version: 66.08
glider: 167
mission: 6
dive: 276
start: 10 31 110 19 2 20
data:
$ID,167
$MISSION,6
$DIVE,276
$N_DIVES,289
$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,-54470.469
$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,35
$R_STBD_OVSHOOT,122
$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
$GPS1,311010,185125,2120.947,12600.729,41,1.5,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.0
$GPS2,311010,190156,2120.873,12600.718,12,1.9,18,-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,163.5,2853,-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,-73.8,0.0,0.0,0,91,0.00,0.00,-71.12,0.000,2,0.000,0.000,110,802,3195,0,0,0,0,0,0
$GC,94,-0.89,-94.6,5.1,-9.0,10,119,9.52,1.98,-3.92,0.000,4,0.226,0.031,2513,2184,3420,0,0,0,0,0,0
$GC,274,-0.89,-94.6,65.0,-30.5,42,282,0.00,2.12,0.00,0.000,6,0.000,0.034,2513,788,3420,0,0,0,0,0,0
$GC,600,-0.89,-94.6,156.9,-25.0,103,608,0.00,0.85,0.00,0.000,4,0.000,0.041,2513,193,3421,0,0,0,0,0,0
$GC,856,-0.89,-94.6,220.4,-24.5,149,862,0.00,0.73,0.00,0.000,6,0.000,0.020,2509,851,3422,0,0,0,0,0,0
$GC,1187,-0.89,-94.6,282.9,-16.9,210,1195,0.00,0.95,0.00,0.000,4,0.000,0.040,2509,195,3423,0,0,0,0,0,0
$GC,1438,-0.89,-94.6,326.8,-18.4,256,1446,0.08,0.70,0.00,0.000,6,0.177,0.021,2528,819,3423,0,0,0,0,0,0
$GC,1776,-0.89,-94.6,373.8,-14.5,317,1782,0.00,0.93,0.00,0.000,4,0.000,0.041,2528,189,3423,0,0,0,0,0,0
$GC,2026,-0.89,-94.6,412.4,-14.9,363,2034,0.00,0.60,0.00,0.000,6,0.000,0.023,2525,728,3422,0,0,0,0,0,0
$GC,2358,-0.89,-94.6,457.4,-13.0,424,2365,0.00,0.77,0.00,0.000,4,0.000,0.042,2525,193,3420,0,0,0,0,0,0
$GC,2502,-0.89,-94.6,476.4,-13.8,450,2510,0.00,0.62,0.00,0.000,6,0.000,0.023,2521,741,3420,0,0,0,0,0,0
$GC,2839,-0.89,-94.6,522.0,-13.4,497,2843,0.00,1.95,0.00,0.000,4,0.000,0.018,2519,2131,3417,0,0,0,0,0,0
$GC,2923,-0.89,-94.6,532.5,-12.1,504,2930,0.00,2.08,0.00,0.000,6,0.000,0.034,2519,749,3417,0,0,0,0,0,0
$GC,3248,-0.89,-94.6,573.9,-12.9,535,3252,0.00,0.80,0.00,0.000,4,0.000,0.044,2519,196,3415,0,0,0,0,0,0
$GC,3507,-0.89,-94.6,609.3,-12.5,555,3510,0.00,0.62,0.00,0.000,6,0.000,0.023,2520,727,3412,0,0,0,0,0,0
$GC,3828,-0.89,-94.6,647.6,-11.8,571,3832,0.00,0.80,0.00,0.000,4,0.000,0.045,2519,189,3410,0,0,0,0,0,0
$GC,4087,-0.89,-94.6,680.4,-12.0,582,4091,0.00,0.65,0.00,0.000,6,0.000,0.023,2518,725,3408,0,0,0,0,0,0
$GC,4410,-0.89,-94.6,716.0,-11.2,598,4413,0.00,1.98,0.00,0.000,4,0.000,0.018,2518,2122,3405,0,0,0,0,0,0
$GC,4456,-0.91,-104.5,720.9,-10.1,600,4460,0.00,2.10,0.00,0.000,6,0.000,0.037,2518,734,3404,0,0,0,0,0,0
$GC,4786,-0.91,-106.8,756.1,-10.9,616,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,734,3402,0,0,0,0,0,0
$GC,5093,-0.91,-108.4,790.0,-11.0,631,5097,0.00,2.00,0.00,0.000,4,0.000,0.018,2514,2122,3400,0,0,0,0,0,0
$GC,5155,-0.92,-118.4,796.4,-10.1,633,5162,0.00,2.12,0.00,0.000,6,0.000,0.038,2513,743,3399,0,0,0,0,0,0
$GC,5472,-0.93,-122.5,830.3,-10.7,649,5475,0.00,0.82,0.00,0.000,4,0.000,0.048,2514,187,3397,0,0,0,0,0,0
$GC,5521,-0.93,-122.5,836.4,-12.0,651,5525,0.00,0.62,0.00,0.000,6,0.000,0.025,2510,679,3396,0,0,0,0,0,0
$GC,5851,-0.93,-125.5,872.0,-10.8,667,5855,0.00,0.73,0.00,0.000,4,0.000,0.048,2510,194,3394,0,0,0,0,0,0
$GC,6020,-0.93,-125.5,892.3,-12.2,674,6024,0.00,0.60,0.00,0.000,6,0.000,0.026,2507,667,3393,0,0,0,0,0,0
$GC,6344,-0.94,-134.7,926.3,-10.2,690,6348,0.00,2.08,0.00,0.000,4,0.000,0.020,2506,2128,3390,0,0,0,0,0,0
$GC,6408,-0.97,-159.1,932.3,-8.7,693,6412,0.00,2.15,0.00,0.000,6,0.000,0.039,2506,729,3390,0,0,0,0,0,0
$GC,6738,-0.98,-162.1,966.0,-10.8,709,6741,0.00,0.80,0.00,0.000,4,0.000,0.048,2506,190,3389,0,0,0,0,0,0
$GC,6770,-0.98,-162.1,970.1,-11.6,710,6774,0.00,0.62,0.00,0.000,6,0.000,0.024,2506,679,3387,0,0,0,0,0,0
$STATE,7069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7069,begin apogee
$GC,7076,-0.14,0.0,1001.3,10.4,725,7153,0.85,0.00,73.35,1.413,4,0.147,0.000,2767,972,3029,0,0,0,0,0,0
$STATE,7157,end apogee,CONTROL_FINISHED_OK
$STATE,7157,begin climb
$GC,7160,0.98,162.1,1003.4,0.0,728,7307,0.98,0.00,137.15,1.365,6,0.058,0.000,3135,972,2366,0,0,0,0,0,0
$GC,7617,0.98,162.1,928.1,20.1,750,7621,0.00,2.05,0.00,0.000,4,0.000,0.024,3135,2360,2357,0,0,0,0,0,0
$GC,7746,0.98,162.1,902.9,17.8,755,7753,0.00,2.08,0.00,0.000,6,0.000,0.035,3145,1000,2356,0,0,0,0,0,0
$GC,8064,0.98,162.1,840.2,20.0,771,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1000,2354,0,0,0,0,0,0
$GC,8371,0.98,162.1,778.5,19.2,786,8375,0.00,2.00,0.00,0.000,4,0.000,0.025,3144,2356,2353,0,0,0,0,0,0
$GC,8455,0.98,162.1,762.3,18.3,789,8462,0.00,2.08,0.00,0.000,6,0.000,0.035,3154,987,2352,0,0,0,0,0,0
$GC,8773,0.98,162.1,701.2,18.8,805,8777,0.00,2.03,0.00,0.000,4,0.000,0.024,3154,2372,2351,0,0,0,0,0,0
$GC,8952,0.98,162.1,669.9,17.0,813,8956,0.00,2.05,0.00,0.000,6,0.000,0.035,3162,1011,2350,0,0,0,0,0,0
$GC,9281,0.98,162.1,609.6,18.8,829,9285,0.00,1.23,0.00,0.000,4,0.000,0.044,3169,196,2350,0,0,0,0,0,0
$GC,9384,0.98,162.1,589.4,18.7,835,9388,0.10,1.10,0.00,0.000,6,0.198,0.026,3140,982,2349,0,0,0,0,0,0
$GC,9714,0.98,162.1,532.7,17.1,866,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,982,2349,0,0,0,0,0,0
$GC,10041,0.98,162.1,480.8,14.9,907,10049,0.00,2.05,0.00,0.000,4,0.000,0.024,3141,2387,2348,0,0,0,0,0,0
$GC,10134,0.98,162.1,467.4,14.4,923,10141,0.00,2.08,0.00,0.000,6,0.000,0.035,3149,1011,2348,0,0,0,0,0,0
$GC,10466,0.98,162.1,417.2,16.0,984,10474,0.00,2.05,0.00,0.000,4,0.000,0.024,3149,2399,2348,0,0,0,0,0,0
$GC,10602,0.98,162.1,399.2,13.5,1008,10610,0.00,2.12,0.00,0.000,6,0.000,0.036,3158,1022,2347,0,0,0,0,0,0
$GC,10938,0.98,162.1,351.2,13.9,1069,10945,0.00,1.25,0.00,0.000,4,0.000,0.044,3164,192,2347,0,0,0,0,0,0
$GC,11092,0.98,162.1,327.2,15.3,1097,11099,0.00,1.12,0.00,0.000,6,0.000,0.023,3165,1020,2346,0,0,0,0,0,0
$GC,11424,0.98,162.1,282.5,12.0,1158,11432,0.00,1.98,0.00,0.000,4,0.000,0.022,3164,2379,2347,0,0,0,0,0,0
$GC,11457,0.98,162.1,278.9,11.7,1163,11465,0.15,2.08,0.00,0.000,6,0.197,0.034,3138,994,2347,0,0,0,0,0,0
$GC,11793,0.98,169.3,240.6,10.4,1224,11802,0.00,1.23,4.07,0.567,4,0.000,0.042,3143,191,2337,0,0,0,0,0,0
$GC,11832,0.99,172.9,236.3,10.8,1230,11841,0.00,1.08,4.72,0.614,6,0.000,0.024,3143,992,2323,0,0,0,0,0,0
$GC,12172,1.01,188.0,204.6,9.6,1291,12193,0.00,2.00,13.62,0.757,4,0.000,0.021,3143,2381,2260,0,0,0,0,0,0
$GC,12440,1.03,206.4,177.6,9.3,1339,12463,0.00,2.08,15.73,0.734,6,0.000,0.033,3152,1004,2187,0,0,0,0,0,0
$GC,12792,1.03,209.7,142.6,10.8,1402,12801,0.00,1.25,4.05,0.496,4,0.000,0.041,3157,186,2173,0,0,0,0,0,0
$GC,12975,1.05,219.9,121.7,10.1,1435,12991,0.00,1.08,9.77,0.644,6,0.000,0.021,3159,1013,2131,0,0,0,0,0,0
$GC,13314,1.13,288.4,95.8,4.2,1497,13375,0.00,1.25,53.67,0.679,4,0.000,0.040,3164,187,1854,0,0,0,0,0,0
$GC,13619,1.13,288.4,66.9,12.5,1550,13627,0.00,1.05,0.00,0.000,6,0.000,0.021,3164,1007,1850,0,0,0,0,0,0
$GC,13946,1.13,288.4,28.3,14.3,1611,13955,0.00,1.20,0.00,0.000,4,0.000,0.040,3169,199,1849,0,0,0,0,0,0
$GC,14025,1.13,288.4,16.1,14.7,1625,14033,0.00,1.00,0.00,0.000,6,0.000,0.019,3169,1009,1849,0,0,0,0,0,0
$STATE,14130,end climb,SURFACE_DEPTH_REACHED
$STATE,14130,begin surface coast
$FINISH,0.4,1.008860
$STATE,14163,end surface coast,CONTROL_FINISHED_OK
$STATE,14163,begin surface
$SM_CCo,14181,96.53,0.539,1,0,1397,400.08
$SM_GC,1.35,0.00,0.00,96.53,0.000,0.000,0.539,120,769,1397,-8.44,-0.59,400.08
$IRIDIUM_FIX,2115.63,12559.43,311010,181835
$TT8_MAMPS,0.028462
$HUMID,37.08
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.5,51.548
$10V_AH,10.2,47.400
$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,19.400,76.925,316.150,96.525,0.000,58.792,63.559,237.902,0.000,0.000,19.481,4049.879,5750.102,526.311,4047.565,520.451,0.000,1934.176,0.000,3714.800,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,48.960,1412.955,538.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.190,1484.737,2035.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333788
$DATA_FILE_SIZE,96764,1649
$CAP_FILE_SIZE,162715,0
$CFSIZE,260165632,148922368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104, 71.7,1
$GPS,311010,230137,2119.948,12602.438,35,1.3,36,-2.9