version: 66.08
glider: 167
mission: 6
dive: 258
start: 10 28 110 11 20 21
data:
$ID,167
$MISSION,6
$DIVE,258
$N_DIVES,270
$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,-54447.824
$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,45
$R_STBD_OVSHOOT,134
$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
$GPS1,281010,110936,2124.708,12605.459,37,1.2,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.1
$GPS2,281010,111958,2124.679,12605.462,18,2.8,37,-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,239.8,9303,-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,-228.7,0.0,0.0,0,100,0.00,0.00,-79.70,0.000,2,0.000,0.000,111,775,3395,0,0,0,0,0,0
$GC,103,-0.72,-228.7,6.2,-12.8,11,128,9.90,2.00,-8.95,0.000,4,0.231,0.031,2572,2163,3965,0,0,0,0,0,0
$GC,243,-0.72,-228.7,56.5,-22.6,35,251,0.00,2.10,0.00,0.000,6,0.000,0.036,2571,798,3967,0,0,0,0,0,0
$GC,567,-0.72,-228.7,152.3,-26.4,96,575,0.00,0.88,0.00,0.000,4,0.000,0.041,2571,192,3967,0,0,0,0,0,0
$GC,821,-0.72,-228.7,209.7,-22.6,142,829,0.00,0.70,0.00,0.000,6,0.000,0.021,2566,817,3968,0,0,0,0,0,0
$GC,1155,-0.72,-228.7,272.6,-18.1,203,1162,0.00,0.93,0.00,0.000,4,0.000,0.041,2566,187,3968,0,0,0,0,0,0
$GC,1409,-0.72,-228.7,318.3,-18.8,249,1417,0.00,0.62,0.00,0.000,6,0.000,0.022,2563,760,3968,0,0,0,0,0,0
$GC,1742,-0.72,-228.7,370.9,-14.3,310,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,760,3968,0,0,0,0,0,0
$GC,2078,-0.72,-228.7,418.5,-14.1,371,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,760,3968,0,0,0,0,0,0
$GC,2409,-0.72,-228.7,464.1,-14.2,432,2417,0.00,1.90,0.00,0.000,4,0.000,0.016,2560,2110,3966,0,0,0,0,0,0
$GC,2464,-0.72,-228.7,471.0,-11.6,441,2472,0.00,2.00,0.00,0.000,6,0.000,0.034,2560,772,3965,0,0,0,0,0,0
$GC,2803,-0.72,-228.7,517.9,-13.4,491,2807,0.00,1.90,0.00,0.000,4,0.000,0.016,2560,2114,3963,0,0,0,0,0,0
$GC,2864,-0.72,-228.7,525.9,-11.4,496,2871,0.00,2.03,0.00,0.000,6,0.000,0.034,2560,787,3962,0,0,0,0,0,0
$GC,3190,-0.72,-228.7,569.8,-12.8,527,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,787,3960,0,0,0,0,0,0
$GC,3507,-0.72,-228.7,608.5,-11.8,554,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,786,3957,0,0,0,0,0,0
$GC,3818,-0.72,-228.7,644.7,-11.8,569,3821,0.00,1.88,0.00,0.000,4,0.000,0.017,2561,2115,3954,0,0,0,0,0,0
$GC,3865,-0.72,-228.7,649.8,-10.0,571,3868,0.00,2.03,0.00,0.000,6,0.000,0.036,2560,779,3954,0,0,0,0,0,0
$GC,4198,-0.72,-228.7,688.2,-11.1,587,4201,0.00,1.88,0.00,0.000,4,0.000,0.017,2560,2120,3950,0,0,0,0,0,0
$GC,4272,-0.72,-228.7,695.6,-9.3,590,4276,0.00,2.03,0.00,0.000,6,0.000,0.037,2560,789,3950,0,0,0,0,0,0
$GC,4602,-0.72,-228.7,730.8,-10.9,606,4605,0.00,1.88,0.00,0.000,4,0.000,0.018,2560,2111,3947,0,0,0,0,0,0
$GC,4642,-0.72,-228.7,735.1,-9.3,607,4648,0.00,2.00,0.00,0.000,6,0.000,0.037,2561,801,3947,0,0,0,0,0,0
$GC,4960,-0.72,-228.7,769.0,-10.7,623,4964,0.00,1.85,0.00,0.000,4,0.000,0.018,2560,2109,3944,0,0,0,0,0,0
$GC,5029,-0.72,-228.7,775.7,-8.7,626,5033,0.00,2.00,0.00,0.000,6,0.000,0.038,2561,815,3944,0,0,0,0,0,0
$GC,5365,-0.72,-228.7,810.8,-10.5,642,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,815,3941,0,0,0,0,0,0
$GC,5672,-0.72,-228.7,841.1,-9.6,657,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,815,3938,0,0,0,0,0,0
$GC,5981,-0.72,-228.7,871.1,-9.7,672,5985,0.00,1.85,0.00,0.000,4,0.000,0.018,2561,2113,3936,0,0,0,0,0,0
$GC,6033,-0.72,-228.7,875.6,-9.2,674,6037,0.00,2.00,0.00,0.000,6,0.000,0.038,2561,808,3936,0,0,0,0,0,0
$GC,6363,-0.72,-228.7,908.0,-10.1,690,6366,0.00,1.85,0.00,0.000,4,0.000,0.018,2560,2107,3933,0,0,0,0,0,0
$GC,6410,-0.72,-228.7,912.6,-9.1,692,6414,0.00,1.98,0.00,0.000,6,0.000,0.039,2560,821,3933,0,0,0,0,0,0
$GC,6744,-0.72,-228.7,945.8,-9.8,708,6747,0.00,0.95,0.00,0.000,4,0.000,0.049,2560,190,3931,0,0,0,0,0,0
$GC,6793,-0.72,-228.7,951.1,-10.6,710,6797,0.00,0.73,0.00,0.000,6,0.000,0.024,2560,761,3930,0,0,0,0,0,0
$GC,7122,-0.72,-228.7,982.3,-9.2,726,7126,0.00,2.00,0.00,0.000,4,0.000,0.018,2560,2162,3929,0,0,0,0,0,0
$GC,7206,-0.72,-228.7,989.5,-7.6,729,7214,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,824,3929,0,0,0,0,0,0
$STATE,7334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7334,begin apogee
$GC,7342,-0.14,0.0,1000.9,9.0,736,7529,0.62,0.00,182.20,1.402,4,0.116,0.000,2770,998,3029,0,0,0,0,0,0
$STATE,7530,end apogee,CONTROL_FINISHED_OK
$STATE,7530,begin climb
$GC,7534,0.72,228.7,1009.0,0.0,744,7738,0.80,2.12,195.82,1.343,4,0.047,0.020,3061,2385,2096,0,0,0,0,0,0
$GC,7951,0.72,228.7,952.4,17.5,763,7955,0.00,2.17,0.00,0.000,6,0.000,0.037,3069,1004,2087,0,0,0,0,0,0
$GC,8279,0.72,228.7,890.9,18.9,779,8282,0.00,1.25,0.00,0.000,4,0.000,0.047,3076,187,2085,0,0,0,0,0,0
$GC,8468,0.72,228.7,852.0,20.2,787,8473,0.00,1.12,0.00,0.000,6,0.000,0.023,3076,1012,2085,0,0,0,0,0,0
$GC,8791,0.72,228.7,791.4,18.4,803,8795,0.00,1.98,0.00,0.000,4,0.000,0.022,3076,2382,2083,0,0,0,0,0,0
$GC,8819,0.72,228.7,786.2,17.9,804,8824,0.12,2.12,0.00,0.000,6,0.183,0.037,3053,1001,2083,0,0,0,0,0,0
$GC,9142,0.72,228.7,733.4,16.1,820,9146,0.00,1.98,0.00,0.000,4,0.000,0.021,3053,2366,2082,0,0,0,0,0,0
$GC,9239,0.72,228.7,718.0,16.4,824,9243,0.00,2.05,0.00,0.000,6,0.000,0.037,3060,1016,2082,0,0,0,0,0,0
$GC,9561,0.72,228.7,665.5,16.2,840,9564,0.00,1.98,0.00,0.000,4,0.000,0.024,3060,2366,2081,0,0,0,0,0,0
$GC,9633,0.72,228.7,654.0,15.7,843,9636,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1026,2081,0,0,0,0,0,0
$GC,9962,0.72,228.7,600.1,16.6,859,9965,0.00,1.95,0.00,0.000,4,0.000,0.021,3067,2370,2081,0,0,0,0,0,0
$GC,10029,0.72,228.7,588.4,16.4,864,10033,0.00,2.03,0.00,0.000,6,0.000,0.037,3076,1044,2080,0,0,0,0,0,0
$GC,10360,0.72,228.7,533.7,16.2,895,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1044,2080,0,0,0,0,0,0
$GC,10681,0.72,228.7,484.7,15.8,934,10689,0.00,1.95,0.00,0.000,4,0.000,0.022,3075,2366,2080,0,0,0,0,0,0
$GC,10719,0.72,228.7,479.2,15.1,940,10727,0.08,2.05,0.00,0.000,6,0.161,0.037,3060,1042,2079,0,0,0,0,0,0
$GC,11056,0.72,228.7,430.5,14.7,1001,11063,0.00,1.90,0.00,0.000,4,0.000,0.021,3060,2374,2079,0,0,0,0,0,0
$GC,11179,0.72,228.7,411.7,15.1,1023,11186,0.00,2.03,0.00,0.000,6,0.000,0.037,3064,1046,2078,0,0,0,0,0,0
$GC,11514,0.72,228.7,362.1,14.5,1084,11521,0.00,1.30,0.00,0.000,4,0.000,0.046,3071,186,2079,0,0,0,0,0,0
$GC,11535,0.72,228.7,359.0,14.2,1087,11542,0.00,1.20,0.00,0.000,6,0.000,0.021,3070,1086,2079,0,0,0,0,0,0
$GC,11867,0.72,228.7,316.5,11.9,1148,11875,0.00,1.38,0.00,0.000,4,0.000,0.044,3078,188,2079,0,0,0,0,0,0
$GC,11911,0.72,228.7,311.1,13.0,1155,11918,0.00,1.17,0.00,0.000,6,0.000,0.022,3078,1071,2079,0,0,0,0,0,0
$GC,12243,0.72,228.7,265.5,14.2,1216,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1072,2079,0,0,0,0,0,0
$GC,12579,0.78,273.6,223.6,9.6,1277,12620,0.00,1.33,34.45,0.802,4,0.000,0.041,3084,187,1912,0,0,0,0,0,0
$GC,12766,0.78,273.6,202.3,12.7,1309,12773,0.00,1.17,0.00,0.000,6,0.000,0.021,3084,1075,1910,0,0,0,0,0,0
$GC,13105,0.81,297.8,162.8,10.3,1370,13133,0.00,1.33,20.05,0.722,4,0.000,0.041,3091,188,1814,0,0,0,0,0,0
$GC,13207,0.81,297.8,151.6,12.3,1387,13214,0.00,1.17,0.00,0.000,6,0.000,0.020,3091,1091,1813,0,0,0,0,0,0
$GC,13536,0.92,390.2,120.2,8.1,1448,13615,0.00,1.95,73.57,0.697,4,0.000,0.018,3090,2392,1437,0,0,0,0,0,0
$GC,13689,0.98,436.9,105.2,9.6,1471,13734,0.08,2.08,37.70,0.663,6,0.067,0.034,3141,1057,1247,0,0,0,0,0,0
$GC,14055,0.98,441.3,61.2,11.0,1537,14065,0.00,1.35,4.38,0.444,4,0.000,0.042,3147,181,1230,0,0,0,0,0,0
$GC,14215,0.98,441.3,35.8,14.9,1566,14223,0.00,1.20,0.00,0.000,6,0.000,0.019,3147,1128,1229,0,0,0,0,0,0
$STATE,14429,end climb,SURFACE_DEPTH_REACHED
$STATE,14430,begin surface coast
$FINISH,0.6,1.021906
$STATE,14452,end surface coast,CONTROL_FINISHED_OK
$STATE,14453,begin surface
$SM_CCo,14531,0.00,0.000,0,0,1227,441.79
$SM_GC,1.45,7.62,0.00,0.00,0.028,0.000,0.000,109,761,1227,-8.36,-0.79,441.79
$IRIDIUM_FIX,2117.95,12602.66,281010,111139
$TT8_MAMPS,0.028462
$HUMID,38.93
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.0,48.259
$10V_AH,10.3,44.111
$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,19.225,92.025,548.175,0.000,0.000,56.821,58.534,219.439,0.000,0.000,39.236,3924.787,6192.855,584.904,3927.365,502.583,0.000,2027.979,0.000,3586.477,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,50.490,1402.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.753,1423.682,1892.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93531,1610
$CAP_FILE_SIZE,164271,0
$CFSIZE,260165632,150626304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,308.5,1
$GPS,281010,152337,2123.608,12603.332,27,1.7,28,-2.9