version: 66.08
glider: 167
mission: 6
dive: 277
start: 10 31 110 23 13 8
data:
$ID,167
$MISSION,6
$DIVE,277
$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,-54471.73
$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,50
$R_STBD_OVSHOOT,155
$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
$GPS1,311010,230137,2119.948,12602.438,35,1.3,36,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.7
$GPS2,311010,231231,2119.827,12602.477,13,1.4,30,-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,253.8,2339,-23.2,-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,-0.78,-107.8,0.0,0.0,0,84,0.00,0.00,-63.80,0.000,2,0.000,0.000,112,770,3293,0,0,0,0,0,0
$GC,87,-0.78,-107.8,5.4,-11.3,9,105,9.57,1.98,-3.05,0.000,4,0.221,0.030,2552,2196,3471,0,0,0,0,0,0
$GC,294,-0.78,-107.8,66.5,-23.7,46,302,0.00,2.12,0.00,0.000,6,0.000,0.034,2552,799,3474,0,0,0,0,0,0
$GC,618,-0.78,-107.8,149.1,-19.3,107,626,0.00,0.88,0.00,0.000,4,0.000,0.041,2552,191,3475,0,0,0,0,0,0
$GC,852,-0.78,-107.8,200.1,-16.7,149,859,0.00,0.70,0.00,0.000,6,0.000,0.021,2547,820,3476,0,0,0,0,0,0
$GC,1185,-0.78,-107.8,252.1,-14.7,210,1193,0.00,1.80,0.00,0.000,4,0.000,0.015,2539,2126,3477,0,0,0,0,0,0
$GC,1344,-0.78,-107.8,274.2,-14.2,238,1352,0.05,1.98,0.00,0.000,6,0.160,0.033,2555,807,3477,0,0,0,0,0,0
$GC,1682,-0.78,-107.8,323.3,-13.8,299,1688,0.00,0.88,0.00,0.000,4,0.000,0.041,2555,198,3477,0,0,0,0,0,0
$GC,1932,-0.78,-107.8,358.7,-14.2,345,1940,0.00,0.68,0.00,0.000,6,0.000,0.021,2553,794,3476,0,0,0,0,0,0
$GC,2269,-0.78,-107.8,400.6,-12.1,406,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,794,3476,0,0,0,0,0,0
$GC,2605,-0.78,-107.8,439.7,-12.1,467,2612,0.00,0.88,0.00,0.000,4,0.000,0.042,2553,197,3473,0,0,0,0,0,0
$GC,2825,-0.78,-107.8,469.8,-13.6,507,2831,0.00,0.68,0.00,0.000,6,0.000,0.022,2550,778,3471,0,0,0,0,0,0
$GC,3157,-0.78,-107.8,511.5,-12.0,559,3160,0.00,1.90,0.00,0.000,4,0.000,0.017,2548,2137,3470,0,0,0,0,0,0
$GC,3263,-0.80,-123.2,522.8,-10.0,568,3270,0.00,2.00,0.00,0.000,6,0.000,0.034,2548,799,3469,0,0,0,0,0,0
$GC,3589,-0.81,-132.6,557.3,-10.5,599,3592,0.00,0.88,0.00,0.000,4,0.000,0.044,2547,199,3467,0,0,0,0,0,0
$GC,3683,-0.81,-132.6,568.6,-11.3,607,3690,0.00,0.70,0.00,0.000,6,0.000,0.021,2547,783,3466,0,0,0,0,0,0
$GC,4018,-0.81,-132.6,605.1,-11.5,637,4022,0.00,1.95,0.00,0.000,4,0.000,0.018,2547,2144,3463,0,0,0,0,0,0
$GC,4165,-0.84,-157.1,620.1,-9.4,643,4169,0.00,2.03,0.00,0.000,6,0.000,0.035,2547,803,3462,0,0,0,0,0,0
$GC,4488,-0.84,-158.7,655.5,-11.0,659,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,804,3459,0,0,0,0,0,0
$GC,4796,-0.84,-163.2,688.2,-10.8,674,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,803,3457,0,0,0,0,0,0
$GC,5108,-0.87,-181.5,719.2,-9.9,689,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,803,3455,0,0,0,0,0,0
$GC,5416,-0.90,-209.5,748.3,-9.2,704,5420,0.00,0.90,0.00,0.000,4,0.000,0.046,2548,196,3452,0,0,0,0,0,0
$GC,5545,-0.93,-228.7,760.9,-9.1,709,5552,0.00,0.73,0.00,0.000,6,0.000,0.024,2547,780,3452,0,0,0,0,0,0
$GC,5863,-0.93,-228.7,788.7,-8.8,725,5867,0.00,2.00,0.00,0.000,4,0.000,0.020,2547,2159,3450,0,0,0,0,0,0
$GC,5924,-0.93,-228.7,793.8,-7.5,727,5931,0.00,2.03,0.00,0.000,6,0.000,0.037,2547,815,3450,0,0,0,0,0,0
$GC,6242,-0.93,-228.7,822.2,-9.3,743,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,815,3447,0,0,0,0,0,0
$GC,6550,-0.93,-228.7,850.7,-9.0,758,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,815,3445,0,0,0,0,0,0
$GC,6859,-0.93,-228.7,878.2,-8.7,773,6862,0.00,0.93,0.00,0.000,4,0.000,0.047,2547,195,3443,0,0,0,0,0,0
$GC,6922,-0.93,-228.7,884.0,-9.0,775,6928,0.00,0.77,0.00,0.000,6,0.000,0.024,2548,794,3443,0,0,0,0,0,0
$GC,7238,-0.93,-228.7,910.1,-8.0,791,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,794,3441,0,0,0,0,0,0
$GC,7550,-0.93,-228.7,934.6,-8.2,806,7553,0.00,1.95,0.00,0.000,4,0.000,0.020,2548,2161,3440,0,0,0,0,0,0
$GC,7596,-0.93,-228.7,938.3,-7.8,808,7600,0.00,2.08,0.00,0.000,6,0.000,0.038,2547,801,3440,0,0,0,0,0,0
$GC,7924,-0.93,-228.7,965.0,-8.4,824,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,801,3439,0,0,0,0,0,0
$GC,8234,-0.93,-228.7,990.2,-8.4,839,8238,0.00,0.90,0.00,0.000,4,0.000,0.048,2547,200,3437,0,0,0,0,0,0
$STATE,8338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8338,begin apogee
$GC,8345,-0.14,0.0,1000.2,9.4,843,8436,0.70,0.00,84.28,1.421,4,0.134,0.000,2770,1024,3028,0,0,0,0,0,0
$STATE,8440,end apogee,CONTROL_FINISHED_OK
$STATE,8440,begin climb
$GC,8442,0.93,228.7,1002.2,0.0,848,8646,0.98,2.08,194.57,1.366,4,0.051,0.021,3132,2408,2097,0,0,0,0,0,0
$GC,8781,0.93,228.7,950.0,23.7,863,8788,0.00,2.25,0.00,0.000,6,0.000,0.036,3143,994,2089,0,0,0,0,0,0
$GC,9099,0.93,228.7,877.4,23.5,879,9102,0.00,1.23,0.00,0.000,4,0.000,0.045,3149,192,2086,0,0,0,0,0,0
$GC,9324,0.93,228.7,821.1,26.1,889,9328,0.00,1.15,0.00,0.000,6,0.000,0.026,3149,1003,2083,0,0,0,0,0,0
$GC,9659,0.93,228.7,740.6,24.6,905,9662,0.00,2.03,0.00,0.000,4,0.000,0.025,3149,2388,2082,0,0,0,0,0,0
$GC,9843,0.93,228.7,697.3,22.6,913,9848,0.15,2.10,0.00,0.000,6,0.200,0.035,3122,1025,2081,0,0,0,0,0,0
$GC,10172,0.93,228.7,629.5,20.0,929,10176,0.00,2.00,0.00,0.000,4,0.000,0.024,3122,2408,2080,0,0,0,0,0,0
$GC,10222,0.93,228.7,618.9,19.0,931,10226,0.00,2.10,0.00,0.000,6,0.000,0.036,3130,1032,2080,0,0,0,0,0,0
$GC,10546,0.93,228.7,554.1,20.7,957,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1032,2079,0,0,0,0,0,0
$GC,10866,0.93,228.7,490.4,18.4,991,10873,0.00,2.00,0.00,0.000,4,0.000,0.024,3129,2396,2079,0,0,0,0,0,0
$GC,11002,0.93,228.7,466.9,17.0,1015,11009,0.00,2.10,0.00,0.000,6,0.000,0.036,3139,1021,2079,0,0,0,0,0,0
$GC,11336,0.93,228.7,403.3,18.7,1076,11344,0.00,1.25,0.00,0.000,4,0.000,0.045,3145,191,2078,0,0,0,0,0,0
$GC,11554,0.93,228.7,357.4,18.6,1116,11562,0.00,1.15,0.00,0.000,6,0.000,0.024,3146,1034,2079,0,0,0,0,0,0
$GC,11892,0.93,228.7,297.6,17.1,1177,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1035,2078,0,0,0,0,0,0
$GC,12223,0.93,228.7,242.5,14.4,1238,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1035,2078,0,0,0,0,0,0
$GC,12560,0.93,228.7,193.9,14.5,1299,12567,0.00,1.92,0.00,0.000,4,0.000,0.021,3146,2379,2078,0,0,0,0,0,0
$GC,12780,0.93,228.7,165.9,12.1,1339,12788,0.12,2.08,0.00,0.000,6,0.188,0.034,3124,1007,2079,0,0,0,0,0,0
$GC,13115,0.95,252.2,130.5,9.5,1400,13139,0.00,1.17,17.20,0.703,4,0.000,0.041,3129,194,2002,0,0,0,0,0,0
$GC,13379,1.00,291.0,102.7,8.4,1448,13417,0.00,1.10,32.50,0.690,6,0.000,0.021,3129,1022,1841,0,0,0,0,0,0
$GC,13735,1.03,310.9,70.3,9.7,1513,13758,0.00,1.23,16.62,0.631,4,0.000,0.041,3134,191,1760,0,0,0,0,0,0
$GC,13794,1.04,318.5,64.5,10.6,1522,13810,0.00,1.10,7.72,0.558,6,0.000,0.021,3134,1028,1729,0,0,0,0,0,0
$GC,14133,1.07,348.7,29.1,9.0,1584,14164,0.10,0.00,24.95,0.604,6,0.106,0.000,3195,1028,1606,0,0,0,0,0,0
$STATE,14296,end climb,SURFACE_DEPTH_REACHED
$STATE,14296,begin surface coast
$FINISH,0.6,1.011112
$STATE,14318,end surface coast,CONTROL_FINISHED_OK
$STATE,14318,begin surface
$SM_CCo,14338,45.78,0.467,1,0,1398,400.08
$SM_GC,1.19,0.00,0.00,45.78,0.000,0.000,0.467,125,781,1398,-8.42,-0.25,400.08
$IRIDIUM_FIX,2111.01,12601.30,311010,232358
$TT8_MAMPS,0.026215
$HUMID,39.48
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.1,51.699
$10V_AH,10.2,47.579
$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,19.675,65.750,377.850,45.775,0.000,67.629,91.361,215.748,0.000,0.000,31.275,3977.497,6084.110,501.886,3983.719,491.412,0.000,1876.321,0.000,3610.757,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,49.725,1420.605,467.415,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1103.855,1433.121,1958.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333780
$DATA_FILE_SIZE,93771,1617
$CAP_FILE_SIZE,157566,0
$CFSIZE,260165632,148840448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,108.7,1
$GPS,011110,031407,2119.061,12601.489,31,1.1,32,-2.9