version: 66.08
glider: 167
mission: 6
dive: 265
start: 10 29 110 18 19 44
data:
$ID,167
$MISSION,6
$DIVE,265
$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,-54456.641
$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,38
$R_STBD_OVSHOOT,141
$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
$GPS1,291010,180337,2123.451,12601.289,35,1.1,36,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.0
$GPS2,291010,181920,2123.394,12601.472,12,1.2,12,-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,335.0,2245,-28.0,-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,-0.87,-73.8,0.0,0.0,0,85,0.00,0.00,-65.10,0.000,2,0.000,0.000,112,837,3292,0,0,0,0,0,0
$GC,90,-0.87,-73.8,5.8,-12.5,9,108,9.27,1.83,-0.57,0.000,4,0.214,0.028,2522,2225,3331,0,0,0,0,0,0
$GC,206,-0.87,-73.8,45.3,-26.2,29,214,0.00,2.20,0.00,0.000,6,0.000,0.034,2522,786,3332,0,0,0,0,0,0
$GC,533,-0.87,-73.8,137.9,-24.6,90,542,0.00,0.85,0.00,0.000,4,0.000,0.041,2522,192,3333,0,0,0,0,0,0
$GC,769,-0.87,-73.8,188.4,-19.6,132,777,0.00,0.68,0.00,0.000,6,0.000,0.021,2518,810,3334,0,0,0,0,0,0
$GC,1109,-0.87,-73.8,247.7,-18.4,193,1116,0.00,1.77,0.00,0.000,4,0.000,0.014,2509,2127,3335,0,0,0,0,0,0
$GC,1192,-0.87,-73.8,260.8,-14.7,207,1199,0.12,2.03,0.00,0.000,6,0.175,0.032,2540,763,3335,0,0,0,0,0,0
$GC,1531,-0.87,-73.8,305.8,-12.2,268,1539,0.00,0.82,0.00,0.000,4,0.000,0.042,2540,189,3336,0,0,0,0,0,0
$GC,1792,-0.87,-73.8,343.9,-13.8,314,1801,0.00,0.62,0.00,0.000,6,0.000,0.022,2538,751,3336,0,0,0,0,0,0
$GC,2135,-0.87,-73.8,389.1,-13.0,375,2142,0.00,0.80,0.00,0.000,4,0.000,0.042,2538,199,3334,0,0,0,0,0,0
$GC,2394,-0.87,-73.8,422.8,-12.4,421,2401,0.00,0.65,0.00,0.000,6,0.000,0.023,2534,768,3332,0,0,0,0,0,0
$GC,2733,-0.87,-73.8,464.5,-11.7,482,2742,0.00,0.82,0.00,0.000,4,0.000,0.042,2534,201,3330,0,0,0,0,0,0
$GC,2940,-0.87,-73.8,489.4,-11.9,518,2949,0.00,0.68,0.00,0.000,6,0.000,0.021,2532,787,3328,0,0,0,0,0,0
$GC,3277,-0.87,-73.8,526.6,-11.4,558,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,787,3326,0,0,0,0,0,0
$GC,3597,-0.87,-73.8,563.0,-11.6,588,3601,0.00,1.90,0.00,0.000,4,0.000,0.016,2524,2145,3323,0,0,0,0,0,0
$GC,3701,-0.88,-85.6,574.0,-9.9,597,3705,0.00,2.05,0.00,0.000,6,0.000,0.034,2524,783,3322,0,0,0,0,0,0
$GC,4042,-0.89,-92.3,612.0,-10.4,624,4045,0.00,0.85,0.00,0.000,4,0.000,0.044,2524,199,3319,0,0,0,0,0,0
$GC,4298,-0.89,-92.3,641.9,-11.5,635,4302,0.00,0.68,0.00,0.000,6,0.000,0.022,2520,756,3318,0,0,0,0,0,0
$GC,4623,-0.89,-92.3,677.1,-11.7,651,4627,0.00,0.85,0.00,0.000,4,0.000,0.045,2520,188,3315,0,0,0,0,0,0
$GC,4881,-0.89,-92.3,708.5,-12.0,662,4885,0.00,0.73,0.00,0.000,6,0.000,0.022,2519,771,3313,0,0,0,0,0,0
$GC,5205,-0.90,-98.8,743.1,-10.5,678,5208,0.00,0.85,0.00,0.000,4,0.000,0.046,2519,200,3310,0,0,0,0,0,0
$GC,5327,-0.90,-98.8,756.8,-11.3,683,5332,0.00,0.70,0.00,0.000,6,0.000,0.022,2517,756,3310,0,0,0,0,0,0
$GC,5652,-0.92,-117.4,787.9,-9.2,699,5656,0.00,1.98,0.00,0.000,4,0.000,0.016,2507,2159,3308,0,0,0,0,0,0
$GC,5736,-0.95,-137.6,795.7,-9.1,702,5744,0.00,2.15,0.00,0.000,6,0.000,0.037,2508,761,3307,0,0,0,0,0,0
$GC,6052,-0.97,-157.5,825.5,-9.1,718,6056,0.00,2.00,0.00,0.000,4,0.000,0.018,2506,2160,3305,0,0,0,0,0,0
$GC,6100,-1.00,-185.1,829.5,-8.3,720,6104,0.00,2.15,0.00,0.000,6,0.000,0.037,2506,770,3304,0,0,0,0,0,0
$GC,6427,-1.03,-203.7,860.1,-9.2,736,6431,0.00,0.85,0.00,0.000,4,0.000,0.047,2506,195,3302,0,0,0,0,0,0
$GC,6589,-1.04,-217.9,875.7,-9.7,743,6593,0.00,0.73,0.00,0.000,6,0.000,0.023,2505,773,3301,0,0,0,0,0,0
$GC,6922,-1.06,-228.7,906.3,-9.0,759,6926,0.00,0.88,0.00,0.000,4,0.000,0.047,2505,192,3300,0,0,0,0,0,0
$GC,7117,-1.06,-228.7,927.0,-11.4,767,7125,0.00,0.70,0.00,0.000,6,0.000,0.023,2502,745,3298,0,0,0,0,0,0
$GC,7435,-1.06,-228.7,958.2,-9.9,783,7438,0.00,0.82,0.00,0.000,4,0.000,0.048,2502,198,3297,0,0,0,0,0,0
$GC,7693,-1.06,-228.7,985.7,-10.8,794,7696,0.00,0.70,0.00,0.000,6,0.000,0.024,2499,736,3295,0,0,0,0,0,0
$STATE,7849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7849,begin apogee
$GC,7855,-0.14,0.0,1001.3,10.1,802,7914,0.90,0.00,54.97,1.419,4,0.152,0.000,2769,1031,3029,0,0,0,0,0,0
$STATE,7915,end apogee,CONTROL_FINISHED_OK
$STATE,7915,begin climb
$GC,7919,1.06,228.7,1003.2,0.0,804,8118,1.05,0.00,193.57,1.371,6,0.058,0.000,3168,1029,2096,0,0,0,0,0,0
$GC,8435,1.06,228.7,892.9,26.8,829,8439,0.00,1.95,0.00,0.000,4,0.000,0.024,3168,2364,2084,0,0,0,0,0,0
$GC,8565,1.06,228.7,859.5,23.9,834,8572,0.00,2.08,0.00,0.000,6,0.000,0.034,3176,1008,2084,0,0,0,0,0,0
$GC,8881,1.06,228.7,777.9,24.8,850,8885,0.00,1.98,0.00,0.000,4,0.000,0.022,3176,2367,2082,0,0,0,0,0,0
$GC,8972,1.06,228.7,755.8,23.1,854,8976,0.00,2.05,0.00,0.000,6,0.000,0.034,3185,1019,2082,0,0,0,0,0,0
$GC,9302,1.06,228.7,673.0,24.7,870,9306,0.00,1.98,0.00,0.000,4,0.000,0.024,3185,2364,2080,0,0,0,0,0,0
$GC,9424,1.06,228.7,642.3,23.8,875,9429,0.12,2.03,0.00,0.000,6,0.206,0.035,3165,1042,2080,0,0,0,0,0,0
$GC,9755,1.06,228.7,567.8,21.9,897,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1042,2079,0,0,0,0,0,0
$GC,10085,1.06,228.7,497.1,21.2,929,10092,0.00,1.90,0.00,0.000,4,0.000,0.022,3165,2367,2078,0,0,0,0,0,0
$GC,10201,1.06,228.7,473.2,21.4,949,10208,0.00,1.98,0.00,0.000,6,0.000,0.035,3172,1053,2077,0,0,0,0,0,0
$GC,10542,1.06,228.7,398.9,21.4,1010,10550,0.00,1.30,0.00,0.000,4,0.000,0.044,3179,191,2077,0,0,0,0,0,0
$GC,10652,1.06,228.7,375.5,21.8,1029,10659,0.00,1.12,0.00,0.000,6,0.000,0.023,3179,1020,2077,0,0,0,0,0,0
$GC,10990,1.06,228.7,308.2,20.7,1090,10999,0.00,1.27,0.00,0.000,4,0.000,0.043,3185,186,2075,0,0,0,0,0,0
$GC,11106,1.06,228.7,283.6,21.9,1110,11114,0.00,1.12,0.00,0.000,6,0.000,0.022,3185,1026,2076,0,0,0,0,0,0
$GC,11450,1.06,228.7,222.1,15.0,1171,11457,0.00,1.27,0.00,0.000,4,0.000,0.042,3191,187,2076,0,0,0,0,0,0
$GC,11504,1.06,228.7,211.7,18.4,1180,11512,0.00,1.08,0.00,0.000,6,0.000,0.022,3191,1008,2076,0,0,0,0,0,0
$GC,11849,1.06,228.7,157.4,13.8,1241,11856,0.00,1.92,0.00,0.000,4,0.000,0.020,3191,2363,2076,0,0,0,0,0,0
$GC,12098,1.06,234.2,128.7,10.6,1287,12109,0.10,2.03,0.00,0.000,6,0.171,0.033,3169,1033,2076,0,0,0,0,0,0
$GC,12431,1.09,257.3,96.9,8.8,1348,12455,0.00,1.30,20.70,0.678,4,0.000,0.042,3175,187,1979,0,0,0,0,0,0
$GC,12694,1.15,304.5,71.1,6.4,1396,12740,0.00,1.08,38.08,0.659,6,0.000,0.021,3175,1027,1786,0,0,0,0,0,0
$GC,13058,1.15,304.5,28.8,13.0,1462,13067,0.00,1.25,0.00,0.000,4,0.000,0.038,3181,190,1782,0,0,0,0,0,0
$GC,13225,1.15,304.5,6.4,13.5,1492,13233,0.00,1.02,0.00,0.000,6,0.000,0.020,3181,999,1782,0,0,0,0,0,0
$STATE,13245,end climb,SURFACE_DEPTH_REACHED
$STATE,13245,begin surface coast
$FINISH,0.8,1.021911
$STATE,13262,end surface coast,CONTROL_FINISHED_OK
$STATE,13262,begin surface
$SM_CCo,13280,79.20,0.530,1,0,1397,400.08
$SM_GC,1.37,0.00,0.00,79.20,0.000,0.000,0.530,106,781,1397,-8.49,-0.25,400.08
$IRIDIUM_FIX,2115.63,12559.43,291010,181850
$TT8_MAMPS,0.028462
$HUMID,38.30
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.3,49.562
$10V_AH,10.2,45.373
$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,19.450,67.600,307.325,79.200,0.000,80.186,125.302,389.305,0.000,0.000,13.536,3711.883,5525.807,492.813,4056.694,500.307,0.000,1827.443,0.000,3480.204,0.000,0.544,0.000
$DEVICE_MAMPS,214.200,53.550,1419.075,530.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.414,1332.410,1842.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333876
$DATA_FILE_SIZE,87035,1498
$CAP_FILE_SIZE,155338,0
$CFSIZE,260165632,149987328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170, 84.4,1
$GPS,291010,220337,2124.594,12601.767,30,1.2,30,-2.9