version: 66.08
glider: 167
mission: 6
dive: 240
start: 10 25 110 1 58 42
data:
$ID,167
$MISSION,6
$DIVE,240
$N_DIVES,244
$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,-54425.184
$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,43
$R_STBD_OVSHOOT,77
$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
$GPS1,251010,014737,2147.571,12630.817,40,1.2,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.2
$GPS2,251010,015819,2147.588,12630.907,16,2.0,33,-3.0
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,224.6,70298,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,92,0.00,0.00,-71.82,0.000,2,0.000,0.000,106,782,3393,0,0,0,0,0,0
$GC,95,-0.72,-228.7,6.5,-14.9,10,119,9.50,2.08,-8.75,0.000,4,0.216,0.030,2568,2245,3965,0,0,0,0,0,0
$GC,287,-0.72,-228.7,65.1,-22.4,44,295,0.00,2.20,0.00,0.000,6,0.000,0.033,2569,798,3967,0,0,0,0,0,0
$GC,610,-0.72,-228.7,144.9,-21.9,105,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,796,3968,0,0,0,0,0,0
$GC,944,-0.72,-228.7,212.9,-19.4,166,951,0.00,0.88,0.00,0.000,4,0.000,0.041,2568,189,3968,0,0,0,0,0,0
$GC,1198,-0.72,-228.7,261.1,-17.0,212,1206,0.00,0.82,0.00,0.000,6,0.000,0.020,2564,924,3968,0,0,0,0,0,0
$GC,1536,-0.72,-228.7,316.6,-16.0,273,1543,0.00,1.08,0.00,0.000,4,0.000,0.039,2564,188,3969,0,0,0,0,0,0
$GC,1787,-0.72,-228.7,358.5,-16.0,319,1795,0.08,0.80,0.00,0.000,6,0.151,0.021,2584,887,3969,0,0,0,0,0,0
$GC,2118,-0.72,-228.7,403.6,-13.7,380,2127,0.00,1.02,0.00,0.000,4,0.000,0.041,2584,190,3968,0,0,0,0,0,0
$GC,2198,-0.72,-228.7,414.4,-13.4,394,2206,0.00,0.77,0.00,0.000,6,0.000,0.021,2584,867,3968,0,0,0,0,0,0
$GC,2531,-0.72,-228.7,451.9,-11.4,455,2539,0.00,1.88,0.00,0.000,4,0.000,0.018,2584,2213,3966,0,0,0,0,0,0
$GC,2569,-0.72,-228.7,455.9,-10.4,461,2575,0.00,2.12,0.00,0.000,6,0.000,0.033,2584,789,3966,0,0,0,0,0,0
$GC,2901,-0.72,-228.7,493.5,-10.7,522,2909,0.00,0.85,0.00,0.000,4,0.000,0.044,2584,202,3963,0,0,0,0,0,0
$GC,3027,-0.72,-228.7,507.7,-11.1,538,3031,0.00,0.77,0.00,0.000,6,0.000,0.021,2584,851,3962,0,0,0,0,0,0
$GC,3364,-0.72,-228.7,543.0,-10.1,569,3367,0.00,1.90,0.00,0.000,4,0.000,0.018,2584,2206,3959,0,0,0,0,0,0
$GC,3391,-0.72,-228.7,546.3,-9.1,571,3399,0.00,2.15,0.00,0.000,6,0.000,0.034,2584,776,3959,0,0,0,0,0,0
$GC,3717,-0.72,-228.7,578.6,-10.2,602,3721,0.00,2.00,0.00,0.000,4,0.000,0.017,2584,2187,3956,0,0,0,0,0,0
$GC,3768,-0.72,-228.7,583.2,-8.4,606,3775,0.00,2.15,0.00,0.000,6,0.000,0.035,2584,778,3956,0,0,0,0,0,0
$GC,4091,-0.72,-228.7,614.1,-9.5,630,4095,0.00,2.03,0.00,0.000,4,0.000,0.018,2584,2207,3953,0,0,0,0,0,0
$GC,4116,-0.72,-228.7,616.3,-8.8,631,4120,0.00,2.15,0.00,0.000,6,0.000,0.036,2584,787,3953,0,0,0,0,0,0
$GC,4444,-0.72,-228.7,645.4,-9.2,647,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,786,3950,0,0,0,0,0,0
$GC,4753,-0.72,-228.7,675.8,-9.8,662,4757,0.00,2.03,0.00,0.000,4,0.000,0.018,2584,2194,3948,0,0,0,0,0,0
$GC,4802,-0.72,-228.7,680.0,-8.6,664,4806,0.00,2.15,0.00,0.000,6,0.000,0.037,2584,791,3947,0,0,0,0,0,0
$GC,5131,-0.72,-228.7,710.9,-9.2,680,5135,0.00,2.00,0.00,0.000,4,0.000,0.018,2584,2184,3944,0,0,0,0,0,0
$GC,5164,-0.72,-228.7,714.1,-7.9,681,5169,0.00,2.12,0.00,0.000,6,0.000,0.037,2584,791,3944,0,0,0,0,0,0
$GC,5488,-0.72,-228.7,743.9,-9.5,697,5492,0.00,2.03,0.00,0.000,4,0.000,0.018,2584,2192,3941,0,0,0,0,0,0
$GC,5534,-0.72,-228.7,748.2,-9.0,699,5538,0.00,2.15,0.00,0.000,6,0.000,0.037,2584,795,3941,0,0,0,0,0,0
$GC,5864,-0.72,-228.7,779.4,-9.4,715,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,795,3939,0,0,0,0,0,0
$GC,6171,-0.72,-228.7,807.7,-9.0,730,6175,0.00,2.00,0.00,0.000,4,0.000,0.019,2584,2192,3937,0,0,0,0,0,0
$GC,6249,-0.72,-228.7,814.2,-8.1,733,6253,0.00,2.15,0.00,0.000,6,0.000,0.037,2584,798,3936,0,0,0,0,0,0
$GC,6568,-0.72,-228.7,840.9,-8.3,748,6571,0.00,1.98,0.00,0.000,4,0.000,0.019,2584,2184,3934,0,0,0,0,0,0
$GC,6623,-0.72,-228.7,845.2,-7.1,750,6627,0.00,2.12,0.00,0.000,6,0.000,0.037,2584,799,3934,0,0,0,0,0,0
$GC,6947,-0.72,-228.7,871.3,-8.3,766,6951,0.00,2.00,0.00,0.000,4,0.000,0.019,2584,2183,3932,0,0,0,0,0,0
$GC,6980,-0.72,-228.7,874.2,-7.5,767,6984,0.00,2.12,0.00,0.000,6,0.000,0.037,2584,805,3931,0,0,0,0,0,0
$GC,7302,-0.72,-228.7,902.3,-9.1,783,7306,0.00,2.00,0.00,0.000,4,0.000,0.019,2584,2189,3929,0,0,0,0,0,0
$GC,7336,-0.72,-228.7,905.3,-8.7,784,7340,0.00,2.12,0.00,0.000,6,0.000,0.038,2584,809,3930,0,0,0,0,0,0
$GC,7653,-0.72,-228.7,933.1,-8.5,799,7656,0.00,2.00,0.00,0.000,4,0.000,0.020,2584,2191,3928,0,0,0,0,0,0
$GC,7677,-0.72,-228.7,935.1,-8.0,800,7681,0.00,2.12,0.00,0.000,6,0.000,0.038,2584,813,3928,0,0,0,0,0,0
$GC,8007,-0.72,-228.7,961.6,-8.0,816,8011,0.00,2.00,0.00,0.000,4,0.000,0.020,2584,2191,3926,0,0,0,0,0,0
$GC,8070,-0.72,-228.7,966.3,-7.7,818,8077,0.00,2.10,0.00,0.000,6,0.000,0.038,2584,829,3926,0,0,0,0,0,0
$GC,8388,-0.72,-228.7,990.7,-7.5,834,8391,0.00,1.98,0.00,0.000,4,0.000,0.020,2584,2194,3924,0,0,0,0,0,0
$GC,8435,-0.72,-228.7,994.0,-6.3,836,8439,0.00,2.10,0.00,0.000,6,0.000,0.038,2584,830,3923,0,0,0,0,0,0
$STATE,8533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8533,begin apogee
$GC,8539,-0.14,0.0,1001.5,7.3,841,8725,0.55,0.00,181.45,1.411,4,0.112,0.000,2772,1014,3029,0,0,0,0,0,0
$STATE,8728,end apogee,CONTROL_FINISHED_OK
$STATE,8728,begin climb
$GC,8730,0.72,228.7,1009.5,0.0,849,8935,0.75,1.38,195.57,1.354,4,0.049,0.050,3058,199,2095,0,0,0,0,0,0
$GC,9194,0.72,228.7,937.0,19.4,870,9198,0.00,1.12,0.00,0.000,6,0.000,0.024,3058,996,2085,0,0,0,0,0,0
$GC,9527,0.72,228.7,875.0,17.5,886,9530,0.00,1.25,0.00,0.000,4,0.000,0.047,3063,190,2083,0,0,0,0,0,0
$GC,9689,0.72,228.7,846.0,19.4,893,9692,0.00,1.15,0.00,0.000,6,0.000,0.024,3063,1015,2082,0,0,0,0,0,0
$GC,10022,0.72,228.7,788.6,16.5,909,10026,0.00,1.98,0.00,0.000,4,0.000,0.023,3063,2384,2080,0,0,0,0,0,0
$GC,10146,0.72,228.7,768.8,15.2,914,10149,0.00,2.10,0.00,0.000,6,0.000,0.037,3071,1015,2080,0,0,0,0,0,0
$GC,10469,0.72,228.7,713.6,17.6,930,10473,0.00,1.98,0.00,0.000,4,0.000,0.024,3071,2380,2079,0,0,0,0,0,0
$GC,10610,0.72,228.7,689.7,17.3,936,10614,0.00,2.05,0.00,0.000,6,0.000,0.037,3079,1042,2079,0,0,0,0,0,0
$GC,10937,0.72,228.7,630.8,18.1,952,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1042,2079,0,0,0,0,0,0
$GC,11252,0.72,228.7,574.8,17.1,973,11256,0.00,1.95,0.00,0.000,4,0.000,0.025,3079,2384,2078,0,0,0,0,0,0
$GC,11369,0.72,228.7,553.7,16.9,983,11377,0.12,2.05,0.00,0.000,6,0.178,0.036,3057,1038,2078,0,0,0,0,0,0
$GC,11695,0.72,228.7,504.9,14.2,1014,11698,0.00,1.27,0.00,0.000,4,0.000,0.047,3062,199,2078,0,0,0,0,0,0
$GC,11722,0.72,228.7,500.7,14.2,1016,11730,0.00,1.17,0.00,0.000,6,0.000,0.024,3062,1044,2078,0,0,0,0,0,0
$GC,12064,0.72,228.7,451.0,16.5,1076,12074,0.00,1.30,0.00,0.000,4,0.000,0.045,3068,197,2079,0,0,0,0,0,0
$GC,12132,0.72,228.7,439.7,16.5,1087,12139,0.00,1.15,0.00,0.000,6,0.000,0.024,3068,1042,2078,0,0,0,0,0,0
$GC,12471,0.72,228.7,390.7,13.9,1148,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1044,2077,0,0,0,0,0,0
$GC,12817,0.72,228.7,344.4,12.6,1209,12824,0.00,1.92,0.00,0.000,4,0.000,0.022,3068,2385,2078,0,0,0,0,0,0
$GC,12960,0.72,228.7,328.1,11.7,1234,12968,0.00,2.10,0.00,0.000,6,0.000,0.035,3076,1021,2077,0,0,0,0,0,0
$GC,13301,0.72,228.7,287.8,11.9,1295,13308,0.00,1.25,0.00,0.000,4,0.000,0.045,3082,193,2077,0,0,0,0,0,0
$GC,13351,0.72,228.7,281.5,12.0,1303,13358,0.00,1.12,0.00,0.000,6,0.000,0.024,3082,1022,2077,0,0,0,0,0,0
$GC,13689,0.72,228.7,238.7,11.5,1364,13698,0.00,1.95,0.00,0.000,4,0.000,0.021,3082,2374,2078,0,0,0,0,0,0
$GC,13824,0.72,228.7,222.9,12.4,1387,13832,0.12,2.03,0.00,0.000,6,0.170,0.034,3057,1031,2078,0,0,0,0,0,0
$GC,14168,0.82,311.5,193.2,8.4,1448,14237,0.00,1.33,64.10,0.776,4,0.000,0.044,3062,192,1758,0,0,0,0,0,0
$GC,14368,0.82,311.5,172.1,12.5,1481,14374,0.00,1.15,0.00,0.000,6,0.000,0.021,3062,1056,1753,0,0,0,0,0,0
$GC,14703,0.85,334.9,137.1,10.3,1542,14728,0.10,1.35,19.35,0.692,4,0.099,0.043,3120,193,1663,0,0,0,0,0,0
$GC,14767,0.85,334.9,128.1,14.6,1552,14776,0.00,1.12,0.00,0.000,6,0.000,0.020,3120,1056,1662,0,0,0,0,0,0
$GC,15095,0.85,334.9,89.5,11.1,1613,15103,0.00,1.90,0.00,0.000,4,0.000,0.018,3120,2389,1660,0,0,0,0,0,0
$GC,15124,0.85,334.9,86.4,11.2,1617,15132,0.00,2.12,0.00,0.000,6,0.000,0.033,3127,1003,1660,0,0,0,0,0,0
$GC,15453,0.90,371.4,51.9,9.9,1678,15492,0.00,1.23,29.45,0.629,4,0.000,0.041,3133,191,1514,0,0,0,0,0,0
$GC,15552,0.90,374.8,41.8,11.0,1693,15560,0.00,1.10,4.43,0.443,6,0.000,0.020,3133,1055,1499,0,0,0,0,0,0
$GC,15881,0.95,413.7,7.5,9.8,1754,15920,0.00,1.35,32.03,0.590,4,0.000,0.042,3133,191,1340,0,0,0,0,0,0
$STATE,15926,end climb,SURFACE_DEPTH_REACHED
$STATE,15926,begin surface coast
$FINISH,0.4,1.010755
$STATE,15960,end surface coast,CONTROL_FINISHED_OK
$STATE,15961,begin surface
$SM_CCo,16039,0.00,0.000,0,0,1335,415.54
$SM_GC,1.44,7.68,0.00,0.00,0.029,0.000,0.000,110,859,1335,-8.35,1.92,415.54
$IRIDIUM_FIX,2138.81,12629.45,251010,010146
$TT8_MAMPS,0.028462
$HUMID,38.38
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,28.80
$XPDR_PINGS,0
$24V_AH,23.0,44.676
$10V_AH,10.3,40.802
$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,18.900,114.825,526.375,0.000,0.000,51.226,88.318,214.723,0.000,0.000,34.572,4338.429,6891.240,592.876,4304.253,532.433,0.000,2166.686,0.000,3940.177,0.000,0.543,0.000
$DEVICE_MAMPS,216.495,49.725,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.057,1557.458,2078.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,103550,1766
$CAP_FILE_SIZE,184697,0
$CFSIZE,260165632,152297472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 29.1,1
$GPS,251010,062706,2146.298,12629.732,26,1.3,27,-3.0