version: 66.08
glider: 167
mission: 6
dive: 254
start: 10 27 110 17 1 5
data:
$ID,167
$MISSION,6
$DIVE,254
$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,-54442.801
$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,49
$R_STBD_OVSHOOT,129
$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
$GPS1,271010,165007,2130.606,12611.381,39,1.1,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.6
$GPS2,271010,170042,2130.543,12611.628,14,1.7,30,-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,226.2,24450,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-65.15,0.000,2,0.000,0.000,110,777,3107,0,0,0,0,0,0
$GC,89,-0.72,-228.7,5.3,-11.1,9,121,9.62,1.98,-13.77,0.000,4,0.221,0.028,2570,2177,3963,0,0,0,0,0,0
$GC,166,-0.72,-228.7,38.0,-29.8,21,174,0.00,2.12,0.00,0.000,6,0.000,0.035,2569,795,3964,0,0,0,0,0,0
$GC,494,-0.72,-228.7,135.5,-23.5,82,501,0.00,0.88,0.00,0.000,4,0.000,0.039,2569,186,3965,0,0,0,0,0,0
$GC,591,-0.72,-228.7,156.9,-22.3,99,599,0.00,0.70,0.00,0.000,6,0.000,0.020,2564,830,3965,0,0,0,0,0,0
$GC,922,-0.72,-228.7,224.0,-18.9,160,930,0.00,0.93,0.00,0.000,4,0.000,0.040,2565,193,3967,0,0,0,0,0,0
$GC,992,-0.72,-228.7,238.6,-20.2,172,1001,0.00,0.60,0.00,0.000,6,0.000,0.021,2560,763,3967,0,0,0,0,0,0
$GC,1326,-0.72,-228.7,297.4,-17.6,233,1332,0.00,1.85,0.00,0.000,4,0.000,0.015,2560,2108,3967,0,0,0,0,0,0
$GC,1394,-0.72,-228.7,308.6,-14.7,245,1401,0.00,2.00,0.00,0.000,6,0.000,0.032,2560,759,3967,0,0,0,0,0,0
$GC,1728,-0.72,-228.7,364.6,-16.8,306,1736,0.00,1.90,0.00,0.000,4,0.000,0.015,2560,2111,3966,0,0,0,0,0,0
$GC,1765,-0.72,-228.7,369.7,-13.1,312,1773,0.00,2.00,0.00,0.000,6,0.000,0.033,2560,786,3966,0,0,0,0,0,0
$GC,2098,-0.72,-228.7,418.6,-13.7,373,2105,0.10,0.88,0.00,0.000,4,0.174,0.044,2585,195,3965,0,0,0,0,0,0
$GC,2193,-0.72,-228.7,430.9,-12.6,390,2201,0.00,0.65,0.00,0.000,6,0.000,0.021,2584,774,3964,0,0,0,0,0,0
$GC,2528,-0.72,-228.7,469.5,-11.5,451,2536,0.00,1.88,0.00,0.000,4,0.000,0.016,2584,2125,3962,0,0,0,0,0,0
$GC,2565,-0.72,-228.7,473.7,-10.2,457,2572,0.00,1.98,0.00,0.000,6,0.000,0.034,2584,794,3962,0,0,0,0,0,0
$GC,2896,-0.72,-228.7,511.5,-11.6,509,2900,0.00,1.88,0.00,0.000,4,0.000,0.016,2584,2132,3960,0,0,0,0,0,0
$GC,2919,-0.72,-228.7,514.2,-11.2,511,2923,0.00,2.00,0.00,0.000,6,0.000,0.034,2584,791,3959,0,0,0,0,0,0
$GC,3251,-0.72,-228.7,548.5,-9.6,542,3254,0.00,1.88,0.00,0.000,4,0.000,0.016,2584,2127,3957,0,0,0,0,0,0
$GC,3331,-0.72,-228.7,555.3,-7.8,549,3334,0.00,2.00,0.00,0.000,6,0.000,0.035,2584,799,3957,0,0,0,0,0,0
$GC,3662,-0.72,-228.7,586.7,-9.6,580,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,800,3953,0,0,0,0,0,0
$GC,3986,-0.72,-228.7,619.1,-10.4,602,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,800,3951,0,0,0,0,0,0
$GC,4298,-0.72,-228.7,652.3,-11.0,617,4302,0.00,1.88,0.00,0.000,4,0.000,0.017,2584,2126,3947,0,0,0,0,0,0
$GC,4348,-0.72,-228.7,657.8,-9.4,619,4352,0.00,2.03,0.00,0.000,6,0.000,0.037,2584,797,3948,0,0,0,0,0,0
$GC,4677,-0.72,-228.7,693.0,-10.8,635,4681,0.00,1.85,0.00,0.000,4,0.000,0.017,2584,2121,3944,0,0,0,0,0,0
$GC,4746,-0.72,-228.7,699.8,-9.1,638,4750,0.00,2.00,0.00,0.000,6,0.000,0.037,2584,807,3944,0,0,0,0,0,0
$GC,5079,-0.72,-228.7,732.7,-9.6,654,5082,0.00,1.88,0.00,0.000,4,0.000,0.017,2584,2132,3941,0,0,0,0,0,0
$GC,5114,-0.72,-228.7,735.7,-8.3,655,5117,0.00,2.03,0.00,0.000,6,0.000,0.037,2584,806,3941,0,0,0,0,0,0
$GC,5436,-0.72,-228.7,764.7,-8.8,671,5439,0.00,1.90,0.00,0.000,4,0.000,0.018,2584,2126,3938,0,0,0,0,0,0
$GC,5469,-0.72,-228.7,767.5,-7.6,672,5472,0.00,2.00,0.00,0.000,6,0.000,0.038,2584,817,3939,0,0,0,0,0,0
$GC,5794,-0.72,-228.7,794.3,-8.3,688,5798,0.00,1.85,0.00,0.000,4,0.000,0.018,2584,2119,3935,0,0,0,0,0,0
$GC,5827,-0.72,-228.7,797.2,-7.0,689,5832,0.00,2.00,0.00,0.000,6,0.000,0.037,2584,824,3935,0,0,0,0,0,0
$GC,6151,-0.72,-228.7,823.4,-8.3,705,6155,0.00,1.85,0.00,0.000,4,0.000,0.018,2584,2124,3933,0,0,0,0,0,0
$GC,6186,-0.72,-228.7,826.1,-7.6,706,6190,0.00,2.00,0.00,0.000,6,0.000,0.038,2584,821,3933,0,0,0,0,0,0
$GC,6508,-0.72,-228.7,853.2,-8.4,722,6512,0.00,1.83,0.00,0.000,4,0.000,0.018,2584,2117,3930,0,0,0,0,0,0
$GC,6571,-0.72,-228.7,857.9,-7.7,724,6577,0.00,1.98,0.00,0.000,6,0.000,0.038,2584,829,3930,0,0,0,0,0,0
$GC,6888,-0.72,-228.7,883.9,-8.2,740,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,829,3928,0,0,0,0,0,0
$GC,7196,-0.72,-228.7,908.4,-7.7,755,7200,0.00,1.85,0.00,0.000,4,0.000,0.018,2584,2124,3927,0,0,0,0,0,0
$GC,7248,-0.72,-228.7,912.0,-6.7,757,7252,0.00,1.98,0.00,0.000,6,0.000,0.039,2584,829,3926,0,0,0,0,0,0
$GC,7575,-0.72,-228.7,936.0,-7.5,773,7579,0.00,1.85,0.00,0.000,4,0.000,0.018,2583,2123,3924,0,0,0,0,0,0
$GC,7610,-0.72,-228.7,938.6,-7.3,774,7614,0.00,1.98,0.00,0.000,6,0.000,0.039,2584,828,3924,0,0,0,0,0,0
$GC,7932,-0.72,-228.7,962.9,-7.5,790,7935,0.00,1.85,0.00,0.000,4,0.000,0.018,2584,2118,3922,0,0,0,0,0,0
$GC,7979,-0.72,-228.7,966.3,-7.7,792,7983,0.00,1.95,0.00,0.000,6,0.000,0.039,2584,851,3923,0,0,0,0,0,0
$GC,8314,-0.72,-228.7,991.5,-7.7,808,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,851,3921,0,0,0,0,0,0
$STATE,8433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8434,begin apogee
$GC,8439,-0.14,0.0,1000.9,7.5,814,8630,0.55,0.00,181.35,1.413,4,0.112,0.000,2771,851,3028,0,0,0,0,0,0
$STATE,8632,end apogee,CONTROL_FINISHED_OK
$STATE,8633,begin climb
$GC,8635,0.72,228.7,1009.4,0.0,823,8840,0.77,1.08,195.95,1.355,4,0.051,0.051,3054,199,2095,0,0,0,0,0,0
$GC,9003,0.72,228.7,959.0,19.3,840,9007,0.00,1.05,0.00,0.000,6,0.000,0.025,3054,929,2087,0,0,0,0,0,0
$GC,9338,0.72,228.7,898.0,18.1,856,9342,0.00,1.12,0.00,0.000,4,0.000,0.047,3059,198,2083,0,0,0,0,0,0
$GC,9456,0.72,228.7,875.8,18.0,861,9459,0.00,1.05,0.00,0.000,6,0.000,0.026,3059,950,2084,0,0,0,0,0,0
$GC,9785,0.72,228.7,817.9,17.7,877,9789,0.00,2.08,0.00,0.000,4,0.000,0.021,3059,2387,2082,0,0,0,0,0,0
$GC,9884,0.72,228.7,800.5,18.0,881,9891,0.00,2.08,0.00,0.000,6,0.000,0.037,3065,1037,2081,0,0,0,0,0,0
$GC,10201,0.72,228.7,744.5,17.8,897,10205,0.00,1.98,0.00,0.000,4,0.000,0.024,3065,2395,2081,0,0,0,0,0,0
$GC,10254,0.72,228.7,735.6,16.7,899,10257,0.00,2.08,0.00,0.000,6,0.000,0.037,3072,1044,2080,0,0,0,0,0,0
$GC,10575,0.72,228.7,677.7,17.5,915,10579,0.00,1.98,0.00,0.000,4,0.000,0.024,3073,2394,2080,0,0,0,0,0,0
$GC,10660,0.72,228.7,663.7,17.0,918,10666,0.00,2.05,0.00,0.000,6,0.000,0.037,3082,1059,2079,0,0,0,0,0,0
$GC,10976,0.72,228.7,608.5,17.7,934,10979,0.00,1.33,0.00,0.000,4,0.000,0.047,3088,189,2080,0,0,0,0,0,0
$GC,11022,0.72,228.7,600.1,18.4,936,11026,0.10,1.23,0.00,0.000,6,0.164,0.024,3057,1061,2079,0,0,0,0,0,0
$GC,11354,0.72,228.7,549.1,14.8,966,11357,0.00,1.90,0.00,0.000,4,0.000,0.022,3058,2396,2079,0,0,0,0,0,0
$GC,11411,0.72,228.7,541.0,13.9,971,11414,0.00,2.05,0.00,0.000,6,0.000,0.037,3064,1055,2079,0,0,0,0,0,0
$GC,11739,0.72,228.7,492.4,13.9,1006,11746,0.00,1.95,0.00,0.000,4,0.000,0.023,3065,2383,2078,0,0,0,0,0,0
$GC,11803,0.72,228.7,483.4,14.8,1017,11809,0.00,2.00,0.00,0.000,6,0.000,0.037,3072,1073,2078,0,0,0,0,0,0
$GC,12135,0.72,228.7,433.8,14.2,1078,12143,0.00,1.92,0.00,0.000,4,0.000,0.021,3073,2383,2078,0,0,0,0,0,0
$GC,12162,0.72,228.7,430.1,14.6,1082,12169,0.00,2.03,0.00,0.000,6,0.000,0.037,3080,1077,2078,0,0,0,0,0,0
$GC,12497,0.72,228.7,383.2,13.6,1143,12504,0.00,1.35,0.00,0.000,4,0.000,0.046,3087,189,2078,0,0,0,0,0,0
$GC,12640,0.72,228.7,360.6,15.1,1169,12648,0.10,1.25,0.00,0.000,6,0.158,0.022,3056,1095,2078,0,0,0,0,0,0
$GC,12978,0.72,228.7,319.6,11.9,1230,12986,0.00,1.40,0.00,0.000,4,0.000,0.044,3061,187,2078,0,0,0,0,0,0
$GC,13023,0.72,228.7,314.1,13.2,1237,13029,0.00,1.23,0.00,0.000,6,0.000,0.022,3061,1085,2078,0,0,0,0,0,0
$GC,13356,0.77,268.9,276.4,9.8,1298,13392,0.00,1.95,30.92,0.856,4,0.000,0.021,3062,2392,1932,0,0,0,0,0,0
$GC,13459,0.77,268.9,264.4,12.2,1315,13467,0.00,2.03,0.00,0.000,6,0.000,0.035,3067,1073,1929,0,0,0,0,0,0
$GC,13792,0.77,268.9,224.5,12.2,1376,13800,0.00,1.92,0.00,0.000,4,0.000,0.018,3067,2395,1928,0,0,0,0,0,0
$GC,13835,0.77,268.9,219.7,11.6,1383,13843,0.00,2.00,0.00,0.000,6,0.000,0.034,3072,1080,1928,0,0,0,0,0,0
$GC,14168,0.81,300.3,180.6,10.1,1444,14203,0.00,1.38,26.33,0.757,4,0.000,0.045,3079,190,1803,0,0,0,0,0,0
$GC,14322,0.81,300.3,161.5,13.0,1470,14330,0.00,1.25,0.00,0.000,6,0.000,0.020,3079,1144,1800,0,0,0,0,0,0
$GC,14654,0.87,347.6,126.2,9.6,1531,14699,0.00,1.80,38.00,0.709,4,0.000,0.017,3079,2409,1611,0,0,0,0,0,0
$GC,14847,0.98,438.4,108.3,8.1,1564,14930,0.12,2.03,72.40,0.686,6,0.050,0.034,3148,1094,1240,0,0,0,0,0,0
$GC,15250,0.98,438.4,56.5,11.7,1635,15259,0.00,1.38,0.00,0.000,4,0.000,0.043,3155,187,1235,0,0,0,0,0,0
$GC,15319,0.98,438.4,46.2,20.3,1647,15328,0.00,1.25,0.00,0.000,6,0.000,0.018,3155,1182,1235,0,0,0,0,0,0
$STATE,15641,end climb,SURFACE_DEPTH_REACHED
$STATE,15641,begin surface coast
$FINISH,0.6,1.021224
$STATE,15667,end surface coast,CONTROL_FINISHED_OK
$STATE,15667,begin surface
$SM_CCo,15747,0.00,0.000,0,0,1233,440.56
$SM_GC,1.31,7.75,0.00,0.00,0.035,0.000,0.000,105,761,1233,-8.35,-0.82,440.56
$IRIDIUM_FIX,2122.58,12610.50,271010,161607
$TT8_MAMPS,0.028462
$HUMID,39.88
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.0,47.470
$10V_AH,10.2,43.385
$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,19.125,120.300,544.950,0.000,0.000,48.320,86.699,223.264,0.000,0.000,30.895,4193.456,6912.514,610.130,4116.230,527.387,0.000,2144.575,0.000,3754.169,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,51.255,1412.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.578,1496.300,1943.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,100142,1711
$CAP_FILE_SIZE,181308,0
$CFSIZE,260165632,150974464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 72.8,1
$GPS,271010,212437,2129.186,12610.955,27,1.1,28,-2.9