version: 66.08
glider: 167
mission: 6
dive: 246
start: 10 26 110 5 1 11
data:
$ID,167
$MISSION,6
$DIVE,246
$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,-54432.734
$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,47
$R_STBD_OVSHOOT,77
$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
$GPS1,261010,045130,2141.180,12623.277,40,1.3,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.4
$GPS2,261010,050049,2141.185,12623.215,50,1.3,61,-3.0
$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,223.0,52511,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,86,0.00,0.00,-66.72,0.000,2,0.000,0.000,110,768,3406,0,0,0,0,0,0
$GC,89,-0.72,-228.7,6.1,-12.6,9,112,9.40,0.88,-8.32,0.000,4,0.213,0.073,2584,182,3964,0,0,0,0,0,0
$GC,121,-0.72,-228.7,25.4,-51.6,13,129,0.00,0.82,0.00,0.000,6,0.000,0.020,2581,869,3965,0,0,0,0,0,0
$GC,444,-0.72,-228.7,123.4,-22.1,74,452,0.00,1.88,0.00,0.000,4,0.000,0.016,2572,2200,3966,0,0,0,0,0,0
$GC,462,-0.72,-228.7,127.3,-22.9,76,471,0.00,2.12,0.00,0.000,6,0.000,0.031,2572,792,3966,0,0,0,0,0,0
$GC,802,-0.72,-228.7,201.5,-21.4,137,809,0.00,1.95,0.00,0.000,4,0.000,0.015,2563,2214,3967,0,0,0,0,0,0
$GC,864,-0.72,-228.7,212.0,-15.7,147,871,0.00,2.15,0.00,0.000,6,0.000,0.031,2563,769,3967,0,0,0,0,0,0
$GC,1203,-0.72,-228.7,278.7,-20.3,208,1211,0.00,2.03,0.00,0.000,4,0.000,0.016,2561,2199,3967,0,0,0,0,0,0
$GC,1293,-0.72,-228.7,292.8,-15.1,223,1301,0.00,2.10,0.00,0.000,6,0.000,0.033,2561,791,3967,0,0,0,0,0,0
$GC,1634,-0.72,-228.7,350.6,-16.4,284,1643,0.00,0.88,0.00,0.000,4,0.000,0.042,2561,184,3968,0,0,0,0,0,0
$GC,1770,-0.72,-228.7,371.3,-14.1,308,1779,0.00,0.80,0.00,0.000,6,0.000,0.019,2560,897,3967,0,0,0,0,0,0
$GC,2111,-0.72,-228.7,419.1,-14.3,369,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,898,3967,0,0,0,0,0,0
$GC,2452,-0.72,-228.7,465.8,-12.5,430,2460,0.00,1.05,0.00,0.000,4,0.000,0.041,2560,188,3964,0,0,0,0,0,0
$GC,2529,-0.72,-228.7,476.1,-13.6,443,2535,0.00,0.77,0.00,0.000,6,0.000,0.021,2559,860,3964,0,0,0,0,0,0
$GC,2864,-0.72,-228.7,519.0,-12.5,490,2868,0.00,1.90,0.00,0.000,4,0.000,0.017,2559,2202,3961,0,0,0,0,0,0
$GC,2933,-0.72,-228.7,526.3,-10.6,496,2938,0.10,2.15,0.00,0.000,6,0.154,0.034,2586,769,3961,0,0,0,0,0,0
$GC,3259,-0.72,-228.7,560.2,-10.1,526,3263,0.00,2.03,0.00,0.000,4,0.000,0.016,2586,2184,3958,0,0,0,0,0,0
$GC,3299,-0.72,-228.7,564.1,-8.9,529,3306,0.00,2.15,0.00,0.000,6,0.000,0.034,2586,778,3958,0,0,0,0,0,0
$GC,3625,-0.72,-228.7,595.4,-9.3,560,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,778,3956,0,0,0,0,0,0
$GC,3947,-0.72,-228.7,625.6,-9.4,578,3951,0.00,2.03,0.00,0.000,4,0.000,0.017,2586,2188,3952,0,0,0,0,0,0
$GC,3994,-0.72,-228.7,629.9,-8.1,580,3998,0.00,2.15,0.00,0.000,6,0.000,0.036,2585,786,3953,0,0,0,0,0,0
$GC,4321,-0.72,-228.7,662.8,-9.9,596,4325,0.00,2.03,0.00,0.000,4,0.000,0.017,2586,2195,3949,0,0,0,0,0,0
$GC,4369,-0.72,-228.7,667.0,-8.7,598,4373,0.00,2.15,0.00,0.000,6,0.000,0.036,2586,795,3949,0,0,0,0,0,0
$GC,4698,-0.72,-228.7,696.6,-8.6,614,4701,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2186,3946,0,0,0,0,0,0
$GC,4740,-0.72,-228.7,699.8,-7.2,615,4746,0.00,2.15,0.00,0.000,6,0.000,0.037,2586,790,3946,0,0,0,0,0,0
$GC,5056,-0.72,-228.7,725.7,-7.9,631,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,789,3944,0,0,0,0,0,0
$GC,5365,-0.72,-228.7,749.7,-8.0,646,5369,0.00,2.05,0.00,0.000,4,0.000,0.018,2586,2194,3941,0,0,0,0,0,0
$GC,5400,-0.72,-228.7,752.3,-7.4,647,5404,0.00,2.15,0.00,0.000,6,0.000,0.037,2586,800,3940,0,0,0,0,0,0
$GC,5716,-0.72,-228.7,776.0,-7.2,662,5720,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2193,3938,0,0,0,0,0,0
$GC,5744,-0.72,-228.7,778.0,-6.3,663,5748,0.00,2.15,0.00,0.000,6,0.000,0.037,2586,797,3938,0,0,0,0,0,0
$GC,6068,-0.72,-228.7,801.6,-7.5,679,6072,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2185,3936,0,0,0,0,0,0
$GC,6129,-0.72,-228.7,805.8,-6.5,681,6136,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,807,3936,0,0,0,0,0,0
$GC,6448,-0.72,-228.7,830.0,-8.1,697,6451,0.00,2.00,0.00,0.000,4,0.000,0.018,2585,2196,3934,0,0,0,0,0,0
$GC,6481,-0.72,-228.7,832.8,-7.3,698,6485,0.00,2.15,0.00,0.000,6,0.000,0.038,2586,802,3933,0,0,0,0,0,0
$GC,6798,-0.72,-228.7,858.7,-8.6,713,6802,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2187,3931,0,0,0,0,0,0
$GC,6827,-0.72,-228.7,861.3,-9.0,714,6831,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,807,3931,0,0,0,0,0,0
$GC,7155,-0.72,-228.7,890.1,-9.0,730,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,807,3930,0,0,0,0,0,0
$GC,7465,-0.72,-228.7,917.1,-8.6,745,7468,0.00,1.98,0.00,0.000,4,0.000,0.019,2586,2189,3928,0,0,0,0,0,0
$GC,7545,-0.72,-228.7,923.5,-8.1,748,7549,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,813,3927,0,0,0,0,0,0
$GC,7861,-0.72,-228.7,950.0,-8.6,763,7865,0.00,2.00,0.00,0.000,4,0.000,0.019,2586,2194,3926,0,0,0,0,0,0
$GC,7896,-0.72,-228.7,952.8,-7.9,764,7900,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,820,3926,0,0,0,0,0,0
$GC,8213,-0.72,-228.7,979.7,-8.6,779,8216,0.00,1.98,0.00,0.000,4,0.000,0.019,2586,2187,3924,0,0,0,0,0,0
$GC,8260,-0.72,-228.7,983.3,-8.1,781,8264,0.00,2.10,0.00,0.000,6,0.000,0.038,2586,826,3923,0,0,0,0,0,0
$STATE,8483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8483,begin apogee
$GC,8491,-0.14,0.0,1001.3,8.0,792,8678,0.52,0.00,182.10,1.414,4,0.107,0.000,2769,1026,3029,0,0,0,0,0,0
$STATE,8680,end apogee,CONTROL_FINISHED_OK
$STATE,8680,begin climb
$GC,8683,0.72,228.7,1011.3,0.0,800,8886,0.77,0.00,196.43,1.358,6,0.052,0.000,3057,1026,2096,0,0,0,0,0,0
$GC,9203,0.72,228.7,937.0,18.1,825,9207,0.00,2.03,0.00,0.000,4,0.000,0.022,3058,2380,2087,0,0,0,0,0,0
$GC,9281,0.72,228.7,923.2,16.4,828,9285,0.00,2.15,0.00,0.000,6,0.000,0.037,3064,1010,2085,0,0,0,0,0,0
$GC,9606,0.72,228.7,865.6,18.0,844,9610,0.00,2.00,0.00,0.000,4,0.000,0.021,3065,2378,2085,0,0,0,0,0,0
$GC,9656,0.72,228.7,855.9,17.5,846,9660,0.00,2.12,0.00,0.000,6,0.000,0.037,3071,1012,2084,0,0,0,0,0,0
$GC,9984,0.72,228.7,796.9,17.8,862,9988,0.00,2.00,0.00,0.000,4,0.000,0.022,3071,2383,2084,0,0,0,0,0,0
$GC,10103,0.72,228.7,776.5,16.7,867,10107,0.00,2.10,0.00,0.000,6,0.000,0.037,3080,1028,2083,0,0,0,0,0,0
$GC,10424,0.72,228.7,720.3,17.6,883,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1027,2083,0,0,0,0,0,0
$GC,10735,0.72,228.7,668.3,16.2,898,10739,0.00,1.95,0.00,0.000,4,0.000,0.022,3080,2377,2082,0,0,0,0,0,0
$GC,10852,0.72,228.7,650.3,14.3,903,10857,0.12,2.05,0.00,0.000,6,0.181,0.037,3058,1037,2082,0,0,0,0,0,0
$GC,11181,0.72,228.7,605.2,13.3,919,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1037,2082,0,0,0,0,0,0
$GC,11500,0.72,228.7,559.0,14.1,947,11504,0.00,1.98,0.00,0.000,4,0.000,0.024,3058,2385,2081,0,0,0,0,0,0
$GC,11538,0.72,228.7,552.8,14.3,950,11545,0.00,2.05,0.00,0.000,6,0.000,0.037,3062,1045,2081,0,0,0,0,0,0
$GC,11863,0.72,228.7,504.6,15.1,981,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1044,2081,0,0,0,0,0,0
$GC,12188,0.72,228.7,455.8,13.3,1038,12196,0.00,1.30,0.00,0.000,4,0.000,0.047,3069,189,2080,0,0,0,0,0,0
$GC,12231,0.72,228.7,449.7,14.8,1045,12238,0.00,1.17,0.00,0.000,6,0.000,0.024,3069,1048,2080,0,0,0,0,0,0
$GC,12565,0.72,228.7,405.0,13.2,1106,12572,0.00,1.92,0.00,0.000,4,0.000,0.022,3068,2373,2080,0,0,0,0,0,0
$GC,12663,0.72,228.7,393.0,11.9,1123,12670,0.00,2.00,0.00,0.000,6,0.000,0.035,3078,1056,2080,0,0,0,0,0,0
$GC,12998,0.72,228.7,345.0,13.9,1184,13006,0.00,1.30,0.00,0.000,4,0.000,0.045,3085,193,2080,0,0,0,0,0,0
$GC,13030,0.72,228.7,340.0,16.0,1189,13038,0.08,1.17,0.00,0.000,6,0.163,0.024,3061,1044,2080,0,0,0,0,0,0
$GC,13363,0.72,228.7,292.5,14.4,1250,13371,0.00,1.95,0.00,0.000,4,0.000,0.021,3061,2395,2080,0,0,0,0,0,0
$GC,13437,0.72,228.7,282.9,11.4,1263,13444,0.00,2.05,0.00,0.000,6,0.000,0.037,3061,1049,2080,0,0,0,0,0,0
$GC,13768,0.73,240.0,248.3,10.7,1324,13782,0.00,0.00,8.55,0.753,6,0.000,0.000,3061,1049,2049,0,0,0,0,0,0
$GC,14113,0.77,272.3,212.4,10.1,1386,14148,0.00,1.95,27.27,0.792,4,0.000,0.017,3061,2404,1917,0,0,0,0,0,0
$GC,14358,0.77,272.3,185.2,12.2,1429,14366,0.00,2.08,0.00,0.000,6,0.000,0.035,3066,1048,1914,0,0,0,0,0,0
$GC,14692,0.82,309.3,150.8,9.9,1490,14729,0.00,1.95,30.02,0.731,4,0.000,0.016,3066,2402,1768,0,0,0,0,0,0
$GC,14810,0.84,327.8,139.6,10.5,1509,14834,0.00,2.08,16.52,0.691,6,0.000,0.034,3071,1066,1692,0,0,0,0,0,0
$GC,15154,0.96,425.2,109.0,7.9,1572,15237,0.17,1.40,77.10,0.689,4,0.076,0.042,3159,186,1294,0,0,0,0,0,0
$GC,15469,0.96,425.2,61.7,14.6,1626,15477,0.00,1.20,0.00,0.000,6,0.000,0.018,3159,1127,1289,0,0,0,0,0,0
$GC,15797,0.96,425.2,13.1,12.7,1687,15805,0.00,1.42,0.00,0.000,4,0.000,0.042,3166,187,1289,0,0,0,0,0,0
$GC,15911,1.27,673.1,3.9,3.0,1707,15936,0.12,1.17,20.67,0.575,2,0.048,0.016,3228,1140,1191,0,0,0,0,0,0
$STATE,15937,end climb,SURFACE_DEPTH_REACHED
$STATE,15937,begin surface coast
$FINISH,0.3,1.021686
$STATE,16024,end surface coast,CONTROL_FINISHED_OK
$STATE,16024,begin surface
$SM_CCo,16102,0.00,0.000,0,0,1184,452.09
$SM_GC,1.37,8.10,0.00,0.00,0.043,0.000,0.000,127,757,1184,-8.37,-0.93,452.09
$IRIDIUM_FIX,2131.85,12629.94,251010,232332
$TT8_MAMPS,0.028462
$HUMID,39.36
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.0,45.866
$10V_AH,10.3,41.917
$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,19.400,118.450,558.675,0.000,0.000,28.458,19.574,246.840,0.000,0.000,61.900,4219.851,7206.034,605.836,4073.560,528.310,0.000,2124.930,0.000,3744.003,0.000,0.543,0.000
$DEVICE_MAMPS,212.670,72.675,1413.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1176.582,1505.149,1964.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,100204,1726
$CAP_FILE_SIZE,179961,0
$CFSIZE,260165632,151732224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,  8.5,1
$GPS,261010,093037,2139.923,12621.527,26,1.2,27,-3.0