version: 66.08
glider: 167
mission: 6
dive: 248
start: 10 26 110 14 20 43
data:
$ID,167
$MISSION,6
$DIVE,248
$N_DIVES,256
$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,-54435.25
$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,34
$R_STBD_OVSHOOT,95
$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
$GPS1,261010,141206,2138.635,12619.979,36,1.3,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-52.4
$GPS2,261010,142020,2138.535,12619.939,13,1.9,13,-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,223.4,45037,-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,-228.7,0.0,0.0,0,91,0.00,0.00,-73.62,0.000,2,0.000,0.000,110,774,3189,0,0,0,0,0,0
$GC,95,-0.72,-228.7,5.7,-12.5,9,127,9.40,2.05,-12.85,0.000,4,0.213,0.031,2568,2201,3965,0,0,0,0,0,0
$GC,256,-0.72,-228.7,49.5,-24.8,37,264,0.00,2.17,0.00,0.000,6,0.000,0.034,2567,777,3966,0,0,0,0,0,0
$GC,580,-0.72,-228.7,144.8,-22.9,98,588,0.00,0.85,0.00,0.000,4,0.000,0.041,2567,189,3966,0,0,0,0,0,0
$GC,807,-0.72,-228.7,199.3,-22.0,139,814,0.00,0.77,0.00,0.000,6,0.000,0.019,2562,920,3967,0,0,0,0,0,0
$GC,1140,-0.72,-228.7,266.6,-19.1,200,1148,0.00,1.08,0.00,0.000,4,0.000,0.039,2562,185,3968,0,0,0,0,0,0
$GC,1286,-0.72,-228.7,295.0,-19.5,226,1294,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,886,3968,0,0,0,0,0,0
$GC,1623,-0.72,-228.7,349.0,-15.2,287,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,887,3968,0,0,0,0,0,0
$GC,1953,-0.72,-228.7,398.9,-14.8,348,1961,0.00,1.02,0.00,0.000,4,0.000,0.040,2560,188,3967,0,0,0,0,0,0
$GC,1998,-0.72,-228.7,405.5,-16.0,355,2005,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,844,3967,0,0,0,0,0,0
$GC,2330,-0.72,-228.7,453.1,-13.4,416,2338,0.10,0.98,0.00,0.000,4,0.181,0.041,2585,192,3965,0,0,0,0,0,0
$GC,2374,-0.72,-228.7,458.7,-12.2,423,2382,0.00,0.73,0.00,0.000,6,0.000,0.021,2585,829,3965,0,0,0,0,0,0
$GC,2710,-0.72,-228.7,495.3,-11.5,484,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,829,3962,0,0,0,0,0,0
$GC,3040,-0.72,-228.7,530.7,-10.4,518,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,829,3959,0,0,0,0,0,0
$GC,3360,-0.72,-228.7,561.6,-9.8,548,3364,0.00,1.80,0.00,0.000,4,0.000,0.017,2585,2119,3956,0,0,0,0,0,0
$GC,3388,-0.72,-228.7,564.6,-9.3,550,3395,0.00,2.05,0.00,0.000,6,0.000,0.034,2585,755,3956,0,0,0,0,0,0
$GC,3714,-0.72,-228.7,595.7,-9.6,581,3717,0.00,1.90,0.00,0.000,4,0.000,0.017,2585,2115,3953,0,0,0,0,0,0
$GC,3805,-0.72,-228.7,603.0,-7.5,588,3809,0.00,2.03,0.00,0.000,6,0.000,0.035,2585,772,3952,0,0,0,0,0,0
$GC,4140,-0.72,-228.7,633.8,-9.4,604,4144,0.00,1.90,0.00,0.000,4,0.000,0.017,2585,2116,3949,0,0,0,0,0,0
$GC,4174,-0.72,-228.7,637.2,-8.5,605,4177,0.00,2.05,0.00,0.000,6,0.000,0.036,2585,765,3949,0,0,0,0,0,0
$GC,4496,-0.72,-228.7,667.6,-9.4,621,4499,0.00,1.92,0.00,0.000,4,0.000,0.017,2585,2122,3946,0,0,0,0,0,0
$GC,4559,-0.72,-228.7,672.8,-7.7,623,4567,0.00,2.05,0.00,0.000,6,0.000,0.036,2585,775,3946,0,0,0,0,0,0
$GC,4875,-0.72,-228.7,701.1,-8.8,639,4879,0.00,1.92,0.00,0.000,4,0.000,0.017,2585,2113,3943,0,0,0,0,0,0
$GC,4928,-0.72,-228.7,705.1,-7.4,641,4931,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,784,3943,0,0,0,0,0,0
$GC,5255,-0.72,-228.7,731.6,-7.9,657,5259,0.00,1.90,0.00,0.000,4,0.000,0.017,2585,2121,3940,0,0,0,0,0,0
$GC,5288,-0.72,-228.7,734.0,-6.8,658,5292,0.00,2.03,0.00,0.000,6,0.000,0.037,2586,792,3940,0,0,0,0,0,0
$GC,5612,-0.72,-228.7,758.6,-7.8,674,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,792,3937,0,0,0,0,0,0
$GC,5920,-0.72,-228.7,783.4,-8.1,689,5923,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2123,3934,0,0,0,0,0,0
$GC,5966,-0.72,-228.7,786.8,-7.0,691,5970,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,798,3935,0,0,0,0,0,0
$GC,6301,-0.72,-228.7,812.8,-8.2,707,6305,0.00,1.88,0.00,0.000,4,0.000,0.018,2585,2111,3932,0,0,0,0,0,0
$GC,6347,-0.72,-228.7,816.4,-7.7,709,6350,0.00,2.03,0.00,0.000,6,0.000,0.038,2585,789,3932,0,0,0,0,0,0
$GC,6682,-0.72,-228.7,844.2,-8.4,725,6685,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2118,3929,0,0,0,0,0,0
$GC,6728,-0.72,-228.7,848.0,-7.7,727,6731,0.00,2.03,0.00,0.000,6,0.000,0.038,2585,798,3929,0,0,0,0,0,0
$GC,7063,-0.72,-228.7,875.8,-8.5,743,7067,0.00,1.88,0.00,0.000,4,0.000,0.018,2585,2110,3927,0,0,0,0,0,0
$GC,7103,-0.72,-228.7,879.0,-7.1,744,7110,0.00,2.00,0.00,0.000,6,0.000,0.039,2585,808,3928,0,0,0,0,0,0
$GC,7420,-0.72,-228.7,904.0,-7.6,760,7424,0.00,1.88,0.00,0.000,4,0.000,0.018,2585,2117,3926,0,0,0,0,0,0
$GC,7468,-0.72,-228.7,907.4,-7.0,762,7472,0.00,2.00,0.00,0.000,6,0.000,0.038,2585,814,3925,0,0,0,0,0,0
$GC,7803,-0.72,-228.7,931.4,-7.1,778,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,814,3924,0,0,0,0,0,0
$GC,8111,-0.72,-228.7,953.0,-7.0,793,8114,0.00,1.85,0.00,0.000,4,0.000,0.018,2585,2119,3923,0,0,0,0,0,0
$GC,8168,-0.72,-228.7,956.8,-6.6,795,8172,0.00,2.00,0.00,0.000,6,0.000,0.039,2585,821,3922,0,0,0,0,0,0
$GC,8490,-0.72,-228.7,978.1,-6.5,811,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,820,3921,0,0,0,0,0,0
$GC,8801,-0.72,-228.7,998.5,-6.7,826,8805,0.00,1.85,0.00,0.000,4,0.000,0.018,2585,2110,3919,0,0,0,0,0,0
$STATE,8822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8822,begin apogee
$GC,8830,-0.14,0.0,1000.1,6.3,827,9023,0.52,0.00,181.82,1.410,4,0.103,0.000,2769,994,3027,0,0,0,0,0,0
$STATE,9026,end apogee,CONTROL_FINISHED_OK
$STATE,9026,begin climb
$GC,9028,0.72,228.7,1008.0,0.0,836,9233,0.80,2.08,196.88,1.352,4,0.047,0.019,3062,2317,2096,0,0,0,0,0,0
$GC,9418,0.72,228.7,958.2,17.9,853,9422,0.00,2.10,0.00,0.000,6,0.000,0.037,3071,999,2088,0,0,0,0,0,0
$GC,9749,0.72,228.7,896.5,19.0,869,9752,0.00,1.25,0.00,0.000,4,0.000,0.047,3078,187,2086,0,0,0,0,0,0
$GC,9945,0.72,228.7,855.1,19.6,877,9952,0.00,1.05,0.00,0.000,6,0.000,0.024,3077,952,2085,0,0,0,0,0,0
$GC,10263,0.72,228.7,792.9,20.1,893,10267,0.00,2.08,0.00,0.000,4,0.000,0.022,3077,2387,2084,0,0,0,0,0,0
$GC,10362,0.72,228.7,773.7,18.6,897,10370,0.12,2.10,0.00,0.000,6,0.178,0.036,3055,1018,2084,0,0,0,0,0,0
$GC,10679,0.72,228.7,718.0,17.8,913,10683,0.00,2.00,0.00,0.000,4,0.000,0.024,3055,2388,2082,0,0,0,0,0,0
$GC,10762,0.72,228.7,703.4,16.8,916,10769,0.00,2.08,0.00,0.000,6,0.000,0.037,3060,1032,2082,0,0,0,0,0,0
$GC,11079,0.72,228.7,651.2,16.3,932,11083,0.00,1.98,0.00,0.000,4,0.000,0.022,3060,2389,2082,0,0,0,0,0,0
$GC,11172,0.72,228.7,636.5,16.2,936,11176,0.00,2.08,0.00,0.000,6,0.000,0.037,3068,1034,2082,0,0,0,0,0,0
$GC,11493,0.72,228.7,585.2,15.4,956,11497,0.00,1.98,0.00,0.000,4,0.000,0.022,3068,2388,2082,0,0,0,0,0,0
$GC,11529,0.72,228.7,579.7,14.5,959,11533,0.00,2.05,0.00,0.000,6,0.000,0.037,3075,1048,2081,0,0,0,0,0,0
$GC,11860,0.72,228.7,527.6,15.1,990,11864,0.00,1.95,0.00,0.000,4,0.000,0.022,3075,2393,2081,0,0,0,0,0,0
$GC,12035,0.72,228.7,501.0,14.1,1005,12042,0.00,2.03,0.00,0.000,6,0.000,0.037,3081,1084,2081,0,0,0,0,0,0
$GC,12369,0.72,228.7,447.4,14.6,1065,12376,0.00,1.90,0.00,0.000,4,0.000,0.024,3081,2393,2080,0,0,0,0,0,0
$GC,12395,0.72,228.7,443.2,15.4,1069,12402,0.12,2.03,0.00,0.000,6,0.177,0.036,3058,1066,2080,0,0,0,0,0,0
$GC,12734,0.72,228.7,399.4,12.2,1130,12742,0.00,1.92,0.00,0.000,4,0.000,0.021,3058,2382,2080,0,0,0,0,0,0
$GC,12799,0.72,228.7,390.9,12.4,1141,12805,0.00,1.98,0.00,0.000,6,0.000,0.037,3062,1087,2080,0,0,0,0,0,0
$GC,13134,0.72,228.7,344.9,13.2,1202,13142,0.00,1.35,0.00,0.000,4,0.000,0.047,3069,196,2080,0,0,0,0,0,0
$GC,13189,0.72,228.7,337.2,15.3,1211,13196,0.00,1.23,0.00,0.000,6,0.000,0.023,3069,1098,2080,0,0,0,0,0,0
$GC,13521,0.72,228.7,293.9,12.0,1272,13529,0.00,1.85,0.00,0.000,4,0.000,0.021,3069,2381,2080,0,0,0,0,0,0
$GC,13574,0.72,228.7,287.2,12.6,1281,13581,0.00,1.98,0.00,0.000,6,0.000,0.035,3077,1082,2080,0,0,0,0,0,0
$GC,13908,0.73,234.8,249.1,10.9,1342,13917,0.00,1.38,4.05,0.566,4,0.000,0.044,3083,189,2071,0,0,0,0,0,0
$GC,13982,0.73,234.8,240.5,11.9,1354,13989,0.00,1.25,0.00,0.000,6,0.000,0.021,3083,1127,2071,0,0,0,0,0,0
$GC,14319,0.75,254.0,201.8,10.5,1415,14340,0.00,1.48,17.38,0.760,4,0.000,0.043,3090,183,1993,0,0,0,0,0,0
$GC,14363,0.75,254.0,196.0,11.3,1422,14371,0.00,1.27,0.00,0.000,6,0.000,0.019,3090,1150,1991,0,0,0,0,0,0
$GC,14695,0.75,254.0,156.0,12.5,1483,14701,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1150,1991,0,0,0,0,0,0
$GC,15022,0.92,393.8,126.0,6.5,1544,15140,0.00,1.55,110.35,0.708,4,0.000,0.041,3097,189,1421,0,0,0,0,0,0
$GC,15322,0.92,393.8,97.8,11.2,1594,15330,0.00,1.25,0.00,0.000,6,0.000,0.018,3096,1144,1417,0,0,0,0,0,0
$GC,15649,1.08,523.3,64.8,6.9,1655,15755,0.20,1.52,101.28,0.634,4,0.068,0.041,3201,190,894,0,0,0,0,0,0
$GC,15851,1.08,523.3,31.1,26.5,1686,15859,0.08,1.23,0.00,0.000,6,0.146,0.018,3176,1132,890,0,0,0,0,0,0
$STATE,16051,end climb,SURFACE_DEPTH_REACHED
$STATE,16051,begin surface coast
$FINISH,0.4,1.021774
$STATE,16069,end surface coast,CONTROL_FINISHED_OK
$STATE,16069,begin surface
$SM_CCo,16148,0.00,0.000,0,0,882,526.66
$SM_GC,1.42,8.00,0.00,0.00,0.045,0.000,0.000,131,712,882,-8.36,-2.21,526.66
$IRIDIUM_FIX,2131.85,12621.59,261010,090900
$TT8_MAMPS,0.028462
$HUMID,38.62
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.0,46.275
$10V_AH,10.2,42.295
$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,19.350,114.075,611.750,0.000,0.000,30.808,19.756,227.759,0.000,0.000,14.128,4212.335,7111.173,662.247,4093.381,536.782,0.000,2232.742,0.000,3830.915,0.000,0.542,0.000
$DEVICE_MAMPS,212.670,47.430,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.737,1503.163,1964.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,100177,1726
$CAP_FILE_SIZE,181617,0
$CFSIZE,260165632,151531520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 38.5,1
$GPS,261010,185109,2137.705,12618.951,38,1.8,41,-3.0