version: 66.08
glider: 167
mission: 6
dive: 266
start: 10 29 110 22 14 19
data:
$ID,167
$MISSION,6
$DIVE,266
$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,-54457.898
$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,48
$R_STBD_OVSHOOT,138
$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
$GPS1,291010,220337,2124.594,12601.767,30,1.2,30,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.1
$GPS2,291010,221356,2124.490,12601.961,14,1.5,14,-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,221.1,9518,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-64.45,0.000,2,0.000,0.000,106,782,3346,0,0,0,0,0,0
$GC,89,-0.72,-228.7,6.1,-12.8,9,114,9.52,2.00,-9.60,0.000,4,0.215,0.031,2572,2165,3965,0,0,0,0,0,0
$GC,250,-0.72,-228.7,59.6,-22.8,37,258,0.00,2.10,0.00,0.000,6,0.000,0.034,2572,794,3968,0,0,0,0,0,0
$GC,578,-0.72,-228.7,151.4,-25.2,98,586,0.00,0.88,0.00,0.000,4,0.000,0.042,2572,185,3968,0,0,0,0,0,0
$GC,837,-0.72,-228.7,215.1,-20.4,144,846,0.00,0.70,0.00,0.000,6,0.000,0.021,2568,813,3969,0,0,0,0,0,0
$GC,1179,-0.72,-228.7,276.1,-17.9,205,1186,0.00,0.93,0.00,0.000,4,0.000,0.040,2567,182,3969,0,0,0,0,0,0
$GC,1362,-0.72,-228.7,310.1,-18.0,237,1368,0.00,0.65,0.00,0.000,6,0.000,0.021,2563,775,3969,0,0,0,0,0,0
$GC,1701,-0.72,-228.7,368.1,-16.6,298,1710,0.00,1.88,0.00,0.000,4,0.000,0.016,2561,2114,3969,0,0,0,0,0,0
$GC,1735,-0.72,-228.7,373.0,-14.2,303,1742,0.00,2.00,0.00,0.000,6,0.000,0.033,2561,761,3969,0,0,0,0,0,0
$GC,2076,-0.72,-228.7,423.0,-14.2,364,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,760,3969,0,0,0,0,0,0
$GC,2420,-0.72,-228.7,467.8,-13.6,425,2427,0.00,1.90,0.00,0.000,4,0.000,0.016,2561,2121,3967,0,0,0,0,0,0
$GC,2550,-0.72,-228.7,482.6,-10.6,448,2558,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,786,3966,0,0,0,0,0,0
$GC,2889,-0.72,-228.7,526.3,-12.6,491,2893,0.00,0.88,0.00,0.000,4,0.000,0.044,2561,187,3964,0,0,0,0,0,0
$GC,3015,-0.72,-228.7,541.4,-11.6,502,3019,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,754,3963,0,0,0,0,0,0
$GC,3346,-0.72,-228.7,577.3,-10.7,533,3350,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2139,3960,0,0,0,0,0,0
$GC,3383,-0.72,-228.7,580.7,-9.3,536,3387,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,778,3960,0,0,0,0,0,0
$GC,3711,-0.72,-228.7,617.4,-11.2,560,3715,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2137,3957,0,0,0,0,0,0
$GC,3783,-0.72,-228.7,624.6,-9.2,563,3787,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,780,3957,0,0,0,0,0,0
$GC,4113,-0.72,-228.7,660.0,-11.1,579,4117,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2135,3954,0,0,0,0,0,0
$GC,4137,-0.72,-228.7,662.6,-10.3,580,4141,0.00,2.05,0.00,0.000,6,0.000,0.036,2560,785,3954,0,0,0,0,0,0
$GC,4472,-0.72,-228.7,699.8,-11.1,596,4475,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2136,3951,0,0,0,0,0,0
$GC,4522,-0.72,-228.7,705.0,-8.9,598,4526,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,771,3950,0,0,0,0,0,0
$GC,4849,-0.72,-228.7,738.7,-10.1,614,4853,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2134,3948,0,0,0,0,0,0
$GC,4912,-0.72,-228.7,744.2,-8.1,616,4919,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,795,3947,0,0,0,0,0,0
$GC,5229,-0.72,-228.7,775.9,-10.4,632,5233,0.00,0.90,0.00,0.000,4,0.000,0.047,2560,190,3944,0,0,0,0,0,0
$GC,5275,-0.72,-228.7,780.9,-10.5,634,5279,0.00,0.73,0.00,0.000,6,0.000,0.023,2561,770,3944,0,0,0,0,0,0
$GC,5609,-0.72,-228.7,815.7,-10.5,650,5613,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2152,3941,0,0,0,0,0,0
$GC,5678,-0.72,-228.7,822.3,-9.0,653,5682,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,808,3941,0,0,0,0,0,0
$GC,6012,-0.72,-228.7,855.9,-10.3,669,6017,0.10,1.95,0.00,0.000,4,0.167,0.019,2587,2147,3938,0,0,0,0,0,0
$GC,6040,-0.72,-228.7,858.6,-8.3,670,6044,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,802,3938,0,0,0,0,0,0
$GC,6363,-0.72,-228.7,884.5,-8.1,686,6367,0.00,1.92,0.00,0.000,4,0.000,0.018,2587,2159,3936,0,0,0,0,0,0
$GC,6425,-0.72,-228.7,889.6,-7.9,688,6431,0.00,2.08,0.00,0.000,6,0.000,0.038,2586,805,3935,0,0,0,0,0,0
$GC,6741,-0.72,-228.7,915.1,-8.1,704,6745,0.00,1.95,0.00,0.000,4,0.000,0.019,2587,2160,3934,0,0,0,0,0,0
$GC,6776,-0.72,-228.7,917.7,-7.4,705,6780,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,810,3934,0,0,0,0,0,0
$GC,7092,-0.72,-228.7,942.1,-7.9,720,7096,0.00,1.95,0.00,0.000,4,0.000,0.019,2587,2164,3931,0,0,0,0,0,0
$GC,7120,-0.72,-228.7,944.2,-7.3,721,7123,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,815,3931,0,0,0,0,0,0
$GC,7449,-0.72,-228.7,967.8,-7.3,737,7453,0.00,1.95,0.00,0.000,4,0.000,0.019,2587,2152,3929,0,0,0,0,0,0
$GC,7505,-0.72,-228.7,971.7,-6.5,739,7508,0.00,2.03,0.00,0.000,6,0.000,0.039,2587,834,3929,0,0,0,0,0,0
$GC,7829,-0.72,-228.7,995.0,-7.5,755,7832,0.00,1.90,0.00,0.000,4,0.000,0.019,2587,2153,3928,0,0,0,0,0,0
$GC,7867,-0.72,-228.7,997.9,-6.7,756,7874,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,837,3928,0,0,0,0,0,0
$STATE,7914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7914,begin apogee
$GC,7920,-0.14,0.0,1001.2,7.0,759,8113,0.52,0.00,182.65,1.412,4,0.105,0.000,2769,992,3027,0,0,0,0,0,0
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin climb
$GC,8116,0.72,228.7,1009.9,0.0,768,8321,0.80,2.15,195.88,1.354,4,0.046,0.019,3062,2400,2096,0,0,0,0,0,0
$GC,8581,0.72,228.7,945.3,17.5,789,8585,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,996,2088,0,0,0,0,0,0
$GC,8909,0.72,228.7,882.1,19.0,805,8912,0.00,1.23,0.00,0.000,4,0.000,0.047,3075,194,2087,0,0,0,0,0,0
$GC,9098,0.72,228.7,843.3,21.1,813,9102,0.00,1.12,0.00,0.000,6,0.000,0.026,3075,998,2086,0,0,0,0,0,0
$GC,9420,0.72,228.7,782.5,18.6,829,9424,0.00,2.00,0.00,0.000,4,0.000,0.023,3075,2380,2085,0,0,0,0,0,0
$GC,9585,0.72,228.7,753.9,16.6,836,9589,0.00,2.08,0.00,0.000,6,0.000,0.037,3083,1025,2084,0,0,0,0,0,0
$GC,9912,0.72,228.7,696.4,17.3,852,9916,0.00,1.98,0.00,0.000,4,0.000,0.023,3082,2391,2084,0,0,0,0,0,0
$GC,9993,0.72,228.7,682.5,17.7,855,9998,0.15,2.08,0.00,0.000,6,0.180,0.036,3053,1036,2083,0,0,0,0,0,0
$GC,10309,0.72,228.7,632.8,15.7,870,10313,0.00,1.95,0.00,0.000,4,0.000,0.024,3053,2387,2083,0,0,0,0,0,0
$GC,10342,0.72,228.7,627.4,15.6,871,10346,0.00,2.05,0.00,0.000,6,0.000,0.036,3062,1043,2082,0,0,0,0,0,0
$GC,10672,0.72,228.7,575.0,16.1,894,10675,0.00,1.95,0.00,0.000,4,0.000,0.024,3062,2396,2082,0,0,0,0,0,0
$GC,10825,0.72,228.7,550.2,14.9,907,10832,0.00,2.05,0.00,0.000,6,0.000,0.037,3069,1054,2082,0,0,0,0,0,0
$GC,11150,0.72,228.7,503.0,14.0,938,11154,0.00,1.33,0.00,0.000,4,0.000,0.047,3076,189,2082,0,0,0,0,0,0
$GC,11234,0.72,228.7,490.7,15.2,951,11241,0.00,1.20,0.00,0.000,6,0.000,0.023,3076,1075,2082,0,0,0,0,0,0
$GC,11567,0.72,228.7,442.1,15.5,1012,11577,0.00,1.92,0.00,0.000,4,0.000,0.023,3075,2394,2081,0,0,0,0,0,0
$GC,11655,0.72,228.7,429.8,14.5,1027,11663,0.00,2.03,0.00,0.000,6,0.000,0.035,3083,1060,2081,0,0,0,0,0,0
$GC,11988,0.72,228.7,380.5,14.9,1088,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1060,2081,0,0,0,0,0,0
$GC,12324,0.72,228.7,331.8,12.8,1149,12330,0.00,1.90,0.00,0.000,4,0.000,0.022,3084,2391,2080,0,0,0,0,0,0
$GC,12449,0.72,228.7,315.5,11.5,1172,12457,0.10,2.08,0.00,0.000,6,0.151,0.035,3060,1042,2081,0,0,0,0,0,0
$GC,12786,0.72,228.7,276.3,11.6,1233,12792,0.00,1.27,0.00,0.000,4,0.000,0.045,3064,194,2080,0,0,0,0,0,0
$GC,12807,0.72,228.7,273.6,11.9,1236,12814,0.00,1.17,0.00,0.000,6,0.000,0.022,3064,1085,2081,0,0,0,0,0,0
$GC,13142,0.72,228.7,234.1,11.1,1297,13148,0.00,1.85,0.00,0.000,4,0.000,0.020,3065,2406,2082,0,0,0,0,0,0
$GC,13340,0.73,234.7,211.7,10.9,1333,13354,0.00,2.05,4.03,0.545,6,0.000,0.034,3071,1053,2074,0,0,0,0,0,0
$GC,13683,0.81,305.5,175.9,8.8,1395,13747,0.00,1.38,57.78,0.770,4,0.000,0.044,3078,183,1782,0,0,0,0,0,0
$GC,13843,0.81,305.5,158.9,12.1,1421,13850,0.00,1.23,0.00,0.000,6,0.000,0.019,3078,1113,1778,0,0,0,0,0,0
$GC,14173,0.89,362.7,126.7,9.2,1482,14225,0.00,1.40,45.42,0.712,4,0.000,0.041,3079,192,1549,0,0,0,0,0,0
$GC,14330,0.96,422.1,110.1,9.2,1508,14385,0.10,1.17,48.05,0.689,6,0.057,0.019,3137,1079,1307,0,0,0,0,0,0
$GC,14706,0.96,422.1,62.9,12.7,1575,14715,0.00,1.35,0.00,0.000,4,0.000,0.041,3142,190,1301,0,0,0,0,0,0
$GC,14791,0.96,422.1,51.5,12.0,1590,14799,0.00,1.17,0.00,0.000,6,0.000,0.019,3143,1121,1302,0,0,0,0,0,0
$GC,15118,0.96,422.1,11.4,13.7,1651,15127,0.00,1.40,0.00,0.000,4,0.000,0.041,3148,190,1302,0,0,0,0,0,0
$STATE,15179,end climb,SURFACE_DEPTH_REACHED
$STATE,15179,begin surface coast
$FINISH,1.6,1.021888
$STATE,15186,end surface coast,CONTROL_FINISHED_OK
$STATE,15186,begin surface
$SM_CCo,15266,0.00,0.000,0,0,1299,424.12
$SM_GC,1.56,7.72,0.00,0.00,0.034,0.000,0.000,110,882,1299,-8.38,2.60,424.12
$IRIDIUM_FIX,2115.63,12559.43,291010,222234
$TT8_MAMPS,0.028462
$HUMID,39.80
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.0,49.759
$10V_AH,10.3,45.556
$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,19.025,115.750,533.800,0.000,0.000,52.819,85.719,226.573,0.000,0.000,15.050,4088.827,6563.341,588.152,4091.025,533.148,0.000,2114.782,0.000,3752.786,0.000,0.543,0.000
$DEVICE_MAMPS,214.965,58.905,1412.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.083,1460.651,1930.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333916
$DATA_FILE_SIZE,96842,1663
$CAP_FILE_SIZE,177794,0
$CFSIZE,260165632,149860352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,129.7,1
$GPS,301010,023001,2122.349,12601.076,38,1.1,39,-2.9