version: 66.08
glider: 167
mission: 6
dive: 252
start: 10 27 110 8 30 24
data:
$ID,167
$MISSION,6
$DIVE,252
$N_DIVES,265
$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,-54440.285
$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,71
$R_STBD_OVSHOOT,82
$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
$GPS1,271010,081931,2133.485,12614.572,90,1.0,91,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-54.1
$GPS2,271010,083002,2133.395,12614.604,14,1.1,14,-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,226.7,31807,-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,18,-0.72,-228.7,0.0,0.0,0,96,0.00,0.00,-75.03,0.000,2,0.000,0.000,102,742,3405,0,0,0,0,0,0
$GC,99,-0.72,-228.7,5.2,-10.6,10,124,9.75,2.15,-8.93,0.000,4,0.223,0.031,2572,2210,3965,0,0,0,0,0,0
$GC,199,-0.72,-228.7,44.3,-22.6,27,208,0.00,2.12,0.00,0.000,6,0.000,0.035,2571,822,3967,0,0,0,0,0,0
$GC,527,-0.72,-228.7,138.3,-21.8,88,535,0.00,0.93,0.00,0.000,4,0.000,0.040,2571,185,3967,0,0,0,0,0,0
$GC,781,-0.72,-228.7,198.7,-22.5,134,789,0.00,0.77,0.00,0.000,6,0.000,0.021,2567,885,3969,0,0,0,0,0,0
$GC,1119,-0.72,-228.7,259.2,-17.6,195,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,884,3969,0,0,0,0,0,0
$GC,1450,-0.72,-228.7,317.4,-17.7,256,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,885,3968,0,0,0,0,0,0
$GC,1786,-0.72,-228.7,369.4,-13.6,317,1792,0.00,1.02,0.00,0.000,4,0.000,0.041,2567,187,3969,0,0,0,0,0,0
$GC,1901,-0.72,-228.7,387.3,-14.7,338,1909,0.00,0.77,0.00,0.000,6,0.000,0.021,2562,864,3968,0,0,0,0,0,0
$GC,2234,-0.72,-228.7,433.3,-13.2,399,2241,0.00,1.00,0.00,0.000,4,0.000,0.041,2562,188,3967,0,0,0,0,0,0
$GC,2308,-0.72,-228.7,443.5,-13.9,412,2316,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,847,3966,0,0,0,0,0,0
$GC,2641,-0.72,-228.7,486.4,-12.5,473,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,847,3964,0,0,0,0,0,0
$GC,2975,-0.72,-228.7,527.9,-13.2,514,2978,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2194,3961,0,0,0,0,0,0
$GC,3002,-0.72,-228.7,531.3,-11.1,516,3009,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,764,3961,0,0,0,0,0,0
$GC,3327,-0.72,-228.7,572.9,-12.9,547,3331,0.00,2.03,0.00,0.000,4,0.000,0.018,2561,2182,3957,0,0,0,0,0,0
$GC,3411,-0.72,-228.7,582.3,-10.8,554,3417,0.00,2.17,0.00,0.000,6,0.000,0.035,2561,760,3957,0,0,0,0,0,0
$GC,3733,-0.72,-228.7,620.7,-11.9,577,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3955,0,0,0,0,0,0
$GC,4041,-0.72,-228.7,656.3,-11.0,592,4044,0.00,2.05,0.00,0.000,4,0.000,0.018,2560,2177,3952,0,0,0,0,0,0
$GC,4121,-0.72,-228.7,663.9,-9.1,595,4125,0.00,2.15,0.00,0.000,6,0.000,0.036,2561,781,3951,0,0,0,0,0,0
$GC,4437,-0.72,-228.7,699.0,-11.5,610,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,781,3949,0,0,0,0,0,0
$GC,4746,-0.72,-228.7,734.1,-11.3,625,4750,0.00,2.03,0.00,0.000,4,0.000,0.018,2561,2181,3946,0,0,0,0,0,0
$GC,4775,-0.72,-228.7,737.2,-10.9,626,4779,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,769,3946,0,0,0,0,0,0
$GC,5097,-0.72,-228.7,772.8,-11.2,642,5100,0.00,2.05,0.00,0.000,4,0.000,0.018,2561,2177,3943,0,0,0,0,0,0
$GC,5177,-0.72,-228.7,780.9,-9.7,645,5181,0.00,2.15,0.00,0.000,6,0.000,0.037,2561,788,3943,0,0,0,0,0,0
$GC,5493,-0.72,-228.7,815.3,-11.0,660,5497,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2184,3940,0,0,0,0,0,0
$GC,5540,-0.72,-228.7,819.8,-8.8,662,5544,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,787,3939,0,0,0,0,0,0
$GC,5871,-0.72,-228.7,853.8,-10.6,678,5874,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2182,3937,0,0,0,0,0,0
$GC,5943,-0.72,-228.7,861.1,-9.5,681,5946,0.00,2.12,0.00,0.000,6,0.000,0.037,2559,801,3937,0,0,0,0,0,0
$GC,6266,-0.72,-228.7,894.9,-10.6,697,6270,0.00,2.03,0.00,0.000,4,0.000,0.019,2560,2209,3934,0,0,0,0,0,0
$GC,6336,-0.72,-228.7,901.8,-9.2,700,6340,0.00,2.15,0.00,0.000,6,0.000,0.038,2560,805,3934,0,0,0,0,0,0
$GC,6664,-0.72,-228.7,937.6,-11.1,716,6668,0.10,2.00,0.00,0.000,4,0.171,0.019,2586,2177,3931,0,0,0,0,0,0
$GC,6728,-0.72,-228.7,943.4,-9.1,718,6735,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,817,3931,0,0,0,0,0,0
$GC,7044,-0.72,-228.7,971.2,-8.6,734,7048,0.00,1.98,0.00,0.000,4,0.000,0.019,2586,2186,3929,0,0,0,0,0,0
$GC,7079,-0.72,-228.7,974.1,-8.0,735,7083,0.00,2.12,0.00,0.000,6,0.000,0.037,2586,808,3929,0,0,0,0,0,0
$STATE,7393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7393,begin apogee
$GC,7399,-0.14,0.0,1000.1,7.9,750,7586,0.52,0.00,182.00,1.402,4,0.105,0.000,2770,1006,3029,0,0,0,0,0,0
$STATE,7587,end apogee,CONTROL_FINISHED_OK
$STATE,7587,begin climb
$GC,7590,0.72,228.7,1010.2,0.0,758,7792,0.75,1.35,195.57,1.346,4,0.050,0.048,3057,200,2096,0,0,0,0,0,0
$GC,7957,0.72,228.7,962.4,17.8,775,7960,0.00,1.15,0.00,0.000,6,0.000,0.023,3057,1008,2087,0,0,0,0,0,0
$GC,8291,0.72,228.7,904.0,18.0,791,8295,0.00,1.25,0.00,0.000,4,0.000,0.046,3063,197,2084,0,0,0,0,0,0
$GC,8516,0.72,228.7,860.8,19.4,801,8520,0.00,1.12,0.00,0.000,6,0.000,0.026,3063,999,2083,0,0,0,0,0,0
$GC,8851,0.72,228.7,799.9,18.2,817,8854,0.00,2.03,0.00,0.000,4,0.000,0.024,3063,2381,2081,0,0,0,0,0,0
$GC,8996,0.72,228.7,774.6,16.1,823,9000,0.00,2.08,0.00,0.000,6,0.000,0.036,3071,1026,2081,0,0,0,0,0,0
$GC,9320,0.72,228.7,718.0,17.3,839,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1026,2080,0,0,0,0,0,0
$GC,9627,0.72,228.7,666.6,16.9,854,9631,0.00,1.98,0.00,0.000,4,0.000,0.021,3071,2392,2079,0,0,0,0,0,0
$GC,9720,0.72,228.7,652.5,15.1,858,9724,0.00,2.10,0.00,0.000,6,0.000,0.037,3080,1023,2079,0,0,0,0,0,0
$GC,10048,0.72,228.7,596.8,16.5,874,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1022,2078,0,0,0,0,0,0
$GC,10369,0.72,228.7,543.8,16.2,904,10372,0.00,1.98,0.00,0.000,4,0.000,0.022,3081,2390,2079,0,0,0,0,0,0
$GC,10463,0.72,228.7,528.3,15.7,912,10470,0.12,2.10,0.00,0.000,6,0.180,0.036,3059,1017,2078,0,0,0,0,0,0
$GC,10792,0.72,228.7,483.2,13.5,954,10800,0.00,2.03,0.00,0.000,4,0.000,0.023,3059,2389,2078,0,0,0,0,0,0
$GC,10903,0.72,228.7,467.9,13.4,974,10911,0.00,2.12,0.00,0.000,6,0.000,0.037,3066,1018,2078,0,0,0,0,0,0
$GC,11237,0.72,228.7,419.4,14.6,1035,11245,0.00,1.25,0.00,0.000,4,0.000,0.047,3073,197,2077,0,0,0,0,0,0
$GC,11301,0.72,228.7,410.4,15.2,1046,11309,0.00,1.12,0.00,0.000,6,0.000,0.024,3072,1019,2077,0,0,0,0,0,0
$GC,11634,0.72,228.7,363.2,11.4,1107,11642,0.00,1.27,0.00,0.000,4,0.000,0.045,3078,190,2078,0,0,0,0,0,0
$GC,11692,0.72,228.7,354.5,15.1,1117,11699,0.00,1.10,0.00,0.000,6,0.000,0.024,3078,999,2077,0,0,0,0,0,0
$GC,12024,0.72,228.7,312.2,11.9,1178,12032,0.00,2.00,0.00,0.000,4,0.000,0.022,3078,2377,2077,0,0,0,0,0,0
$GC,12147,0.72,228.7,297.0,13.2,1200,12155,0.08,2.10,0.00,0.000,6,0.149,0.035,3062,1010,2078,0,0,0,0,0,0
$GC,12486,0.72,231.9,255.2,11.0,1261,12492,0.00,1.95,0.00,0.000,4,0.000,0.021,3062,2389,2078,0,0,0,0,0,0
$GC,12570,0.77,267.8,245.7,9.9,1276,12605,0.00,2.10,29.75,0.825,6,0.000,0.035,3068,1020,1937,0,0,0,0,0,0
$GC,12932,0.77,267.8,202.6,11.3,1341,12939,0.00,1.98,0.00,0.000,4,0.000,0.018,3069,2399,1933,0,0,0,0,0,0
$GC,12996,0.77,271.4,195.1,11.0,1352,13005,0.00,2.10,4.35,0.548,6,0.000,0.035,3076,1037,1922,0,0,0,0,0,0
$GC,13334,0.77,271.4,157.4,11.6,1413,13341,0.00,1.27,0.00,0.000,4,0.000,0.044,3082,189,1921,0,0,0,0,0,0
$GC,13583,0.87,346.3,130.5,8.7,1459,13650,0.00,1.17,60.17,0.719,6,0.000,0.020,3082,1097,1615,0,0,0,0,0,0
$GC,13972,1.00,458.6,97.5,7.4,1528,14068,0.17,1.45,88.85,0.672,4,0.076,0.041,3171,191,1158,0,0,0,0,0,0
$GC,14155,1.00,458.6,74.0,16.8,1557,14163,0.00,1.20,0.00,0.000,6,0.000,0.018,3171,1118,1155,0,0,0,0,0,0
$GC,14483,1.00,458.6,16.4,19.9,1618,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1118,1154,0,0,0,0,0,0
$STATE,14577,end climb,SURFACE_DEPTH_REACHED
$STATE,14577,begin surface coast
$FINISH,0.4,1.001352
$STATE,14614,end surface coast,CONTROL_FINISHED_OK
$STATE,14614,begin surface
$SM_CCo,14692,0.00,0.000,0,0,1149,460.92
$SM_GC,1.23,7.88,0.00,0.00,0.039,0.000,0.000,102,769,1149,-8.37,-0.59,460.92
$IRIDIUM_FIX,2127.21,12615.11,271010,080838
$TT8_MAMPS,0.028462
$HUMID,39.32
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.0,47.071
$10V_AH,10.3,43.022
$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,19.375,95.125,560.700,0.000,0.000,51.246,70.212,241.034,0.000,0.000,15.355,3992.180,6212.220,595.540,4004.450,493.047,0.000,2061.787,0.000,3651.919,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,48.195,1402.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.816,1453.088,1925.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96973,1641
$CAP_FILE_SIZE,166348,0
$CFSIZE,260165632,151179264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,157.8,1
$GPS,271010,123701,2131.427,12613.114,69,1.1,70,-2.9