version: 66.08
glider: 167
mission: 6
dive: 247
start: 10 26 110 9 41 12
data:
$ID,167
$MISSION,6
$DIVE,247
$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,-54433.992
$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,66
$R_STBD_OVSHOOT,85
$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
$GPS1,261010,093037,2139.923,12621.527,26,1.2,27,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.4
$GPS2,261010,094050,2139.828,12621.463,14,1.2,14,-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,223.7,48590,-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,-228.7,0.0,0.0,0,92,0.00,0.00,-71.78,0.000,2,0.000,0.000,111,750,3300,0,0,0,0,0,0
$GC,95,-0.72,-228.7,5.7,-12.5,10,120,9.38,2.12,-10.62,0.000,4,0.213,0.032,2567,2170,3963,0,0,0,0,0,0
$GC,297,-0.72,-228.7,72.7,-30.2,46,305,0.00,2.12,0.00,0.000,6,0.000,0.036,2566,812,3965,0,0,0,0,0,0
$GC,624,-0.72,-228.7,157.2,-24.5,107,631,0.00,0.90,0.00,0.000,4,0.000,0.041,2566,190,3966,0,0,0,0,0,0
$GC,798,-0.72,-228.7,198.4,-21.2,138,805,0.00,0.77,0.00,0.000,6,0.000,0.020,2560,888,3967,0,0,0,0,0,0
$GC,1136,-0.72,-228.7,264.9,-20.3,199,1144,0.00,1.83,0.00,0.000,4,0.000,0.016,2561,2210,3967,0,0,0,0,0,0
$GC,1173,-0.72,-228.7,271.9,-16.6,205,1180,0.00,2.17,0.00,0.000,6,0.000,0.033,2561,752,3967,0,0,0,0,0,0
$GC,1507,-0.72,-228.7,329.2,-16.8,266,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,752,3967,0,0,0,0,0,0
$GC,1840,-0.72,-228.7,381.4,-14.6,327,1847,0.00,0.80,0.00,0.000,4,0.000,0.042,2561,193,3967,0,0,0,0,0,0
$GC,1877,-0.72,-228.7,386.9,-14.8,333,1884,0.00,0.77,0.00,0.000,6,0.000,0.020,2560,884,3967,0,0,0,0,0,0
$GC,2208,-0.72,-228.7,433.4,-13.9,394,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,885,3965,0,0,0,0,0,0
$GC,2544,-0.72,-228.7,481.6,-14.1,455,2552,0.00,1.02,0.00,0.000,4,0.000,0.041,2560,190,3963,0,0,0,0,0,0
$GC,2614,-0.72,-228.7,491.7,-14.2,467,2622,0.00,0.77,0.00,0.000,6,0.000,0.021,2559,849,3962,0,0,0,0,0,0
$GC,2942,-0.72,-228.7,537.4,-14.0,503,2946,0.12,0.98,0.00,0.000,4,0.166,0.044,2592,202,3960,0,0,0,0,0,0
$GC,2995,-0.72,-228.7,544.0,-12.0,507,3003,0.00,0.75,0.00,0.000,6,0.000,0.021,2593,830,3959,0,0,0,0,0,0
$GC,3320,-0.72,-228.7,579.9,-10.7,538,3324,0.00,1.83,0.00,0.000,4,0.000,0.017,2590,2137,3957,0,0,0,0,0,0
$GC,3345,-0.72,-228.7,582.4,-10.4,540,3349,0.00,2.05,0.00,0.000,6,0.000,0.034,2590,775,3957,0,0,0,0,0,0
$GC,3676,-0.72,-228.7,614.6,-9.1,564,3680,0.00,1.95,0.00,0.000,4,0.000,0.017,2590,2138,3954,0,0,0,0,0,0
$GC,3754,-0.72,-228.7,621.2,-7.4,567,3757,0.00,2.05,0.00,0.000,6,0.000,0.035,2590,781,3953,0,0,0,0,0,0
$GC,4078,-0.72,-228.7,648.2,-8.3,583,4081,0.00,1.95,0.00,0.000,4,0.000,0.017,2590,2141,3950,0,0,0,0,0,0
$GC,4124,-0.72,-228.7,651.7,-6.5,585,4128,0.00,2.05,0.00,0.000,6,0.000,0.035,2590,785,3949,0,0,0,0,0,0
$GC,4459,-0.72,-228.7,679.1,-8.2,601,4462,0.00,1.90,0.00,0.000,4,0.000,0.017,2590,2141,3946,0,0,0,0,0,0
$GC,4514,-0.72,-228.7,683.4,-6.7,603,4518,0.00,2.05,0.00,0.000,6,0.000,0.036,2590,791,3946,0,0,0,0,0,0
$GC,4836,-0.72,-228.7,709.7,-8.2,619,4840,0.00,1.92,0.00,0.000,4,0.000,0.018,2590,2131,3944,0,0,0,0,0,0
$GC,4899,-0.72,-228.7,714.3,-7.0,621,4905,0.00,2.03,0.00,0.000,6,0.000,0.036,2590,801,3943,0,0,0,0,0,0
$GC,5216,-0.72,-228.7,740.1,-8.2,637,5219,0.00,1.90,0.00,0.000,4,0.000,0.018,2590,2138,3940,0,0,0,0,0,0
$GC,5243,-0.72,-228.7,742.4,-7.1,638,5247,0.00,2.03,0.00,0.000,6,0.000,0.037,2590,808,3940,0,0,0,0,0,0
$GC,5573,-0.72,-228.7,769.5,-8.4,654,5576,0.00,1.90,0.00,0.000,4,0.000,0.018,2590,2142,3938,0,0,0,0,0,0
$GC,5611,-0.72,-228.7,772.9,-7.9,655,5620,0.00,2.03,0.00,0.000,6,0.000,0.037,2590,815,3937,0,0,0,0,0,0
$GC,5930,-0.72,-228.7,801.0,-9.2,671,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,815,3935,0,0,0,0,0,0
$GC,6237,-0.72,-228.7,829.3,-9.0,686,6241,0.00,1.88,0.00,0.000,4,0.000,0.018,2590,2142,3933,0,0,0,0,0,0
$GC,6306,-0.72,-228.7,834.8,-7.6,689,6309,0.00,2.03,0.00,0.000,6,0.000,0.038,2590,819,3932,0,0,0,0,0,0
$GC,6641,-0.72,-228.7,862.1,-8.1,705,6644,0.00,1.88,0.00,0.000,4,0.000,0.018,2590,2130,3930,0,0,0,0,0,0
$GC,6710,-0.72,-228.7,867.0,-6.5,708,6714,0.00,2.00,0.00,0.000,6,0.000,0.038,2590,824,3929,0,0,0,0,0,0
$GC,7046,-0.72,-228.7,892.3,-7.6,724,7049,0.00,1.88,0.00,0.000,4,0.000,0.018,2590,2136,3928,0,0,0,0,0,0
$GC,7084,-0.72,-228.7,895.3,-7.3,725,7091,0.00,2.00,0.00,0.000,6,0.000,0.038,2590,831,3928,0,0,0,0,0,0
$GC,7401,-0.72,-228.7,917.8,-7.2,741,7405,0.00,1.88,0.00,0.000,4,0.000,0.018,2590,2124,3925,0,0,0,0,0,0
$GC,7447,-0.72,-228.7,920.8,-6.8,743,7451,0.00,2.00,0.00,0.000,6,0.000,0.039,2590,838,3925,0,0,0,0,0,0
$GC,7779,-0.72,-228.7,944.7,-7.3,759,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,838,3924,0,0,0,0,0,0
$GC,8091,-0.72,-228.7,966.3,-7.0,774,8094,0.00,1.85,0.00,0.000,4,0.000,0.018,2590,2128,3922,0,0,0,0,0,0
$GC,8118,-0.72,-228.7,968.2,-6.5,775,8122,0.00,2.00,0.00,0.000,6,0.000,0.038,2590,840,3922,0,0,0,0,0,0
$GC,8445,-0.72,-228.7,991.1,-7.1,791,8449,0.00,1.85,0.00,0.000,4,0.000,0.019,2590,2128,3920,0,0,0,0,0,0
$GC,8496,-0.72,-228.7,994.6,-6.4,793,8500,0.00,1.98,0.00,0.000,6,0.000,0.039,2590,848,3920,0,0,0,0,0,0
$STATE,8574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8574,begin apogee
$GC,8580,-0.14,0.0,1000.3,7.3,797,8768,0.52,0.00,181.12,1.410,4,0.109,0.000,2770,963,3029,0,0,0,0,0,0
$STATE,8770,end apogee,CONTROL_FINISHED_OK
$STATE,8770,begin climb
$GC,8773,0.72,228.7,1008.6,0.0,805,8977,0.80,2.22,196.38,1.350,4,0.048,0.019,3061,2393,2096,0,0,0,0,0,0
$GC,9201,0.72,228.7,950.2,17.9,825,9205,0.00,2.17,0.00,0.000,6,0.000,0.037,3070,1002,2087,0,0,0,0,0,0
$GC,9524,0.72,228.7,889.4,19.0,841,9528,0.00,1.25,0.00,0.000,4,0.000,0.047,3077,187,2085,0,0,0,0,0,0
$GC,9693,0.72,228.7,855.0,21.0,848,9697,0.00,1.12,0.00,0.000,6,0.000,0.023,3077,1002,2085,0,0,0,0,0,0
$GC,10017,0.72,228.7,795.5,18.4,864,10020,0.00,1.98,0.00,0.000,4,0.000,0.024,3077,2370,2084,0,0,0,0,0,0
$GC,10163,0.72,228.7,769.8,16.8,870,10168,0.12,2.08,0.00,0.000,6,0.177,0.037,3055,1021,2083,0,0,0,0,0,0
$GC,10481,0.72,228.7,718.9,16.4,885,10485,0.00,1.98,0.00,0.000,4,0.000,0.024,3055,2384,2082,0,0,0,0,0,0
$GC,10513,0.72,228.7,712.9,15.8,886,10518,0.00,2.08,0.00,0.000,6,0.000,0.037,3060,1030,2082,0,0,0,0,0,0
$GC,10839,0.72,228.7,660.0,16.9,902,10842,0.00,1.95,0.00,0.000,4,0.000,0.022,3060,2385,2082,0,0,0,0,0,0
$GC,10944,0.72,228.7,641.9,16.0,906,10951,0.00,2.05,0.00,0.000,6,0.000,0.037,3067,1048,2082,0,0,0,0,0,0
$GC,11262,0.72,228.7,589.2,16.1,925,11266,0.00,1.90,0.00,0.000,4,0.000,0.021,3067,2382,2081,0,0,0,0,0,0
$GC,11355,0.72,228.7,575.2,14.8,933,11358,0.00,2.03,0.00,0.000,6,0.000,0.036,3076,1056,2081,0,0,0,0,0,0
$GC,11686,0.72,228.7,524.4,14.2,964,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1056,2081,0,0,0,0,0,0
$GC,12010,0.72,228.7,477.2,15.5,1007,12017,0.00,1.30,0.00,0.000,4,0.000,0.047,3083,196,2080,0,0,0,0,0,0
$GC,12091,0.72,228.7,463.8,16.9,1021,12097,0.00,1.20,0.00,0.000,6,0.000,0.024,3083,1064,2080,0,0,0,0,0,0
$GC,12424,0.72,228.7,412.0,16.3,1082,12432,0.00,1.92,0.00,0.000,4,0.000,0.022,3083,2381,2080,0,0,0,0,0,0
$GC,12449,0.72,228.7,407.9,15.5,1086,12457,0.10,2.03,0.00,0.000,6,0.148,0.035,3058,1065,2080,0,0,0,0,0,0
$GC,12784,0.72,228.7,363.8,12.0,1147,12792,0.00,1.88,0.00,0.000,4,0.000,0.023,3059,2379,2080,0,0,0,0,0,0
$GC,12867,0.72,228.7,352.7,12.0,1162,12875,0.00,2.03,0.00,0.000,6,0.000,0.037,3064,1067,2080,0,0,0,0,0,0
$GC,13200,0.72,228.7,311.3,11.2,1223,13208,0.00,1.33,0.00,0.000,4,0.000,0.045,3071,190,2080,0,0,0,0,0,0
$GC,13281,0.72,228.7,301.3,12.7,1237,13288,0.00,1.23,0.00,0.000,6,0.000,0.023,3071,1093,2080,0,0,0,0,0,0
$GC,13612,0.72,228.7,262.3,11.8,1298,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1094,2081,0,0,0,0,0,0
$GC,13948,0.72,231.0,224.1,11.0,1359,13956,0.00,1.38,0.00,0.000,4,0.000,0.044,3077,190,2081,0,0,0,0,0,0
$GC,14007,0.72,231.0,216.4,12.5,1369,14013,0.00,1.20,0.00,0.000,6,0.000,0.021,3077,1096,2081,0,0,0,0,0,0
$GC,14340,0.76,262.3,181.6,10.1,1430,14375,0.00,1.88,25.80,0.755,4,0.000,0.019,3077,2382,1957,0,0,0,0,0,0
$GC,14458,0.76,262.3,168.7,11.7,1450,14467,0.00,2.03,0.00,0.000,6,0.000,0.034,3084,1068,1955,0,0,0,0,0,0
$GC,14791,0.81,304.7,132.2,9.7,1511,14830,0.00,1.38,34.75,0.711,4,0.000,0.044,3091,188,1785,0,0,0,0,0,0
$GC,14897,0.81,304.7,121.2,11.2,1528,14905,0.00,1.20,0.00,0.000,6,0.000,0.019,3091,1111,1782,0,0,0,0,0,0
$GC,15225,0.87,346.5,93.1,9.8,1589,15263,0.00,1.90,33.38,0.668,4,0.000,0.018,3090,2400,1615,0,0,0,0,0,0
$GC,15414,0.97,433.2,74.5,8.3,1622,15489,0.08,2.08,68.93,0.650,6,0.064,0.033,3146,1051,1262,0,0,0,0,0,0
$GC,15812,1.04,487.0,32.5,9.4,1692,15859,0.00,1.35,42.92,0.603,4,0.000,0.041,3151,184,1042,0,0,0,0,0,0
$GC,15921,1.04,487.0,18.2,18.6,1709,15930,0.00,1.20,0.00,0.000,6,0.000,0.018,3150,1135,1041,0,0,0,0,0,0
$STATE,16056,end climb,SURFACE_DEPTH_REACHED
$STATE,16058,begin surface coast
$FINISH,0.4,1.021587
$STATE,16101,end surface coast,CONTROL_FINISHED_OK
$STATE,16102,begin surface
$SM_CCo,16179,0.00,0.000,0,0,1037,488.64
$SM_GC,1.28,7.90,0.00,0.00,0.042,0.000,0.000,124,778,1037,-8.38,-0.34,488.64
$IRIDIUM_FIX,2129.53,12621.59,261010,090945
$TT8_MAMPS,0.028462
$HUMID,37.99
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.80
$XPDR_PINGS,1
$24V_AH,23.0,46.069
$10V_AH,10.2,42.108
$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,19.025,117.725,583.275,0.000,0.000,55.902,60.728,225.912,0.250,0.000,14.851,4266.022,7109.111,631.522,4232.068,528.613,0.000,2214.701,0.000,3896.278,0.000,0.543,0.000
$DEVICE_MAMPS,212.670,129.285,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.943,1524.913,2037.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,100434,1742
$CAP_FILE_SIZE,184473,0
$CFSIZE,260165632,151629824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 19.3,1
$GPS,261010,141206,2138.635,12619.979,36,1.3,37,-3.0