version: 66.08
glider: 167
mission: 6
dive: 269
start: 10 30 110 11 41 9
data:
$ID,167
$MISSION,6
$DIVE,269
$N_DIVES,282
$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,-54461.672
$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,46
$R_STBD_OVSHOOT,89
$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
$GPS1,301010,113237,2122.273,12600.920,28,1.1,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.9
$GPS2,301010,114032,2122.220,12600.962,14,1.2,14,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2119.400,12601.200
$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,183.5,5240,-16.1,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-220.4,0.0,0.0,0,90,0.00,0.00,-71.70,0.000,2,0.000,0.000,113,770,3331,0,0,0,0,0,0
$GC,93,-0.72,-220.4,6.1,-14.2,10,118,9.45,2.08,-9.38,0.000,4,0.213,0.031,2572,2201,3931,0,0,0,0,0,0
$GC,283,-0.72,-220.4,64.6,-22.2,44,292,0.00,2.15,0.00,0.000,6,0.000,0.034,2571,795,3933,0,0,0,0,0,0
$GC,611,-0.72,-220.4,154.0,-23.2,105,617,0.00,0.88,0.00,0.000,4,0.000,0.041,2571,189,3934,0,0,0,0,0,0
$GC,839,-0.72,-220.4,204.3,-19.6,145,846,0.00,0.75,0.00,0.000,6,0.000,0.021,2566,870,3935,0,0,0,0,0,0
$GC,1177,-0.72,-220.4,265.8,-17.4,206,1185,0.00,1.85,0.00,0.000,4,0.000,0.016,2558,2196,3935,0,0,0,0,0,0
$GC,1266,-0.72,-220.4,279.3,-14.9,221,1273,0.12,2.10,0.00,0.000,6,0.150,0.033,2592,770,3936,0,0,0,0,0,0
$GC,1604,-0.72,-220.4,327.5,-13.4,282,1614,0.00,0.82,0.00,0.000,4,0.000,0.042,2592,196,3936,0,0,0,0,0,0
$GC,1732,-0.72,-220.4,344.8,-14.2,304,1741,0.00,0.77,0.00,0.000,6,0.000,0.020,2590,884,3936,0,0,0,0,0,0
$GC,2076,-0.72,-220.4,389.3,-12.5,365,2082,0.00,1.02,0.00,0.000,4,0.000,0.041,2590,189,3934,0,0,0,0,0,0
$GC,2136,-0.72,-220.4,397.1,-12.8,375,2142,0.00,0.77,0.00,0.000,6,0.000,0.020,2588,868,3934,0,0,0,0,0,0
$GC,2475,-0.72,-220.4,436.4,-11.2,436,2484,0.00,1.00,0.00,0.000,4,0.000,0.041,2587,190,3932,0,0,0,0,0,0
$GC,2613,-0.72,-220.4,452.4,-11.9,460,2621,0.00,0.75,0.00,0.000,6,0.000,0.021,2588,841,3931,0,0,0,0,0,0
$GC,2960,-0.72,-220.4,489.7,-11.1,521,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,841,3929,0,0,0,0,0,0
$GC,3295,-0.73,-228.7,525.9,-10.8,560,3299,0.00,1.90,0.00,0.000,4,0.000,0.018,2588,2192,3927,0,0,0,0,0,0
$GC,3355,-0.73,-228.7,531.5,-9.5,565,3359,0.00,2.15,0.00,0.000,6,0.000,0.034,2588,750,3926,0,0,0,0,0,0
$GC,3681,-0.73,-228.7,566.3,-10.5,595,3684,0.00,2.05,0.00,0.000,4,0.000,0.018,2588,2171,3923,0,0,0,0,0,0
$GC,3797,-0.73,-228.7,576.6,-8.5,605,3801,0.00,2.15,0.00,0.000,6,0.000,0.035,2588,761,3922,0,0,0,0,0,0
$GC,4127,-0.73,-228.7,608.7,-9.7,632,4130,0.00,2.03,0.00,0.000,4,0.000,0.018,2587,2165,3919,0,0,0,0,0,0
$GC,4173,-0.73,-228.7,612.7,-8.1,634,4177,0.00,2.10,0.00,0.000,6,0.000,0.035,2588,781,3919,0,0,0,0,0,0
$GC,4503,-0.73,-228.7,642.5,-9.3,650,4507,0.00,2.00,0.00,0.000,4,0.000,0.018,2588,2172,3917,0,0,0,0,0,0
$GC,4553,-0.73,-228.7,647.3,-8.1,652,4558,0.00,2.10,0.00,0.000,6,0.000,0.036,2588,785,3916,0,0,0,0,0,0
$GC,4877,-0.73,-228.7,677.7,-9.6,668,4881,0.00,1.98,0.00,0.000,4,0.000,0.018,2589,2173,3913,0,0,0,0,0,0
$GC,4915,-0.73,-228.7,681.4,-8.7,669,4922,0.00,2.10,0.00,0.000,6,0.000,0.037,2588,796,3913,0,0,0,0,0,0
$GC,5232,-0.73,-228.7,709.6,-8.9,685,5236,0.00,1.98,0.00,0.000,4,0.000,0.018,2587,2181,3911,0,0,0,0,0,0
$GC,5267,-0.73,-228.7,712.3,-7.7,686,5271,0.00,2.10,0.00,0.000,6,0.000,0.037,2588,800,3910,0,0,0,0,0,0
$GC,5584,-0.73,-228.7,738.4,-8.3,701,5588,0.00,1.98,0.00,0.000,4,0.000,0.019,2588,2184,3908,0,0,0,0,0,0
$GC,5619,-0.73,-228.7,741.2,-7.7,702,5623,0.00,2.10,0.00,0.000,6,0.000,0.037,2588,802,3907,0,0,0,0,0,0
$GC,5936,-0.73,-228.7,769.5,-9.6,717,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,802,3905,0,0,0,0,0,0
$GC,6244,-0.73,-228.7,800.6,-10.1,732,6248,0.00,1.95,0.00,0.000,4,0.000,0.019,2588,2174,3902,0,0,0,0,0,0
$GC,6319,-0.73,-228.7,807.2,-8.5,735,6322,0.00,2.08,0.00,0.000,6,0.000,0.038,2588,810,3902,0,0,0,0,0,0
$GC,6641,-0.73,-228.7,835.2,-8.7,751,6645,0.00,2.00,0.00,0.000,4,0.000,0.020,2588,2196,3900,0,0,0,0,0,0
$GC,6674,-0.73,-228.7,837.9,-7.7,752,6678,0.00,2.12,0.00,0.000,6,0.000,0.039,2588,812,3900,0,0,0,0,0,0
$GC,6992,-0.73,-228.7,864.3,-8.5,767,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,812,3898,0,0,0,0,0,0
$GC,7299,-0.73,-228.7,889.3,-7.9,782,7303,0.00,1.98,0.00,0.000,4,0.000,0.019,2588,2177,3896,0,0,0,0,0,0
$GC,7351,-0.73,-228.7,893.1,-7.5,784,7355,0.00,2.10,0.00,0.000,6,0.000,0.039,2588,814,3896,0,0,0,0,0,0
$GC,7678,-0.73,-228.7,919.6,-8.1,800,7682,0.00,1.98,0.00,0.000,4,0.000,0.020,2588,2176,3894,0,0,0,0,0,0
$GC,7716,-0.73,-228.7,922.8,-8.1,801,7723,0.00,2.08,0.00,0.000,6,0.000,0.039,2588,818,3894,0,0,0,0,0,0
$GC,8035,-0.73,-228.7,948.1,-8.1,817,8039,0.00,1.98,0.00,0.000,4,0.000,0.020,2588,2181,3893,0,0,0,0,0,0
$GC,8068,-0.73,-228.7,950.9,-7.6,818,8072,0.00,2.08,0.00,0.000,6,0.000,0.038,2588,821,3892,0,0,0,0,0,0
$GC,8387,-0.73,-228.7,974.7,-7.3,833,8390,0.00,1.95,0.00,0.000,4,0.000,0.020,2588,2184,3892,0,0,0,0,0,0
$GC,8420,-0.73,-228.7,977.3,-7.0,834,8424,0.00,2.08,0.00,0.000,6,0.000,0.038,2587,823,3891,0,0,0,0,0,0
$STATE,8739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8739,begin apogee
$GC,8746,-0.14,0.0,1000.6,7.4,850,8928,0.52,0.00,175.52,1.409,4,0.107,0.000,2768,1010,3029,0,0,0,0,0,0
$STATE,8930,end apogee,CONTROL_FINISHED_OK
$STATE,8930,begin climb
$GC,8933,0.73,228.7,1009.0,0.0,858,9138,0.77,1.38,196.80,1.353,4,0.050,0.049,3065,193,2096,0,0,0,0,0,0
$GC,9185,0.73,228.7,981.0,18.9,870,9189,0.00,1.20,0.00,0.000,6,0.000,0.026,3065,982,2090,0,0,0,0,0,0
$GC,9519,0.73,228.7,920.7,18.4,886,9523,0.00,2.10,0.00,0.000,4,0.000,0.024,3065,2397,2084,0,0,0,0,0,0
$GC,9695,0.73,228.7,889.7,17.8,894,9699,0.00,2.10,0.00,0.000,6,0.000,0.036,3074,1023,2083,0,0,0,0,0,0
$GC,10024,0.73,228.7,827.3,18.8,910,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1022,2082,0,0,0,0,0,0
$GC,10332,0.73,228.7,769.5,18.6,925,10336,0.00,2.00,0.00,0.000,4,0.000,0.024,3074,2396,2081,0,0,0,0,0,0
$GC,10406,0.73,228.7,756.6,16.2,928,10410,0.00,2.10,0.00,0.000,6,0.000,0.037,3082,1018,2080,0,0,0,0,0,0
$GC,10727,0.73,228.7,700.2,17.0,944,10731,0.00,2.00,0.00,0.000,4,0.000,0.024,3082,2393,2080,0,0,0,0,0,0
$GC,10811,0.73,228.7,686.4,16.1,947,10818,0.12,2.08,0.00,0.000,6,0.181,0.036,3060,1042,2079,0,0,0,0,0,0
$GC,11128,0.73,228.7,638.9,14.7,963,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1042,2079,0,0,0,0,0,0
$GC,11437,0.73,228.7,592.3,14.7,980,11441,0.00,2.00,0.00,0.000,4,0.000,0.024,3060,2405,2079,0,0,0,0,0,0
$GC,11464,0.73,228.7,588.3,14.0,982,11471,0.00,2.08,0.00,0.000,6,0.000,0.037,3065,1035,2079,0,0,0,0,0,0
$GC,11791,0.73,228.7,539.6,14.9,1013,11794,0.00,1.98,0.00,0.000,4,0.000,0.024,3065,2398,2079,0,0,0,0,0,0
$GC,11818,0.73,228.7,535.1,15.5,1015,11825,0.00,2.08,0.00,0.000,6,0.000,0.036,3074,1039,2078,0,0,0,0,0,0
$GC,12148,0.73,228.7,484.0,15.8,1055,12155,0.00,2.00,0.00,0.000,4,0.000,0.024,3074,2409,2079,0,0,0,0,0,0
$GC,12211,0.73,228.7,474.3,13.5,1066,12219,0.00,2.12,0.00,0.000,6,0.000,0.037,3079,1036,2079,0,0,0,0,0,0
$GC,12553,0.73,228.7,421.5,15.9,1127,12562,0.00,1.98,0.00,0.000,4,0.000,0.024,3081,2400,2078,0,0,0,0,0,0
$GC,12774,0.73,228.7,389.1,13.8,1166,12782,0.08,2.08,0.00,0.000,6,0.159,0.037,3064,1060,2077,0,0,0,0,0,0
$GC,13117,0.73,228.7,343.6,12.9,1227,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1060,2078,0,0,0,0,0,0
$GC,13454,0.73,228.7,299.1,11.2,1288,13463,0.00,1.33,0.00,0.000,4,0.000,0.046,3069,186,2078,0,0,0,0,0,0
$GC,13567,0.73,228.7,286.1,11.9,1307,13574,0.00,1.23,0.00,0.000,6,0.000,0.022,3068,1101,2078,0,0,0,0,0,0
$GC,13910,0.75,246.9,249.6,10.5,1368,13933,0.00,1.40,13.80,0.796,4,0.000,0.043,3075,190,2021,0,0,0,0,0,0
$GC,13969,0.75,246.9,242.7,12.1,1377,13976,0.00,1.23,0.00,0.000,6,0.000,0.023,3075,1095,2020,0,0,0,0,0,0
$GC,14309,0.75,246.9,201.0,12.1,1438,14317,0.00,1.90,0.00,0.000,4,0.000,0.021,3075,2411,2020,0,0,0,0,0,0
$GC,14458,0.79,280.3,185.7,10.0,1464,14494,0.00,2.08,28.15,0.767,6,0.000,0.035,3079,1059,1886,0,0,0,0,0,0
$GC,14830,0.82,306.6,148.5,10.2,1529,14860,0.00,0.00,22.02,0.714,6,0.000,0.000,3078,1059,1778,0,0,0,0,0,0
$GC,15183,0.94,398.1,116.7,8.0,1593,15265,0.12,1.35,73.28,0.695,4,0.090,0.041,3145,191,1405,0,0,0,0,0,0
$GC,15360,0.94,398.1,95.2,12.5,1621,15368,0.00,1.23,0.00,0.000,6,0.000,0.018,3145,1134,1400,0,0,0,0,0,0
$GC,15689,0.94,398.1,53.4,11.8,1682,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1134,1399,0,0,0,0,0,0
$GC,16015,0.97,422.3,11.7,10.3,1743,16039,0.00,1.48,19.58,0.578,4,0.000,0.041,3149,185,1306,0,0,0,0,0,0
$STATE,16094,end climb,SURFACE_DEPTH_REACHED
$STATE,16094,begin surface coast
$FINISH,0.7,1.021922
$STATE,16114,end surface coast,CONTROL_FINISHED_OK
$STATE,16114,begin surface
$SM_CCo,16193,0.00,0.000,0,0,1302,423.63
$SM_GC,1.45,7.78,0.00,0.00,0.036,0.000,0.000,122,876,1302,-8.36,2.40,423.63
$IRIDIUM_FIX,2115.63,12559.43,301010,060623
$TT8_MAMPS,0.028462
$HUMID,38.42
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.60
$XPDR_PINGS,0
$24V_AH,22.9,50.329
$10V_AH,10.2,46.117
$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,18.975,113.475,529.150,0.000,0.000,30.961,19.399,219.841,0.000,0.000,15.291,4305.972,7153.862,595.073,4079.271,523.853,0.000,2131.795,0.000,3824.181,0.000,0.543,0.000
$DEVICE_MAMPS,213.435,48.960,1409.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.013,1543.371,2024.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,103392,1759
$CAP_FILE_SIZE,179428,0
$CFSIZE,260165632,149565440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.006,253.1,1
$GPS,301010,161207,2119.726,12601.002,28,2.0,28,-2.9