version: 66.08
glider: 167
mission: 6
dive: 250
start: 10 26 110 23 22 0
data:
$ID,167
$MISSION,6
$DIVE,250
$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,-54437.766
$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,42
$R_STBD_OVSHOOT,90
$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
$GPS1,261010,231058,2136.134,12618.063,45,1.5,46,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-49.0
$GPS2,261010,232137,2136.004,12617.994,11,1.7,16,-2.9
$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,238.2,39379,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,101,0.00,0.00,-79.07,0.000,2,0.000,0.000,110,771,3525,0,0,0,0,0,0
$GC,104,-0.72,-228.7,5.1,-10.2,11,129,9.20,2.05,-7.35,0.000,4,0.205,0.030,2570,2192,3963,0,0,0,0,0,0
$GC,249,-0.72,-228.7,48.5,-29.3,36,258,0.00,2.15,0.00,0.000,6,0.000,0.034,2568,787,3964,0,0,0,0,0,0
$GC,574,-0.72,-228.7,147.1,-25.2,97,582,0.00,0.88,0.00,0.000,4,0.000,0.041,2569,182,3965,0,0,0,0,0,0
$GC,738,-0.72,-228.7,186.0,-25.2,125,744,0.00,0.77,0.00,0.000,6,0.000,0.021,2564,873,3966,0,0,0,0,0,0
$GC,1077,-0.72,-228.7,250.2,-17.0,186,1085,0.00,1.00,0.00,0.000,4,0.000,0.039,2564,190,3967,0,0,0,0,0,0
$GC,1339,-0.72,-228.7,298.0,-18.6,232,1348,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,872,3966,0,0,0,0,0,0
$GC,1683,-0.72,-228.7,353.3,-15.5,293,1689,0.00,1.00,0.00,0.000,4,0.000,0.040,2561,190,3966,0,0,0,0,0,0
$GC,1731,-0.72,-228.7,361.0,-15.6,301,1737,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,865,3966,0,0,0,0,0,0
$GC,2071,-0.72,-228.7,409.7,-14.1,362,2079,0.00,1.00,0.00,0.000,4,0.000,0.041,2560,187,3965,0,0,0,0,0,0
$GC,2107,-0.72,-228.7,415.5,-15.3,368,2117,0.08,0.75,0.00,0.000,6,0.149,0.021,2584,830,3965,0,0,0,0,0,0
$GC,2455,-0.72,-228.7,458.0,-12.1,429,2462,0.00,1.83,0.00,0.000,4,0.000,0.016,2577,2133,3963,0,0,0,0,0,0
$GC,2504,-0.72,-228.7,463.2,-10.2,437,2511,0.00,2.05,0.00,0.000,6,0.000,0.034,2577,760,3962,0,0,0,0,0,0
$GC,2843,-0.72,-228.7,502.8,-10.7,496,2847,0.00,1.92,0.00,0.000,4,0.000,0.016,2575,2127,3959,0,0,0,0,0,0
$GC,2891,-0.72,-228.7,507.1,-8.3,500,2895,0.00,2.03,0.00,0.000,6,0.000,0.034,2575,780,3960,0,0,0,0,0,0
$GC,3224,-0.72,-228.7,543.2,-10.4,531,3227,0.00,0.85,0.00,0.000,4,0.000,0.044,2575,195,3957,0,0,0,0,0,0
$GC,3275,-0.72,-228.7,549.2,-10.8,535,3282,0.00,0.68,0.00,0.000,6,0.000,0.022,2575,760,3957,0,0,0,0,0,0
$GC,3601,-0.72,-228.7,583.3,-10.6,566,3605,0.00,1.98,0.00,0.000,4,0.000,0.018,2574,2139,3954,0,0,0,0,0,0
$GC,3698,-0.72,-228.7,592.3,-7.8,574,3704,0.00,2.05,0.00,0.000,6,0.000,0.035,2574,783,3953,0,0,0,0,0,0
$GC,4027,-0.72,-228.7,627.5,-10.5,594,4030,0.00,1.95,0.00,0.000,4,0.000,0.018,2574,2149,3950,0,0,0,0,0,0
$GC,4112,-0.72,-228.7,635.1,-8.4,597,4119,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,795,3950,0,0,0,0,0,0
$GC,4429,-0.72,-228.7,666.0,-9.8,613,4433,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2146,3947,0,0,0,0,0,0
$GC,4479,-0.72,-228.7,670.5,-7.9,615,4483,0.00,2.03,0.00,0.000,6,0.000,0.036,2574,807,3947,0,0,0,0,0,0
$GC,4808,-0.72,-228.7,702.6,-10.1,631,4812,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2140,3944,0,0,0,0,0,0
$GC,4914,-0.72,-228.7,711.9,-8.0,635,4921,0.00,2.00,0.00,0.000,6,0.000,0.037,2574,825,3943,0,0,0,0,0,0
$GC,5233,-0.72,-228.7,740.5,-8.8,651,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,824,3941,0,0,0,0,0,0
$GC,5541,-0.72,-228.7,767.4,-8.8,666,5545,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2150,3938,0,0,0,0,0,0
$GC,5587,-0.72,-228.7,771.1,-7.4,668,5591,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,822,3938,0,0,0,0,0,0
$GC,5923,-0.72,-228.7,800.0,-8.9,684,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,822,3936,0,0,0,0,0,0
$GC,6230,-0.72,-228.7,827.8,-8.9,699,6234,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2147,3934,0,0,0,0,0,0
$GC,6270,-0.72,-228.7,831.0,-7.6,700,6278,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,821,3933,0,0,0,0,0,0
$GC,6587,-0.72,-228.7,857.7,-8.4,716,6590,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2141,3931,0,0,0,0,0,0
$GC,6656,-0.72,-228.7,863.0,-7.6,719,6659,0.00,2.00,0.00,0.000,6,0.000,0.038,2574,837,3931,0,0,0,0,0,0
$GC,6991,-0.72,-228.7,890.5,-8.3,735,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,837,3929,0,0,0,0,0,0
$GC,7298,-0.72,-228.7,917.4,-8.6,750,7302,0.00,1.90,0.00,0.000,4,0.000,0.019,2574,2137,3927,0,0,0,0,0,0
$GC,7325,-0.72,-228.7,919.8,-7.4,751,7329,0.00,2.00,0.00,0.000,6,0.000,0.039,2574,830,3927,0,0,0,0,0,0
$GC,7654,-0.72,-228.7,946.9,-7.9,767,7658,0.00,1.90,0.00,0.000,4,0.000,0.019,2574,2134,3925,0,0,0,0,0,0
$GC,7705,-0.72,-228.7,950.6,-6.4,769,7709,0.00,1.98,0.00,0.000,6,0.000,0.039,2574,851,3924,0,0,0,0,0,0
$GC,8035,-0.72,-228.7,974.1,-6.9,785,8039,0.00,1.83,0.00,0.000,4,0.000,0.019,2574,2136,3923,0,0,0,0,0,0
$GC,8063,-0.72,-228.7,976.1,-6.2,786,8066,0.00,1.98,0.00,0.000,6,0.000,0.039,2574,852,3923,0,0,0,0,0,0
$GC,8390,-0.72,-228.7,997.1,-6.6,802,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,852,3921,0,0,0,0,0,0
$STATE,8450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8450,begin apogee
$GC,8458,-0.14,0.0,1001.2,6.6,805,8649,0.57,0.00,181.60,1.410,4,0.113,0.000,2769,978,3028,0,0,0,0,0,0
$STATE,8650,end apogee,CONTROL_FINISHED_OK
$STATE,8650,begin climb
$GC,8654,0.72,228.7,1006.8,0.0,814,8858,0.75,1.30,196.60,1.349,4,0.050,0.049,3063,202,2096,0,0,0,0,0,0
$GC,9083,0.72,228.7,939.6,19.9,833,9090,0.00,1.10,0.00,0.000,6,0.000,0.023,3063,986,2087,0,0,0,0,0,0
$GC,9401,0.72,228.7,881.3,18.5,849,9405,0.00,1.23,0.00,0.000,4,0.000,0.047,3068,192,2084,0,0,0,0,0,0
$GC,9567,0.72,228.7,849.0,19.9,856,9570,0.00,1.15,0.00,0.000,6,0.000,0.026,3068,1004,2083,0,0,0,0,0,0
$GC,9895,0.72,228.7,786.2,18.9,872,9899,0.00,2.03,0.00,0.000,4,0.000,0.025,3068,2388,2081,0,0,0,0,0,0
$GC,10018,0.72,228.7,762.9,18.2,877,10022,0.00,2.12,0.00,0.000,6,0.000,0.037,3078,1029,2080,0,0,0,0,0,0
$GC,10341,0.72,228.7,702.9,18.2,893,10344,0.00,2.00,0.00,0.000,4,0.000,0.022,3078,2396,2080,0,0,0,0,0,0
$GC,10398,0.72,228.7,692.5,17.2,895,10402,0.12,2.10,0.00,0.000,6,0.180,0.037,3055,1028,2080,0,0,0,0,0,0
$GC,10714,0.72,228.7,643.7,15.6,910,10717,0.00,1.98,0.00,0.000,4,0.000,0.022,3055,2395,2079,0,0,0,0,0,0
$GC,10821,0.72,228.7,627.7,14.5,914,10828,0.00,2.08,0.00,0.000,6,0.000,0.037,3061,1042,2080,0,0,0,0,0,0
$GC,11141,0.72,228.7,578.2,15.2,936,11145,0.00,1.98,0.00,0.000,4,0.000,0.025,3060,2399,2079,0,0,0,0,0,0
$GC,11192,0.72,228.7,570.5,14.7,940,11200,0.00,2.08,0.00,0.000,6,0.000,0.037,3069,1042,2078,0,0,0,0,0,0
$GC,11517,0.72,228.7,518.6,16.1,971,11521,0.00,2.00,0.00,0.000,4,0.000,0.024,3068,2399,2079,0,0,0,0,0,0
$GC,11666,0.72,228.7,495.4,16.5,986,11674,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1073,2078,0,0,0,0,0,0
$GC,12009,0.72,228.7,440.9,14.4,1047,12016,0.00,1.35,0.00,0.000,4,0.000,0.047,3085,191,2079,0,0,0,0,0,0
$GC,12046,0.72,228.7,434.9,16.4,1053,12054,0.08,1.23,0.00,0.000,6,0.164,0.024,3061,1068,2078,0,0,0,0,0,0
$GC,12391,0.72,228.7,388.1,13.3,1114,12399,0.00,1.92,0.00,0.000,4,0.000,0.022,3061,2395,2079,0,0,0,0,0,0
$GC,12469,0.72,228.7,377.2,13.0,1127,12476,0.00,2.03,0.00,0.000,6,0.000,0.035,3068,1064,2078,0,0,0,0,0,0
$GC,12809,0.72,228.7,333.4,12.5,1188,12817,0.00,1.95,0.00,0.000,4,0.000,0.023,3068,2393,2078,0,0,0,0,0,0
$GC,12910,0.72,228.7,320.5,12.7,1205,12917,0.00,1.98,0.00,0.000,6,0.000,0.035,3075,1088,2078,0,0,0,0,0,0
$GC,13250,0.72,228.7,272.8,11.8,1266,13258,0.00,1.35,0.00,0.000,4,0.000,0.046,3082,193,2078,0,0,0,0,0,0
$GC,13510,0.72,228.7,237.4,15.2,1312,13519,0.00,1.23,0.00,0.000,6,0.000,0.023,3082,1089,2078,0,0,0,0,0,0
$GC,13854,0.72,228.7,197.5,11.3,1373,13861,0.00,1.38,0.00,0.000,4,0.000,0.044,3090,187,2079,0,0,0,0,0,0
$GC,14112,0.72,228.7,165.5,11.3,1419,14119,0.10,1.20,0.00,0.000,6,0.141,0.021,3055,1079,2079,0,0,0,0,0,0
$GC,14452,0.89,367.2,135.2,6.6,1480,14566,0.15,2.00,107.03,0.726,4,0.076,0.018,3123,2406,1531,0,0,0,0,0,0
$GC,14614,0.89,367.2,117.5,12.2,1503,14621,0.00,2.05,0.00,0.000,6,0.000,0.034,3129,1099,1527,0,0,0,0,0,0
$GC,14941,0.96,425.7,80.6,9.2,1564,14993,0.00,1.40,46.25,0.659,4,0.000,0.041,3135,181,1291,0,0,0,0,0,0
$GC,15052,0.96,425.7,68.8,12.5,1581,15059,0.00,1.30,0.00,0.000,6,0.000,0.018,3135,1177,1289,0,0,0,0,0,0
$GC,15381,0.96,425.7,32.9,11.9,1642,15389,0.00,1.50,0.00,0.000,4,0.000,0.041,3141,188,1288,0,0,0,0,0,0
$GC,15434,0.96,425.7,23.0,20.3,1651,15442,0.00,1.25,0.00,0.000,6,0.000,0.018,3140,1168,1288,0,0,0,0,0,0
$STATE,15566,end climb,SURFACE_DEPTH_REACHED
$STATE,15568,begin surface coast
$FINISH,0.3,1.010337
$STATE,15590,end surface coast,CONTROL_FINISHED_OK
$STATE,15591,begin surface
$SM_CCo,15670,0.00,0.000,0,0,1285,427.56
$SM_GC,1.23,7.62,0.00,0.00,0.028,0.000,0.000,118,751,1285,-8.37,-1.05,427.56
$IRIDIUM_FIX,2129.53,12616.97,261010,232303
$TT8_MAMPS,0.028462
$HUMID,39.13
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.0,46.669
$10V_AH,10.2,42.657
$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,18.675,110.575,531.475,0.000,0.000,53.702,90.755,226.631,0.000,0.000,17.035,4122.568,6920.088,607.495,4115.154,520.461,0.000,2132.057,0.000,3753.650,0.000,0.542,0.000
$DEVICE_MAMPS,205.020,90.270,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.303,1468.554,1933.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,96928,1680
$CAP_FILE_SIZE,177945,0
$CFSIZE,260165632,151351296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009, 44.9,1
$GPS,271010,034500,2134.751,12616.153,68,1.4,73,-2.9