version: 66.08
glider: 167
mission: 6
dive: 263
start: 10 29 110 8 56 49
data:
$ID,167
$MISSION,6
$DIVE,263
$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,-54454.121
$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,49
$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
$GPS1,291010,084607,2124.030,12600.908,26,2.0,26,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.2
$GPS2,291010,085626,2123.966,12600.989,15,2.0,15,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2119.400,12601.200
$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,181.5,8465,-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,-228.7,0.0,0.0,0,88,0.00,0.00,-66.95,0.000,2,0.000,0.000,113,772,3342,0,0,0,0,0,0
$GC,91,-0.72,-228.7,5.8,-12.4,9,117,9.50,2.08,-9.85,0.000,4,0.216,0.031,2570,2213,3964,0,0,0,0,0,0
$GC,263,-0.72,-228.7,62.1,-26.4,39,272,0.00,2.17,0.00,0.000,6,0.000,0.034,2570,792,3966,0,0,0,0,0,0
$GC,592,-0.72,-228.7,150.5,-22.7,100,600,0.00,0.88,0.00,0.000,4,0.000,0.041,2570,183,3967,0,0,0,0,0,0
$GC,796,-0.72,-228.7,199.6,-21.9,136,804,0.00,0.80,0.00,0.000,6,0.000,0.019,2565,904,3966,0,0,0,0,0,0
$GC,1142,-0.72,-228.7,265.3,-17.6,197,1149,0.00,1.05,0.00,0.000,4,0.000,0.039,2565,189,3968,0,0,0,0,0,0
$GC,1402,-0.72,-228.7,311.9,-17.5,243,1408,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,843,3968,0,0,0,0,0,0
$GC,1741,-0.72,-228.7,366.7,-15.0,304,1749,0.00,0.95,0.00,0.000,4,0.000,0.040,2560,192,3968,0,0,0,0,0,0
$GC,1851,-0.72,-228.7,383.3,-15.1,323,1857,0.00,0.73,0.00,0.000,6,0.000,0.021,2559,844,3968,0,0,0,0,0,0
$GC,2190,-0.72,-228.7,428.1,-12.5,384,2199,0.10,0.98,0.00,0.000,4,0.180,0.042,2585,192,3966,0,0,0,0,0,0
$GC,2239,-0.72,-228.7,433.8,-11.4,392,2247,0.00,0.70,0.00,0.000,6,0.000,0.021,2585,806,3967,0,0,0,0,0,0
$GC,2581,-0.72,-228.7,471.8,-11.2,453,2589,0.00,1.85,0.00,0.000,4,0.000,0.016,2585,2136,3964,0,0,0,0,0,0
$GC,2699,-0.72,-228.7,483.3,-9.6,473,2706,0.00,2.08,0.00,0.000,6,0.000,0.034,2586,748,3963,0,0,0,0,0,0
$GC,3038,-0.72,-228.7,518.7,-9.6,518,3042,0.00,1.98,0.00,0.000,4,0.000,0.017,2585,2128,3960,0,0,0,0,0,0
$GC,3155,-0.72,-228.7,528.9,-8.0,528,3162,0.00,2.05,0.00,0.000,6,0.000,0.034,2585,752,3959,0,0,0,0,0,0
$GC,3481,-0.72,-228.7,561.3,-10.2,559,3485,0.00,1.95,0.00,0.000,4,0.000,0.017,2585,2126,3957,0,0,0,0,0,0
$GC,3520,-0.72,-228.7,565.2,-9.0,562,3528,0.00,2.08,0.00,0.000,6,0.000,0.035,2586,754,3957,0,0,0,0,0,0
$GC,3846,-0.72,-228.7,597.1,-10.0,593,3850,0.00,1.95,0.00,0.000,4,0.000,0.017,2584,2115,3953,0,0,0,0,0,0
$GC,3907,-0.72,-228.7,602.7,-8.8,597,3913,0.00,2.00,0.00,0.000,6,0.000,0.035,2585,773,3953,0,0,0,0,0,0
$GC,4225,-0.72,-228.7,632.9,-9.6,613,4228,0.00,1.92,0.00,0.000,4,0.000,0.017,2586,2128,3950,0,0,0,0,0,0
$GC,4280,-0.72,-228.7,637.8,-7.9,615,4284,0.00,2.03,0.00,0.000,6,0.000,0.037,2586,783,3950,0,0,0,0,0,0
$GC,4602,-0.72,-228.7,665.4,-8.4,631,4606,0.00,1.92,0.00,0.000,4,0.000,0.018,2586,2119,3948,0,0,0,0,0,0
$GC,4673,-0.72,-228.7,670.8,-7.8,634,4677,0.00,2.00,0.00,0.000,6,0.000,0.037,2585,789,3947,0,0,0,0,0,0
$GC,5006,-0.72,-228.7,700.6,-9.4,650,5010,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2122,3944,0,0,0,0,0,0
$GC,5033,-0.72,-228.7,703.3,-9.1,651,5037,0.00,2.00,0.00,0.000,6,0.000,0.037,2585,795,3944,0,0,0,0,0,0
$GC,5363,-0.72,-228.7,734.0,-9.4,667,5367,0.00,1.90,0.00,0.000,4,0.000,0.018,2586,2114,3942,0,0,0,0,0,0
$GC,5401,-0.72,-228.7,737.8,-8.5,668,5408,0.00,2.03,0.00,0.000,6,0.000,0.037,2586,789,3941,0,0,0,0,0,0
$GC,5719,-0.72,-228.7,765.0,-8.7,684,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,789,3939,0,0,0,0,0,0
$GC,6028,-0.72,-228.7,790.8,-8.2,699,6032,0.00,1.92,0.00,0.000,4,0.000,0.018,2586,2116,3936,0,0,0,0,0,0
$GC,6074,-0.72,-228.7,794.3,-7.4,701,6078,0.00,2.03,0.00,0.000,6,0.000,0.038,2585,808,3936,0,0,0,0,0,0
$GC,6408,-0.72,-228.7,821.0,-7.9,717,6412,0.00,1.85,0.00,0.000,4,0.000,0.018,2585,2120,3934,0,0,0,0,0,0
$GC,6433,-0.72,-228.7,822.9,-7.7,718,6437,0.00,2.03,0.00,0.000,6,0.000,0.038,2585,801,3933,0,0,0,0,0,0
$GC,6767,-0.72,-228.7,848.8,-7.7,734,6770,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2128,3932,0,0,0,0,0,0
$GC,6814,-0.72,-228.7,851.8,-6.7,736,6818,0.00,2.05,0.00,0.000,6,0.000,0.039,2585,790,3931,0,0,0,0,0,0
$GC,7147,-0.72,-228.7,877.8,-8.1,752,7150,0.00,1.88,0.00,0.000,4,0.000,0.018,2585,2116,3929,0,0,0,0,0,0
$GC,7182,-0.72,-228.7,880.5,-7.5,753,7185,0.00,2.00,0.00,0.000,6,0.000,0.038,2585,811,3929,0,0,0,0,0,0
$GC,7504,-0.72,-228.7,906.3,-8.0,769,7507,0.00,1.85,0.00,0.000,4,0.000,0.018,2585,2116,3928,0,0,0,0,0,0
$GC,7531,-0.72,-228.7,908.6,-7.4,770,7535,0.00,2.00,0.00,0.000,6,0.000,0.039,2585,817,3928,0,0,0,0,0,0
$GC,7861,-0.72,-228.7,932.7,-7.2,786,7864,0.00,1.85,0.00,0.000,4,0.000,0.018,2585,2121,3926,0,0,0,0,0,0
$GC,7899,-0.72,-228.7,935.6,-7.2,787,7906,0.00,1.98,0.00,0.000,6,0.000,0.039,2586,822,3926,0,0,0,0,0,0
$GC,8218,-0.72,-228.7,957.6,-6.7,803,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,822,3925,0,0,0,0,0,0
$GC,8527,-0.72,-228.7,977.3,-6.4,818,8530,0.00,1.85,0.00,0.000,4,0.000,0.018,2585,2122,3923,0,0,0,0,0,0
$GC,8554,-0.72,-228.7,979.3,-6.3,819,8558,0.00,1.98,0.00,0.000,6,0.000,0.039,2585,828,3923,0,0,0,0,0,0
$STATE,8880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8880,begin apogee
$GC,8888,-0.14,0.0,1001.1,6.5,835,9083,0.52,0.00,182.38,1.415,4,0.106,0.000,2768,959,3027,0,0,0,0,0,0
$STATE,9085,end apogee,CONTROL_FINISHED_OK
$STATE,9085,begin climb
$GC,9088,0.72,228.7,1009.4,0.0,844,9292,0.77,1.27,197.10,1.358,4,0.049,0.049,3063,202,2096,0,0,0,0,0,0
$GC,9420,0.72,228.7,962.9,20.0,858,9429,0.00,1.12,0.00,0.000,6,0.000,0.022,3063,984,2087,0,0,0,0,0,0
$GC,9736,0.72,228.7,905.9,17.8,874,9740,0.00,1.23,0.00,0.000,4,0.000,0.046,3069,191,2084,0,0,0,0,0,0
$GC,9920,0.72,228.7,870.8,19.4,882,9924,0.00,1.12,0.00,0.000,6,0.000,0.026,3068,990,2084,0,0,0,0,0,0
$GC,10249,0.72,228.7,813.8,17.8,898,10253,0.00,2.03,0.00,0.000,4,0.000,0.023,3068,2381,2082,0,0,0,0,0,0
$GC,10379,0.72,228.7,791.1,17.0,903,10387,0.00,2.08,0.00,0.000,6,0.000,0.035,3076,1026,2081,0,0,0,0,0,0
$GC,10695,0.72,228.7,731.4,19.6,919,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1026,2080,0,0,0,0,0,0
$GC,11006,0.72,228.7,672.7,18.6,934,11010,0.00,1.98,0.00,0.000,4,0.000,0.022,3077,2393,2080,0,0,0,0,0,0
$GC,11142,0.72,228.7,648.5,17.1,940,11147,0.12,2.08,0.00,0.000,6,0.182,0.037,3054,1026,2079,0,0,0,0,0,0
$GC,11463,0.72,228.7,598.2,15.0,956,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1026,2079,0,0,0,0,0,0
$GC,11790,0.72,228.7,550.8,13.7,987,11793,0.00,2.00,0.00,0.000,4,0.000,0.022,3054,2395,2079,0,0,0,0,0,0
$GC,11847,0.72,228.7,543.1,12.1,992,11851,0.00,2.10,0.00,0.000,6,0.000,0.036,3062,1015,2079,0,0,0,0,0,0
$GC,12175,0.72,228.7,497.0,13.9,1024,12183,0.00,2.03,0.00,0.000,4,0.000,0.024,3063,2385,2079,0,0,0,0,0,0
$GC,12250,0.72,228.7,485.9,14.2,1037,12257,0.00,2.05,0.00,0.000,6,0.000,0.036,3071,1029,2078,0,0,0,0,0,0
$GC,12584,0.72,228.7,435.7,14.1,1098,12592,0.00,2.00,0.00,0.000,4,0.000,0.021,3070,2393,2078,0,0,0,0,0,0
$GC,12703,0.72,228.7,417.4,16.4,1119,12711,0.00,2.03,0.00,0.000,6,0.000,0.036,3078,1052,2078,0,0,0,0,0,0
$GC,13038,0.72,228.7,366.9,14.4,1180,13046,0.00,1.98,0.00,0.000,4,0.000,0.021,3078,2400,2078,0,0,0,0,0,0
$GC,13119,0.72,228.7,355.5,13.4,1194,13127,0.08,2.08,0.00,0.000,6,0.152,0.036,3061,1055,2078,0,0,0,0,0,0
$GC,13455,0.72,228.7,317.2,11.9,1255,13462,0.00,1.30,0.00,0.000,4,0.000,0.046,3066,194,2078,0,0,0,0,0,0
$GC,13615,0.72,228.7,295.7,13.2,1284,13623,0.00,1.20,0.00,0.000,6,0.000,0.024,3066,1072,2078,0,0,0,0,0,0
$GC,13951,0.74,247.4,257.3,10.5,1345,13971,0.00,0.00,14.15,0.813,6,0.000,0.000,3066,1072,2018,0,0,0,0,0,0
$GC,14295,0.77,267.4,221.1,10.5,1408,14317,0.00,1.40,17.62,0.786,4,0.000,0.044,3070,182,1937,0,0,0,0,0,0
$GC,14425,0.77,267.4,204.2,11.9,1430,14433,0.00,1.20,0.00,0.000,6,0.000,0.021,3070,1096,1935,0,0,0,0,0,0
$GC,14760,0.84,321.9,169.3,9.3,1491,14807,0.00,0.00,44.78,0.757,6,0.000,0.000,3070,1096,1715,0,0,0,0,0,0
$GC,15131,0.92,391.5,131.2,8.8,1558,15198,0.12,1.98,55.62,0.711,4,0.086,0.018,3130,2409,1430,0,0,0,0,0,0
$GC,15225,0.92,391.5,120.2,13.1,1571,15234,0.00,2.12,0.00,0.000,6,0.000,0.034,3138,1050,1429,0,0,0,0,0,0
$GC,15555,0.99,446.3,79.2,9.3,1632,15606,0.00,1.33,43.62,0.656,4,0.000,0.040,3144,190,1207,0,0,0,0,0,0
$GC,15690,1.00,453.3,63.7,10.9,1654,15706,0.00,1.20,7.32,0.541,6,0.000,0.018,3144,1129,1178,0,0,0,0,0,0
$GC,16031,1.09,531.9,26.1,8.5,1716,16099,0.00,1.50,61.92,0.606,4,0.000,0.042,3148,186,860,0,0,0,0,0,0
$GC,16173,1.09,531.9,5.1,16.1,1738,16181,0.00,1.20,0.00,0.000,6,0.000,0.018,3148,1136,857,0,0,0,0,0,0
$STATE,16188,end climb,SURFACE_DEPTH_REACHED
$STATE,16188,begin surface coast
$FINISH,1.1,1.021971
$STATE,16207,end surface coast,CONTROL_FINISHED_OK
$STATE,16207,begin surface
$SM_CCo,16285,0.00,0.000,0,0,854,533.77
$SM_GC,1.19,7.90,0.00,0.00,0.040,0.000,0.000,127,783,854,-8.37,-0.20,533.77
$IRIDIUM_FIX,2115.63,12602.66,291010,080805
$TT8_MAMPS,0.028462
$HUMID,38.30
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,22.9,49.224
$10V_AH,10.2,45.018
$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,19.125,114.000,624.525,0.000,0.000,55.351,57.103,243.521,0.000,0.000,16.649,4242.985,7268.382,666.135,4150.221,554.038,0.000,2244.341,0.000,3824.260,0.000,0.543,0.000
$DEVICE_MAMPS,215.730,90.270,1415.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.803,1518.372,1958.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333872
$DATA_FILE_SIZE,100221,1743
$CAP_FILE_SIZE,183174,0
$CFSIZE,260165632,150134784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 88.9,1
$GPS,291010,132931,2121.633,12601.358,40,1.0,40,-2.9