version: 66.08
glider: 167
mission: 6
dive: 272
start: 10 31 110 0 52 16
data:
$ID,167
$MISSION,6
$DIVE,272
$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,-54465.445
$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,48
$R_STBD_OVSHOOT,139
$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
$GPS1,311010,004137,2123.308,12602.185,38,1.0,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.2
$GPS2,311010,005138,2123.192,12602.228,14,1.0,14,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$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,303.0,3121,-16.6,-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,-207.4,0.0,0.0,0,90,0.00,0.00,-70.15,0.000,2,0.000,0.000,113,770,3441,0,0,0,0,0,0
$GC,93,-0.72,-207.4,6.5,-14.6,10,117,9.50,1.95,-6.70,0.000,4,0.215,0.030,2573,2146,3876,0,0,0,0,0,0
$GC,227,-0.72,-207.4,53.9,-26.9,33,235,0.00,2.08,0.00,0.000,6,0.000,0.034,2573,793,3879,0,0,0,0,0,0
$GC,555,-0.72,-207.4,147.0,-23.8,94,563,0.00,0.88,0.00,0.000,4,0.000,0.042,2572,190,3879,0,0,0,0,0,0
$GC,730,-0.72,-207.4,188.0,-18.1,125,736,0.00,0.70,0.00,0.000,6,0.000,0.021,2568,823,3880,0,0,0,0,0,0
$GC,1066,-0.72,-207.4,252.7,-18.5,186,1073,0.00,1.80,0.00,0.000,4,0.000,0.015,2559,2121,3881,0,0,0,0,0,0
$GC,1098,-0.72,-207.4,258.1,-16.2,191,1107,0.12,2.00,0.00,0.000,6,0.154,0.033,2593,777,3881,0,0,0,0,0,0
$GC,1432,-0.72,-207.4,307.7,-15.5,252,1440,0.00,0.85,0.00,0.000,4,0.000,0.041,2593,188,3882,0,0,0,0,0,0
$GC,1599,-0.72,-207.4,331.4,-13.7,282,1607,0.00,0.62,0.00,0.000,6,0.000,0.022,2591,763,3881,0,0,0,0,0,0
$GC,1934,-0.72,-207.4,371.7,-12.0,343,1941,0.00,0.82,0.00,0.000,4,0.000,0.041,2591,196,3880,0,0,0,0,0,0
$GC,1986,-0.72,-207.4,378.6,-12.5,352,1994,0.00,0.62,0.00,0.000,6,0.000,0.021,2589,772,3880,0,0,0,0,0,0
$GC,2322,-0.72,-207.4,419.4,-13.0,413,2329,0.00,1.85,0.00,0.000,4,0.000,0.017,2589,2116,3879,0,0,0,0,0,0
$GC,2390,-0.72,-208.1,427.3,-11.1,425,2397,0.00,2.00,0.00,0.000,6,0.000,0.033,2590,776,3878,0,0,0,0,0,0
$GC,2723,-0.73,-216.0,464.7,-10.8,486,2731,0.00,0.85,0.00,0.000,4,0.000,0.043,2589,190,3876,0,0,0,0,0,0
$GC,2757,-0.73,-216.0,468.2,-11.2,491,2765,0.00,0.65,0.00,0.000,6,0.000,0.022,2589,763,3876,0,0,0,0,0,0
$GC,3095,-0.74,-228.7,499.3,-9.0,552,3103,0.00,1.92,0.00,0.000,4,0.000,0.017,2589,2121,3873,0,0,0,0,0,0
$GC,3234,-0.74,-228.7,510.1,-7.8,565,3238,0.00,2.03,0.00,0.000,6,0.000,0.034,2589,774,3873,0,0,0,0,0,0
$GC,3566,-0.74,-228.7,544.9,-10.1,596,3569,0.00,1.92,0.00,0.000,4,0.000,0.018,2589,2133,3870,0,0,0,0,0,0
$GC,3601,-0.74,-228.7,548.3,-9.3,599,3604,0.00,2.00,0.00,0.000,6,0.000,0.035,2589,806,3870,0,0,0,0,0,0
$GC,3932,-0.74,-228.7,579.3,-9.0,630,3936,0.00,0.90,0.00,0.000,4,0.000,0.045,2589,195,3868,0,0,0,0,0,0
$GC,3989,-0.74,-228.7,584.9,-10.2,635,3993,0.00,0.73,0.00,0.000,6,0.000,0.023,2589,790,3867,0,0,0,0,0,0
$GC,4328,-0.74,-228.7,616.0,-9.0,659,4331,0.00,1.92,0.00,0.000,4,0.000,0.018,2588,2146,3864,0,0,0,0,0,0
$GC,4380,-0.74,-228.7,620.2,-7.4,661,4384,0.00,2.05,0.00,0.000,6,0.000,0.036,2588,791,3863,0,0,0,0,0,0
$GC,4707,-0.74,-228.7,648.8,-8.5,677,4711,0.00,1.92,0.00,0.000,4,0.000,0.018,2588,2150,3861,0,0,0,0,0,0
$GC,4755,-0.74,-228.7,652.1,-6.6,679,4759,0.00,2.03,0.00,0.000,6,0.000,0.037,2588,818,3861,0,0,0,0,0,0
$GC,5088,-0.74,-228.7,679.1,-8.4,695,5092,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2142,3858,0,0,0,0,0,0
$GC,5144,-0.74,-228.7,683.5,-7.2,697,5148,0.00,2.00,0.00,0.000,6,0.000,0.037,2588,829,3858,0,0,0,0,0,0
$GC,5468,-0.74,-228.7,710.9,-8.7,713,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,829,3855,0,0,0,0,0,0
$GC,5776,-0.74,-228.7,735.3,-7.6,728,5780,0.00,1.90,0.00,0.000,4,0.000,0.019,2588,2151,3852,0,0,0,0,0,0
$GC,5804,-0.74,-228.7,737.4,-6.9,729,5807,0.00,2.00,0.00,0.000,6,0.000,0.038,2588,845,3852,0,0,0,0,0,0
$GC,6134,-0.74,-228.7,763.1,-8.0,745,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,845,3850,0,0,0,0,0,0
$GC,6441,-0.74,-228.7,787.7,-8.1,760,6445,0.00,1.88,0.00,0.000,4,0.000,0.019,2588,2144,3848,0,0,0,0,0,0
$GC,6493,-0.74,-228.7,791.5,-6.8,762,6497,0.00,2.00,0.00,0.000,6,0.000,0.038,2588,840,3848,0,0,0,0,0,0
$GC,6822,-0.74,-228.7,817.1,-7.9,778,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,839,3846,0,0,0,0,0,0
$GC,7130,-0.74,-228.7,841.6,-7.7,793,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,839,3844,0,0,0,0,0,0
$GC,7441,-0.74,-228.7,864.2,-7.2,808,7445,0.00,1.85,0.00,0.000,4,0.000,0.020,2588,2137,3842,0,0,0,0,0,0
$GC,7520,-0.74,-228.7,869.5,-6.2,811,7523,0.00,2.03,0.00,0.000,6,0.000,0.039,2588,838,3842,0,0,0,0,0,0
$GC,7843,-0.74,-228.7,892.4,-7.3,827,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,838,3840,0,0,0,0,0,0
$GC,8151,-0.74,-228.7,915.8,-7.5,842,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,838,3838,0,0,0,0,0,0
$GC,8460,-0.74,-228.7,939.9,-7.8,857,8464,0.00,1.88,0.00,0.000,4,0.000,0.020,2588,2147,3837,0,0,0,0,0,0
$GC,8545,-0.74,-228.7,946.1,-7.3,860,8552,0.00,2.00,0.00,0.000,6,0.000,0.039,2587,852,3837,0,0,0,0,0,0
$GC,8862,-0.74,-228.7,968.9,-7.0,876,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,852,3835,0,0,0,0,0,0
$GC,9172,-0.74,-228.7,991.0,-7.1,891,9176,0.00,1.88,0.00,0.000,4,0.000,0.021,2588,2144,3835,0,0,0,0,0,0
$GC,9206,-0.74,-228.7,993.5,-7.1,892,9209,0.00,2.00,0.00,0.000,6,0.000,0.040,2588,852,3833,0,0,0,0,0,0
$STATE,9298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9298,begin apogee
$GC,9305,-0.14,0.0,1000.0,7.1,897,9479,0.55,0.00,164.90,1.413,4,0.109,0.000,2774,974,3028,0,0,0,0,0,0
$STATE,9480,end apogee,CONTROL_FINISHED_OK
$STATE,9480,begin climb
$GC,9482,0.74,228.7,1007.0,0.0,905,9688,0.82,2.17,197.38,1.353,4,0.047,0.021,3076,2379,2096,0,0,0,0,0,0
$GC,9886,0.74,228.7,950.5,18.7,923,9890,0.00,2.17,0.00,0.000,6,0.000,0.037,3085,996,2087,0,0,0,0,0,0
$GC,10208,0.74,228.7,886.6,19.4,939,10212,0.00,1.25,0.00,0.000,4,0.000,0.047,3092,184,2086,0,0,0,0,0,0
$GC,10400,0.74,228.7,847.2,21.2,947,10404,0.08,1.15,0.00,0.000,6,0.179,0.026,3069,997,2085,0,0,0,0,0,0
$GC,10721,0.74,228.7,790.9,17.9,963,10725,0.00,2.05,0.00,0.000,4,0.000,0.024,3069,2395,2084,0,0,0,0,0,0
$GC,10851,0.74,228.7,769.3,16.6,968,10858,0.00,2.10,0.00,0.000,6,0.000,0.037,3077,1025,2083,0,0,0,0,0,0
$GC,11167,0.74,228.7,715.1,17.2,984,11170,0.00,2.00,0.00,0.000,4,0.000,0.024,3077,2393,2083,0,0,0,0,0,0
$GC,11235,0.74,228.7,703.4,17.0,987,11239,0.00,2.05,0.00,0.000,6,0.000,0.037,3086,1037,2083,0,0,0,0,0,0
$GC,11570,0.74,228.7,643.5,17.9,1003,11573,0.00,2.00,0.00,0.000,4,0.000,0.025,3086,2402,2082,0,0,0,0,0,0
$GC,11639,0.74,228.7,631.0,15.8,1006,11643,0.00,2.05,0.00,0.000,6,0.000,0.037,3091,1046,2082,0,0,0,0,0,0
$GC,11969,0.74,228.7,573.3,17.2,1028,11973,0.00,1.98,0.00,0.000,4,0.000,0.026,3091,2395,2081,0,0,0,0,0,0
$GC,12007,0.74,228.7,565.4,16.5,1031,12015,0.15,2.03,0.00,0.000,6,0.184,0.037,3062,1063,2082,0,0,0,0,0,0
$GC,12335,0.74,228.7,514.6,15.4,1062,12339,0.00,1.33,0.00,0.000,4,0.000,0.047,3067,194,2081,0,0,0,0,0,0
$GC,12384,0.74,228.7,506.0,17.2,1066,12391,0.00,1.23,0.00,0.000,6,0.000,0.026,3067,1067,2081,0,0,0,0,0,0
$GC,12719,0.74,228.7,458.6,14.6,1123,12725,0.00,1.92,0.00,0.000,4,0.000,0.024,3067,2401,2081,0,0,0,0,0,0
$GC,12776,0.74,228.7,450.5,13.5,1133,12784,0.00,2.03,0.00,0.000,6,0.000,0.036,3076,1066,2080,0,0,0,0,0,0
$GC,13114,0.74,228.7,399.7,13.9,1194,13121,0.00,1.95,0.00,0.000,4,0.000,0.024,3076,2392,2080,0,0,0,0,0,0
$GC,13211,0.74,228.7,385.5,13.6,1211,13218,0.00,2.00,0.00,0.000,6,0.000,0.035,3084,1073,2080,0,0,0,0,0,0
$GC,13541,0.74,228.7,338.1,14.7,1272,13549,0.00,1.33,0.00,0.000,4,0.000,0.045,3090,193,2080,0,0,0,0,0,0
$GC,13649,0.74,228.7,320.0,17.8,1291,13656,0.00,1.20,0.00,0.000,6,0.000,0.024,3090,1068,2080,0,0,0,0,0,0
$GC,13979,0.74,228.7,273.8,14.1,1352,13987,0.00,1.33,0.00,0.000,4,0.000,0.044,3096,192,2080,0,0,0,0,0,0
$GC,14034,0.74,228.7,265.8,14.4,1361,14042,0.10,1.17,0.00,0.000,6,0.164,0.024,3066,1048,2080,0,0,0,0,0,0
$GC,14367,0.79,262.4,229.0,9.9,1422,14402,0.00,1.33,25.58,0.813,4,0.000,0.044,3070,192,1959,0,0,0,0,0,0
$GC,14547,0.79,262.4,207.9,12.3,1453,14555,0.00,1.15,0.00,0.000,6,0.000,0.024,3071,1037,1957,0,0,0,0,0,0
$GC,14882,0.81,285.0,172.7,10.3,1514,14910,0.00,1.95,19.83,0.743,4,0.000,0.021,3071,2391,1866,0,0,0,0,0,0
$GC,15042,0.87,331.2,156.8,9.4,1541,15089,0.00,2.03,38.47,0.738,6,0.000,0.034,3077,1053,1677,0,0,0,0,0,0
$GC,15410,0.94,388.5,118.3,9.1,1608,15462,0.12,0.00,45.97,0.698,6,0.092,0.000,3133,1053,1444,0,0,0,0,0,0
$GC,15782,0.94,388.5,73.4,11.9,1675,15790,0.00,1.30,0.00,0.000,4,0.000,0.042,3140,187,1438,0,0,0,0,0,0
$GC,15893,0.94,388.5,59.2,12.5,1695,15901,0.00,1.17,0.00,0.000,6,0.000,0.019,3140,1104,1438,0,0,0,0,0,0
$GC,16221,0.94,388.5,18.3,12.7,1756,16229,0.00,1.80,0.00,0.000,4,0.000,0.017,3140,2404,1438,0,0,0,0,0,0
$GC,16261,0.94,388.5,13.6,11.9,1762,16269,0.00,2.05,0.00,0.000,6,0.000,0.032,3147,1051,1439,0,0,0,0,0,0
$STATE,16337,end climb,SURFACE_DEPTH_REACHED
$STATE,16337,begin surface coast
$FINISH,0.7,1.022019
$STATE,16361,end surface coast,CONTROL_FINISHED_OK
$STATE,16361,begin surface
$SM_CCo,16381,13.80,0.110,1,0,1397,400.08
$SM_GC,1.09,0.00,0.00,13.80,0.000,0.000,0.110,117,769,1397,-8.45,-0.59,400.08
$IRIDIUM_FIX,2115.63,12559.43,311010,000042
$TT8_MAMPS,0.027713
$HUMID,40.58
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.20
$XPDR_PINGS,0
$24V_AH,22.9,50.881
$10V_AH,10.2,46.665
$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,19.225,110.125,492.125,13.800,0.000,57.244,58.244,221.670,0.000,0.000,15.320,4381.260,7243.673,600.822,4231.757,539.039,0.000,2168.011,0.000,3907.675,0.000,0.544,0.000
$DEVICE_MAMPS,214.965,91.800,1412.955,110.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1215.310,1555.501,2017.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,103558,1780
$CAP_FILE_SIZE,185663,0
$CFSIZE,260165632,149274624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,145.8,1
$GPS,311010,052655,2123.955,12600.326,38,1.3,39,-2.9