version: 66.08
glider: 167
mission: 6
dive: 275
start: 10 31 110 14 18 59
data:
$ID,167
$MISSION,6
$DIVE,275
$N_DIVES,282
$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,-54469.211
$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,37
$R_STBD_OVSHOOT,92
$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
$GPS1,311010,141001,2122.899,12600.688,39,1.5,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-62.0
$GPS2,311010,141836,2122.870,12600.667,15,1.1,31,-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,174.9,6491,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.72,-228.7,0.0,0.0,0,84,0.00,0.00,-66.82,0.000,2,0.000,0.000,112,788,3297,0,0,0,0,0,0
$GC,88,-0.72,-228.7,5.5,-10.5,9,113,9.65,0.93,-10.30,0.000,4,0.222,0.074,2580,182,3965,0,0,0,0,0,0
$GC,352,-0.72,-228.7,102.0,-27.4,57,360,0.00,0.80,0.00,0.000,6,0.000,0.019,2576,893,3967,0,0,0,0,0,0
$GC,688,-0.72,-228.7,184.5,-22.3,118,696,0.00,1.83,0.00,0.000,4,0.000,0.017,2568,2196,3968,0,0,0,0,0,0
$GC,922,-0.72,-228.7,221.2,-14.8,159,928,0.00,2.15,0.00,0.000,6,0.000,0.033,2568,740,3969,0,0,0,0,0,0
$GC,1259,-0.72,-228.7,280.5,-18.0,220,1267,0.00,2.05,0.00,0.000,4,0.000,0.016,2561,2191,3969,0,0,0,0,0,0
$GC,1329,-0.72,-228.7,290.1,-12.3,231,1336,0.00,2.12,0.00,0.000,6,0.000,0.033,2561,763,3969,0,0,0,0,0,0
$GC,1668,-0.72,-228.7,345.0,-15.2,292,1676,0.00,0.82,0.00,0.000,4,0.000,0.042,2561,190,3969,0,0,0,0,0,0
$GC,1829,-0.72,-228.7,371.8,-17.3,320,1837,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,839,3969,0,0,0,0,0,0
$GC,2170,-0.72,-228.7,423.9,-16.0,381,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,839,3968,0,0,0,0,0,0
$GC,2507,-0.72,-228.7,473.2,-13.7,442,2516,0.10,0.98,0.00,0.000,4,0.184,0.042,2585,192,3967,0,0,0,0,0,0
$GC,2613,-0.72,-228.7,486.4,-11.5,460,2621,0.00,0.60,0.00,0.000,6,0.000,0.023,2585,721,3965,0,0,0,0,0,0
$GC,2950,-0.72,-228.7,522.6,-10.1,502,2954,0.00,1.95,0.00,0.000,4,0.000,0.017,2585,2111,3964,0,0,0,0,0,0
$GC,3065,-0.72,-228.7,531.9,-7.5,512,3069,0.00,2.05,0.00,0.000,6,0.000,0.034,2585,750,3963,0,0,0,0,0,0
$GC,3399,-0.72,-228.7,565.5,-10.2,543,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,750,3960,0,0,0,0,0,0
$GC,3727,-0.72,-228.7,600.8,-11.2,574,3731,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2102,3957,0,0,0,0,0,0
$GC,3851,-0.72,-228.7,612.8,-8.8,579,3854,0.00,2.00,0.00,0.000,6,0.000,0.036,2585,765,3956,0,0,0,0,0,0
$GC,4175,-0.72,-228.7,644.1,-9.3,595,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,765,3952,0,0,0,0,0,0
$GC,4482,-0.72,-228.7,670.9,-8.3,610,4486,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2100,3951,0,0,0,0,0,0
$GC,4552,-0.72,-228.7,675.8,-6.5,613,4556,0.00,2.00,0.00,0.000,6,0.000,0.037,2585,770,3950,0,0,0,0,0,0
$GC,4887,-0.72,-228.7,703.7,-8.4,629,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,769,3948,0,0,0,0,0,0
$GC,5194,-0.72,-228.7,728.5,-8.0,644,5198,0.00,1.90,0.00,0.000,4,0.000,0.018,2586,2099,3946,0,0,0,0,0,0
$GC,5222,-0.72,-228.7,730.6,-6.6,645,5225,0.00,2.00,0.00,0.000,6,0.000,0.037,2585,777,3945,0,0,0,0,0,0
$GC,5551,-0.72,-228.7,754.4,-7.4,661,5555,0.00,1.92,0.00,0.000,4,0.000,0.019,2584,2103,3943,0,0,0,0,0,0
$GC,5575,-0.72,-228.7,756.2,-6.8,662,5579,0.00,2.00,0.00,0.000,6,0.000,0.038,2585,783,3943,0,0,0,0,0,0
$GC,5912,-0.72,-228.7,782.2,-8.2,678,5915,0.00,1.88,0.00,0.000,4,0.000,0.019,2585,2107,3941,0,0,0,0,0,0
$GC,5962,-0.72,-228.7,786.3,-6.8,680,5965,0.00,2.00,0.00,0.000,6,0.000,0.038,2585,789,3941,0,0,0,0,0,0
$GC,6289,-0.72,-228.7,814.7,-9.1,696,6293,0.00,1.85,0.00,0.000,4,0.000,0.019,2585,2095,3938,0,0,0,0,0,0
$GC,6337,-0.72,-228.7,818.3,-7.9,698,6341,0.00,1.98,0.00,0.000,6,0.000,0.039,2585,798,3938,0,0,0,0,0,0
$GC,6671,-0.72,-228.7,848.2,-8.9,714,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,798,3935,0,0,0,0,0,0
$GC,6982,-0.72,-228.7,873.2,-7.7,729,6985,0.00,1.85,0.00,0.000,4,0.000,0.019,2585,2100,3934,0,0,0,0,0,0
$GC,7043,-0.72,-228.7,877.4,-6.0,731,7050,0.00,2.00,0.00,0.000,6,0.000,0.039,2585,800,3934,0,0,0,0,0,0
$GC,7360,-0.72,-228.7,899.1,-6.7,747,7364,0.00,1.90,0.00,0.000,4,0.000,0.020,2585,2102,3932,0,0,0,0,0,0
$GC,7407,-0.72,-228.7,901.8,-5.3,749,7411,0.00,2.03,0.00,0.000,6,0.000,0.040,2585,805,3932,0,0,0,0,0,0
$GC,7741,-0.72,-228.7,922.2,-6.1,765,7744,0.00,1.85,0.00,0.000,4,0.000,0.020,2585,2106,3929,0,0,0,0,0,0
$GC,7764,-0.72,-228.7,923.6,-5.9,766,7768,0.00,2.03,0.00,0.000,6,0.000,0.040,2585,812,3929,0,0,0,0,0,0
$GC,8100,-0.72,-228.7,944.3,-6.3,782,8103,0.00,1.83,0.00,0.000,4,0.000,0.020,2585,2094,3928,0,0,0,0,0,0
$GC,8146,-0.72,-228.7,947.4,-5.8,784,8149,0.00,1.95,0.00,0.000,6,0.000,0.039,2585,816,3927,0,0,0,0,0,0
$GC,8481,-0.72,-228.7,971.0,-7.3,800,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,815,3926,0,0,0,0,0,0
$GC,8789,-0.72,-228.7,993.0,-6.9,815,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,815,3925,0,0,0,0,0,0
$STATE,8910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8910,begin apogee
$GC,8916,-0.14,0.0,1001.3,6.5,821,9108,0.55,0.00,183.73,1.409,4,0.112,0.000,2773,933,3027,0,0,0,0,0,0
$STATE,9108,end apogee,CONTROL_FINISHED_OK
$STATE,9109,begin climb
$GC,9111,0.72,228.7,1008.1,0.0,830,9317,0.80,2.15,198.18,1.347,4,0.047,0.020,3063,2315,2096,0,0,0,0,0,0
$GC,9466,0.72,228.7,960.6,18.6,846,9470,0.00,2.10,0.00,0.000,6,0.000,0.037,3073,994,2088,0,0,0,0,0,0
$GC,9793,0.72,228.7,896.8,19.4,862,9796,0.00,1.23,0.00,0.000,4,0.000,0.046,3080,191,2086,0,0,0,0,0,0
$GC,10021,0.72,228.7,850.3,20.9,872,10025,0.00,1.00,0.00,0.000,6,0.000,0.028,3078,903,2085,0,0,0,0,0,0
$GC,10349,0.72,228.7,788.3,19.4,888,10352,0.00,2.03,0.00,0.000,4,0.000,0.023,3079,2294,2085,0,0,0,0,0,0
$GC,10441,0.72,228.7,771.3,18.7,892,10446,0.12,1.98,0.00,0.000,6,0.187,0.037,3056,1003,2084,0,0,0,0,0,0
$GC,10770,0.72,228.7,715.2,16.9,908,10773,0.00,1.88,0.00,0.000,4,0.000,0.023,3057,2309,2083,0,0,0,0,0,0
$GC,10802,0.72,228.7,709.0,16.9,909,10806,0.00,2.00,0.00,0.000,6,0.000,0.037,3064,991,2083,0,0,0,0,0,0
$GC,11126,0.72,228.7,654.4,16.6,925,11130,0.00,1.92,0.00,0.000,4,0.000,0.024,3064,2293,2083,0,0,0,0,0,0
$GC,11172,0.72,228.7,647.0,14.7,927,11176,0.00,1.95,0.00,0.000,6,0.000,0.037,3072,1033,2082,0,0,0,0,0,0
$GC,11497,0.72,228.7,596.8,14.7,943,11500,0.00,1.27,0.00,0.000,4,0.000,0.047,3079,191,2082,0,0,0,0,0,0
$GC,11553,0.72,228.7,587.3,15.8,948,11557,0.00,1.02,0.00,0.000,6,0.000,0.026,3079,933,2082,0,0,0,0,0,0
$GC,11886,0.72,228.7,536.2,15.7,979,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,934,2081,0,0,0,0,0,0
$GC,12205,0.72,228.7,485.9,16.1,1017,12214,0.00,1.98,0.00,0.000,4,0.000,0.024,3079,2301,2081,0,0,0,0,0,0
$GC,12359,0.72,228.7,463.0,15.0,1043,12366,0.12,1.98,0.00,0.000,6,0.181,0.037,3055,1010,2081,0,0,0,0,0,0
$GC,12704,0.72,228.7,413.5,13.0,1104,12712,0.00,1.25,0.00,0.000,4,0.000,0.046,3060,189,2081,0,0,0,0,0,0
$GC,12770,0.72,228.7,403.9,14.6,1115,12776,0.00,0.98,0.00,0.000,6,0.000,0.026,3060,906,2080,0,0,0,0,0,0
$GC,13112,0.72,231.4,359.5,11.0,1176,13120,0.00,2.03,0.00,0.000,4,0.000,0.022,3060,2298,2080,0,0,0,0,0,0
$GC,13197,0.75,249.8,349.8,10.5,1190,13219,0.00,2.00,16.15,0.908,6,0.000,0.037,3066,1007,2010,0,0,0,0,0,0
$GC,13555,0.75,249.8,305.1,11.5,1253,13561,0.00,1.23,0.00,0.000,4,0.000,0.045,3073,194,2007,0,0,0,0,0,0
$GC,13703,0.75,249.8,285.7,13.6,1279,13709,0.00,1.00,0.00,0.000,6,0.000,0.024,3072,933,2007,0,0,0,0,0,0
$GC,14044,0.75,249.8,243.8,12.3,1340,14052,0.00,1.98,0.00,0.000,4,0.000,0.021,3073,2294,2007,0,0,0,0,0,0
$GC,14228,0.75,250.5,223.3,11.1,1372,14236,0.00,1.92,0.00,0.000,6,0.000,0.037,3079,1044,2007,0,0,0,0,0,0
$GC,14573,0.82,307.6,186.8,9.2,1433,14628,0.00,1.27,47.30,0.770,4,0.000,0.042,3086,189,1774,0,0,0,0,0,0
$GC,14657,0.86,342.4,177.7,10.0,1446,14693,0.00,1.05,29.27,0.738,6,0.000,0.021,3085,974,1632,0,0,0,0,0,0
$GC,15022,0.86,342.4,136.1,11.5,1511,15032,0.00,2.03,0.00,0.000,4,0.000,0.020,3085,2367,1627,0,0,0,0,0,0
$GC,15120,0.86,342.4,125.1,11.5,1528,15128,0.00,2.03,0.00,0.000,6,0.000,0.034,3086,1053,1626,0,0,0,0,0,0
$GC,15447,0.91,386.3,93.0,9.7,1589,15493,0.00,1.35,35.58,0.665,4,0.000,0.046,3088,184,1453,0,0,0,0,0,0
$GC,15703,1.02,468.3,71.6,8.4,1634,15780,0.12,1.15,66.12,0.640,6,0.049,0.019,3162,1062,1117,0,0,0,0,0,0
$GC,16101,1.02,468.3,15.1,16.9,1704,16109,0.00,1.33,0.00,0.000,4,0.000,0.041,3168,187,1114,0,0,0,0,0,0
$STATE,16168,end climb,SURFACE_DEPTH_REACHED
$STATE,16168,begin surface coast
$FINISH,0.9,1.022111
$STATE,16186,end surface coast,CONTROL_FINISHED_OK
$STATE,16186,begin surface
$SM_CCo,16267,0.00,0.000,0,0,1111,470.49
$SM_GC,1.32,7.80,0.00,0.00,0.035,0.000,0.000,113,802,1111,-8.36,0.31,470.49
$IRIDIUM_FIX,2117.95,12559.43,311010,090900
$TT8_MAMPS,0.028462
$HUMID,38.97
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,22.9,51.412
$10V_AH,10.3,47.216
$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,19.275,103.625,576.325,0.000,0.000,25.684,15.861,240.418,0.000,0.000,32.701,4200.716,7352.611,604.608,4058.629,540.399,0.000,2148.738,0.000,3777.857,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,130.050,1409.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1172.535,1494.292,1930.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,100119,1719
$CAP_FILE_SIZE,177495,0
$CFSIZE,260165632,148992000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,321.1,1
$GPS,311010,185125,2120.947,12600.729,41,1.5,42,-2.9