3730,0.00,2.03,0.00,0.000,4,0.000,0.018,2560,2198,3954,0,0,0,0,0,0
$GC,3777,-0.72,-228.7,611.1,-7.5,578,3781,0.00,2.12,0.00,0.000,6,0.000,0.035,2560,781,3954,0,0,0,0,0,0
$GC,4099,-0.72,-228.7,641.2,-9.7,594,4103,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2164,3951,0,0,0,0,0,0
$GC,4147,-0.72,-228.7,645.5,-8.8,596,4151,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,787,3950,0,0,0,0,0,0
$GC,4474,-0.72,-228.7,680.1,-10.9,612,4478,0.00,0.88,0.00,0.000,4,0.000,0.047,2561,194,3948,0,0,0,0,0,0
$GC,4570,-0.72,-228.7,691.3,-11.3,616,4574,0.00,0.77,0.00,0.000,6,0.000,0.023,2560,815,3947,0,0,0,0,0,0
$GC,4897,-0.72,-228.7,726.8,-11.4,632,4900,0.00,1.88,0.00,0.000,4,0.000,0.018,2560,2152,3945,0,0,0,0,0,0
$GC,4926,-0.72,-228.7,729.8,-10.7,633,4930,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,795,3944,0,0,0,0,0,0
$GC,5250,-0.72,-228.7,763.1,-9.8,649,5254,0.00,0.90,0.00,0.000,4,0.000,0.047,2561,190,3941,0,0,0,0,0,0
$GC,5322,-0.72,-228.7,770.8,-9.9,652,5326,0.00,0.75,0.00,0.000,6,0.000,0.023,2560,789,3941,0,0,0,0,0,0
$GC,5652,-0.72,-228.7,800.6,-9.2,668,5656,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2157,3938,0,0,0,0,0,0
$GC,5698,-0.72,-228.7,804.8,-8.4,670,5701,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,801,3938,0,0,0,0,0,0
$GC,6027,-0.72,-228.7,837.2,-10.3,686,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,801,3935,0,0,0,0,0,0
$GC,6338,-0.72,-228.7,870.4,-11.0,701,6342,0.10,1.98,0.00,0.000,4,0.169,0.018,2586,2143,3933,0,0,0,0,0,0
$GC,6384,-0.72,-228.7,874.9,-8.4,703,6388,0.00,2.10,0.00,0.000,6,0.000,0.037,2586,793,3933,0,0,0,0,0,0
$GC,6712,-0.72,-228.7,902.9,-8.2,719,6716,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2162,3931,0,0,0,0,0,0
$GC,6797,-0.72,-228.7,909.0,-6.9,722,6804,0.00,2.05,0.00,0.000,6,0.000,0.037,2586,816,3930,0,0,0,0,0,0
$GC,7114,-0.72,-228.7,931.4,-6.7,738,7118,0.00,1.90,0.00,0.000,4,0.000,0.018,2586,2157,3928,0,0,0,0,0,0
$GC,7154,-0.72,-228.7,933.9,-6.2,739,7161,0.00,2.03,0.00,0.000,6,0.000,0.038,2587,824,3928,0,0,0,0,0,0
$GC,7471,-0.72,-228.7,954.5,-6.5,755,7475,0.00,1.95,0.00,0.000,4,0.000,0.019,2586,2160,3926,0,0,0,0,0,0
$GC,7509,-0.72,-228.7,957.0,-5.7,756,7518,0.00,2.03,0.00,0.000,6,0.000,0.038,2586,829,3926,0,0,0,0,0,0
$GC,7828,-0.72,-228.7,977.9,-6.9,772,7831,0.00,1.90,0.00,0.000,4,0.000,0.018,2586,2160,3925,0,0,0,0,0,0
$GC,7861,-0.72,-228.7,980.3,-6.3,773,7864,0.00,2.03,0.00,0.000,6,0.000,0.038,2586,832,3925,0,0,0,0,0,0
$STATE,8159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8160,begin apogee
$GC,8167,-0.14,0.0,1000.5,6.8,788,8359,0.52,0.00,181.85,1.415,4,0.106,0.000,2768,988,3028,0,0,0,0,0,0
$STATE,8360,end apogee,CONTROL_FINISHED_OK
$STATE,8360,begin climb
$GC,8364,0.72,228.7,1008.9,0.0,797,8568,0.75,1.33,196.32,1.354,4,0.050,0.049,3060,200,2096,0,0,0,0,0,0
$GC,8724,0.72,228.7,958.7,20.1,813,8731,0.00,1.12,0.00,0.000,6,0.000,0.023,3060,990,2088,0,0,0,0,0,0
$GC,9040,0.72,228.7,902.2,18.0,829,9044,0.00,1.23,0.00,0.000,4,0.000,0.046,3066,195,2084,0,0,0,0,0,0
$GC,9202,0.72,228.7,872.2,19.2,836,9205,0.00,1.12,0.00,0.000,6,0.000,0.024,3066,1007,2084,0,0,0,0,0,0
$GC,9538,0.72,228.7,812.6,17.6,852,9542,0.00,2.03,0.00,0.000,4,0.000,0.025,3066,2380,2082,0,0,0,0,0,0
$GC,9699,0.72,228.7,786.4,15.8,859,9703,0.00,2.05,0.00,0.000,6,0.000,0.035,3074,1029,2081,0,0,0,0,0,0
$GC,10027,0.72,228.7,730.5,16.8,875,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1029,2080,0,0,0,0,0,0
$GC,10338,0.72,228.7,679.1,16.2,890,10342,0.00,1.98,0.00,0.000,4,0.000,0.021,3074,2380,2080,0,0,0,0,0,0
$GC,10400,0.72,228.7,668.7,16.3,892,10407,0.00,2.05,0.00,0.000,6,0.000,0.036,3083,1027,2079,0,0,0,0,0,0
$GC,10716,0.72,228.7,611.0,18.9,908,10720,0.00,1.95,0.00,0.000,4,0.000,0.022,3083,2379,2079,0,0,0,0,0,0
$GC,10764,0.72,228.7,602.3,18.5,910,10769,0.15,2.00,0.00,0.000,6,0.178,0.036,3053,1053,2079,0,0,0,0,0,0
$GC,11090,0.72,228.7,553.7,13.2,940,11093,0.00,1.95,0.00,0.000,4,0.000,0.023,3053,2377,2080,0,0,0,0,0,0
$GC,11193,0.72,228.7,540.5,12.4,949,11197,0.00,1.98,0.00,0.000,6,0.000,0.037,3060,1070,2079,0,0,0,0,0,0
$GC,11522,0.72,228.7,494.4,14.2,983,11529,0.00,1.33,0.00,0.000,4,0.000,0.046,3067,195,2078,0,0,0,0,0,0
$GC,11624,0.72,228.7,478.1,17.2,1001,11632,0.00,1.20,0.00,0.000,6,0.000,0.024,3068,1072,2078,0,0,0,0,0,0
$GC,11960,0.72,228.7,428.0,15.4,1062,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1072,2078,0,0,0,0,0,0
$GC,12297,0.72,228.7,381.4,13.1,1123,12304,0.00,1.90,0.00,0.000,4,0.000,0.024,3067,2389,2078,0,0,0,0,0,0
$GC,12407,0.72,228.7,367.5,11.9,1143,12414,0.00,2.00,0.00,0.000,6,0.000,0.036,3073,1059,2078,0,0,0,0,0,0
$GC,12741,0.72,228.7,321.6,15.2,1204,12749,0.00,1.30,0.00,0.000,4,0.000,0.045,3080,196,2078,0,0,0,0,0,0
$GC,12812,0.72,228.7,311.0,16.4,1216,12820,0.00,1.17,0.00,0.000,6,0.000,0.024,3080,1058,2078,0,0,0,0,0,0
$GC,13144,0.72,228.7,266.4,12.1,1277,13151,0.00,1.90,0.00,0.000,4,0.000,0.021,3080,2392,2078,0,0,0,0,0,0
$GC,13218,0.72,228.7,257.1,12.2,1290,13226,0.10,2.05,0.00,0.000,6,0.144,0.035,3056,1053,2078,0,0,0,0,0,0
$GC,13556,0.72,228.7,219.8,11.5,1351,13562,0.00,1.30,0.00,0.000,4,0.000,0.044,3061,193,2078,0,0,0,0,0,0
$GC,13809,0.80,291.2,192.2,9.1,1397,13865,0.00,1.12,48.85,0.786,6,0.000,0.021,3062,1054,1839,0,0,0,0,0,0
$GC,14194,0.85,335.8,151.5,9.7,1465,14239,0.10,1.35,35.33,0.731,4,0.099,0.041,3120,188,1663,0,0,0,0,0,0
$GC,14338,0.85,335.8,130.8,14.1,1489,14346,0.00,1.15,0.00,0.000,6,0.000,0.020,3120,1074,1660,0,0,0,0,0,0
$GC,14667,0.85,335.8,89.3,12.2,1550,14675,0.00,1.35,0.00,0.000,4,0.000,0.042,3127,187,1658,0,0,0,0,0,0
$GC,14771,0.85,335.8,76.3,12.9,1569,14780,0.08,1.12,0.00,0.000,6,0.140,0.019,3101,1062,1658,0,0,0,0,0,0
$GC,15103,0.95,412.2,47.7,8.6,1630,15170,0.00,1.33,61.05,0.636,4,0.000,0.040,3104,187,1347,0,0,0,0,0,0
$GC,15213,0.95,412.2,36.3,11.9,1646,15221,0.00,1.15,0.00,0.000,6,0.000,0.018,3104,1086,1344,0,0,0,0,0,0
$STATE,15494,end climb,SURFACE_DEPTH_REACHED
$STATE,15494,begin surface coast
$FINISH,0.5,1.021769
$STATE,15523,end surface coast,CONTROL_FINISHED_OK
$STATE,15526,begin surface
$SM_CCo,15604,0.00,0.000,0,0,1339,414.31
$SM_GC,1.29,7.68,0.00,0.00,0.037,0.000,0.000,124,776,1339,-8.36,-0.40,414.31
$IRIDIUM_FIX,2113.32,12559.43,291010,040431
$TT8_MAMPS,0.028462
$HUMID,39.80
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.0,49.010
$10V_AH,10.2,44.830
$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,19.000,96.775,523.400,0.000,0.000,53.749,58.960,233.679,0.000,0.000,12.754,4148.751,6822.204,589.255,4086.194,534.459,0.000,2100.779,0.000,3772.991,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,59.670,1415.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.766,1497.124,1971.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333892
$DATA_FILE_SIZE,100165,1704
$CAP_FILE_SIZE,173475,0
$CFSIZE,260165632,150237184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007, 68.5,1
$GPS,291010,084607,2124.030,12600.908,26,2.0,26,-2.9