version: 66.08
glider: 167
mission: 6
dive: 274
start: 10 31 110 9 31 0
data:
$ID,167
$MISSION,6
$DIVE,274
$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,-54467.957
$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,40
$R_STBD_OVSHOOT,120
$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
$GPS1,311010,092037,2125.169,12600.564,32,1.0,32,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.7
$GPS2,311010,093037,2125.137,12600.595,11,1.0,16,-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,177.6,10676,-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,-228.7,0.0,0.0,0,84,0.00,0.00,-64.72,0.000,2,0.000,0.000,112,843,3362,0,0,0,0,0,0
$GC,87,-0.72,-228.7,6.2,-13.5,9,113,9.48,1.85,-9.20,0.000,4,0.214,0.029,2571,2181,3963,0,0,0,0,0,0
$GC,322,-0.72,-228.7,81.5,-24.3,51,330,0.00,2.12,0.00,0.000,6,0.000,0.034,2571,790,3964,0,0,0,0,0,0
$GC,650,-0.72,-228.7,161.2,-19.5,112,658,0.00,0.90,0.00,0.000,4,0.000,0.042,2571,183,3965,0,0,0,0,0,0
$GC,844,-0.72,-228.7,200.1,-18.6,146,852,0.00,0.73,0.00,0.000,6,0.000,0.021,2566,825,3966,0,0,0,0,0,0
$GC,1188,-0.72,-228.7,260.3,-16.9,207,1195,0.00,1.80,0.00,0.000,4,0.000,0.016,2558,2121,3967,0,0,0,0,0,0
$GC,1292,-0.72,-228.7,275.6,-13.3,225,1300,0.12,1.98,0.00,0.000,6,0.151,0.032,2592,776,3967,0,0,0,0,0,0
$GC,1634,-0.72,-228.7,321.1,-13.0,286,1643,0.00,0.82,0.00,0.000,4,0.000,0.041,2592,198,3967,0,0,0,0,0,0
$GC,1679,-0.72,-228.7,327.5,-14.1,293,1686,0.00,0.65,0.00,0.000,6,0.000,0.021,2590,783,3967,0,0,0,0,0,0
$GC,2019,-0.72,-228.7,369.3,-12.3,354,2028,0.00,1.88,0.00,0.000,4,0.000,0.016,2590,2118,3966,0,0,0,0,0,0
$GC,2079,-0.72,-228.7,376.1,-10.6,364,2087,0.00,1.98,0.00,0.000,6,0.000,0.033,2590,808,3966,0,0,0,0,0,0
$GC,2424,-0.72,-228.7,417.7,-12.0,425,2430,0.00,0.90,0.00,0.000,4,0.000,0.042,2590,189,3964,0,0,0,0,0,0
$GC,2554,-0.72,-228.7,433.6,-11.2,448,2562,0.00,0.68,0.00,0.000,6,0.000,0.022,2590,778,3963,0,0,0,0,0,0
$GC,2895,-0.72,-228.7,470.7,-10.8,509,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,778,3961,0,0,0,0,0,0
$GC,3232,-0.72,-228.7,506.7,-10.4,564,3235,0.00,1.88,0.00,0.000,4,0.000,0.018,2590,2130,3958,0,0,0,0,0,0
$GC,3279,-0.72,-228.7,511.0,-8.0,568,3284,0.00,2.03,0.00,0.000,6,0.000,0.034,2590,781,3959,0,0,0,0,0,0
$GC,3611,-0.72,-228.7,543.6,-10.1,599,3615,0.00,1.90,0.00,0.000,4,0.000,0.018,2589,2137,3957,0,0,0,0,0,0
$GC,3663,-0.72,-228.7,548.1,-8.0,603,3670,0.00,2.03,0.00,0.000,6,0.000,0.034,2590,794,3956,0,0,0,0,0,0
$GC,3989,-0.72,-228.7,578.8,-9.3,634,3992,0.00,1.90,0.00,0.000,4,0.000,0.018,2590,2134,3953,0,0,0,0,0,0
$GC,4104,-0.72,-228.7,588.2,-8.2,644,4108,0.00,1.98,0.00,0.000,6,0.000,0.035,2590,811,3953,0,0,0,0,0,0
$GC,4441,-0.72,-228.7,620.9,-10.0,666,4445,0.00,1.88,0.00,0.000,4,0.000,0.018,2590,2129,3951,0,0,0,0,0,0
$GC,4471,-0.72,-228.7,623.7,-9.1,667,4474,0.00,1.98,0.00,0.000,6,0.000,0.036,2590,824,3950,0,0,0,0,0,0
$GC,4799,-0.72,-228.7,653.2,-8.8,683,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,824,3947,0,0,0,0,0,0
$GC,5108,-0.72,-228.7,680.0,-8.6,698,5111,0.00,1.85,0.00,0.000,4,0.000,0.018,2590,2134,3945,0,0,0,0,0,0
$GC,5142,-0.72,-228.7,682.7,-7.7,699,5146,0.00,2.00,0.00,0.000,6,0.000,0.037,2590,820,3944,0,0,0,0,0,0
$GC,5465,-0.72,-228.7,708.7,-8.1,715,5469,0.00,1.88,0.00,0.000,4,0.000,0.019,2590,2116,3942,0,0,0,0,0,0
$GC,5503,-0.72,-228.7,711.8,-7.1,716,5510,0.00,1.92,0.00,0.000,6,0.000,0.037,2589,835,3942,0,0,0,0,0,0
$GC,5821,-0.72,-228.7,737.4,-8.5,732,5825,0.00,1.85,0.00,0.000,4,0.000,0.019,2591,2124,3940,0,0,0,0,0,0
$GC,5860,-0.72,-228.7,740.9,-7.6,733,5867,0.00,1.95,0.00,0.000,6,0.000,0.038,2590,833,3940,0,0,0,0,0,0
$GC,6178,-0.72,-228.7,768.5,-8.8,749,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,834,3937,0,0,0,0,0,0
$GC,6486,-0.72,-228.7,795.1,-8.4,764,6489,0.00,1.83,0.00,0.000,4,0.000,0.019,2590,2121,3935,0,0,0,0,0,0
$GC,6547,-0.72,-228.7,799.8,-7.2,766,6555,0.00,1.95,0.00,0.000,6,0.000,0.038,2590,837,3934,0,0,0,0,0,0
$GC,6865,-0.72,-228.7,823.9,-7.3,782,6869,0.00,1.85,0.00,0.000,4,0.000,0.019,2590,2124,3933,0,0,0,0,0,0
$GC,6915,-0.72,-228.7,827.4,-6.5,784,6919,0.00,1.95,0.00,0.000,6,0.000,0.038,2590,840,3932,0,0,0,0,0,0
$GC,7245,-0.72,-228.7,850.3,-7.2,800,7249,0.00,1.88,0.00,0.000,4,0.000,0.020,2590,2124,3931,0,0,0,0,0,0
$GC,7277,-0.72,-228.7,852.7,-6.5,801,7281,0.00,1.98,0.00,0.000,6,0.000,0.039,2590,841,3930,0,0,0,0,0,0
$GC,7600,-0.72,-228.7,876.1,-7.4,817,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,841,3929,0,0,0,0,0,0
$GC,7912,-0.72,-228.7,899.3,-7.5,832,7916,0.00,1.85,0.00,0.000,4,0.000,0.020,2590,2122,3927,0,0,0,0,0,0
$GC,7968,-0.72,-228.7,903.7,-7.4,834,7971,0.00,1.95,0.00,0.000,6,0.000,0.039,2590,845,3927,0,0,0,0,0,0
$GC,8290,-0.72,-228.7,927.7,-7.5,850,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,845,3926,0,0,0,0,0,0
$GC,8601,-0.72,-228.7,951.4,-7.8,865,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,845,3924,0,0,0,0,0,0
$GC,8908,-0.72,-228.7,975.1,-7.7,880,8912,0.00,1.83,0.00,0.000,4,0.000,0.020,2590,2121,3922,0,0,0,0,0,0
$GC,8947,-0.72,-228.7,978.0,-7.9,881,8954,0.00,1.95,0.00,0.000,6,0.000,0.040,2590,845,3923,0,0,0,0,0,0
$STATE,9261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9261,begin apogee
$GC,9268,-0.14,0.0,1000.6,7.2,897,9461,0.52,0.00,183.07,1.411,4,0.109,0.000,2770,845,3027,0,0,0,0,0,0
$STATE,9464,end apogee,CONTROL_FINISHED_OK
$STATE,9464,begin climb
$GC,9466,0.72,228.7,1009.5,0.0,906,9672,0.80,2.35,197.82,1.353,4,0.046,0.020,3062,2342,2096,0,0,0,0,0,0
$GC,9879,0.72,228.7,956.4,17.3,924,9883,0.00,2.10,0.00,0.000,6,0.000,0.038,3070,1000,2087,0,0,0,0,0,0
$GC,10203,0.72,228.7,898.7,17.5,940,10206,0.00,1.23,0.00,0.000,4,0.000,0.047,3077,197,2085,0,0,0,0,0,0
$GC,10440,0.72,228.7,852.7,19.8,950,10443,0.00,1.02,0.00,0.000,6,0.000,0.028,3078,927,2084,0,0,0,0,0,0
$GC,10761,0.72,228.7,793.5,17.9,966,10765,0.00,2.03,0.00,0.000,4,0.000,0.023,3077,2317,2084,0,0,0,0,0,0
$GC,10883,0.72,228.7,771.8,17.5,971,10888,0.08,2.05,0.00,0.000,6,0.164,0.037,3062,1013,2083,0,0,0,0,0,0
$GC,11207,0.72,228.7,718.3,16.2,987,11211,0.00,1.90,0.00,0.000,4,0.000,0.024,3062,2323,2082,0,0,0,0,0,0
$GC,11253,0.72,228.7,710.1,16.8,989,11257,0.00,2.00,0.00,0.000,6,0.000,0.038,3067,1007,2082,0,0,0,0,0,0
$GC,11588,0.72,228.7,654.3,17.2,1005,11592,0.00,1.23,0.00,0.000,4,0.000,0.047,3074,197,2082,0,0,0,0,0,0
$GC,11648,0.72,228.7,643.0,18.7,1007,11655,0.00,1.05,0.00,0.000,6,0.000,0.027,3073,950,2082,0,0,0,0,0,0
$GC,11966,0.72,228.7,590.5,16.1,1025,11970,0.00,2.10,0.00,0.000,4,0.000,0.023,3074,2393,2081,0,0,0,0,0,0
$GC,12063,0.72,228.7,575.7,15.0,1033,12067,0.00,2.12,0.00,0.000,6,0.000,0.037,3082,1006,2081,0,0,0,0,0,0
$GC,12396,0.72,228.7,521.1,17.0,1064,12400,0.00,2.03,0.00,0.000,4,0.000,0.024,3082,2383,2081,0,0,0,0,0,0
$GC,12503,0.72,228.7,502.6,17.1,1073,12510,0.12,2.10,0.00,0.000,6,0.184,0.036,3059,1006,2080,0,0,0,0,0,0
$GC,12842,0.72,228.7,451.9,16.1,1133,12849,0.00,2.00,0.00,0.000,4,0.000,0.023,3059,2394,2080,0,0,0,0,0,0
$GC,12870,0.72,228.7,447.1,15.4,1137,12877,0.00,2.10,0.00,0.000,6,0.000,0.037,3065,1010,2080,0,0,0,0,0,0
$GC,13208,0.72,228.7,401.0,12.5,1198,13217,0.00,1.23,0.00,0.000,4,0.000,0.046,3071,197,2080,0,0,0,0,0,0
$GC,13391,0.72,228.7,375.4,13.2,1230,13400,0.00,1.12,0.00,0.000,6,0.000,0.025,3071,1011,2080,0,0,0,0,0,0
$GC,13735,0.72,228.7,331.8,13.0,1291,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1012,2080,0,0,0,0,0,0
$GC,14075,0.72,228.7,289.0,11.2,1352,14083,0.00,1.25,0.00,0.000,4,0.000,0.044,3077,192,2080,0,0,0,0,0,0
$GC,14108,0.72,228.7,284.5,13.2,1357,14115,0.00,1.10,0.00,0.000,6,0.000,0.024,3077,998,2080,0,0,0,0,0,0
$GC,14448,0.72,228.7,243.6,11.7,1418,14457,0.00,2.00,0.00,0.000,4,0.000,0.022,3077,2379,2080,0,0,0,0,0,0
$GC,14497,0.72,231.1,237.9,11.0,1426,14506,0.00,2.15,0.00,0.000,6,0.000,0.036,3084,981,2081,0,0,0,0,0,0
$GC,14847,0.74,245.7,195.9,10.6,1487,14867,0.00,2.05,13.45,0.747,4,0.000,0.018,3084,2398,2026,0,0,0,0,0,0
$GC,15119,0.84,326.7,166.1,8.5,1535,15192,0.00,2.10,65.30,0.754,6,0.000,0.034,3091,1015,1696,0,0,0,0,0,0
$GC,15520,0.92,390.1,126.8,9.0,1606,15579,0.00,2.03,50.95,0.702,4,0.000,0.017,3090,2406,1436,0,0,0,0,0,0
$GC,15638,0.96,420.1,116.1,10.1,1624,15670,0.08,2.17,24.88,0.667,6,0.066,0.035,3136,1015,1316,0,0,0,0,0,0
$GC,15990,0.96,420.1,68.8,12.2,1688,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1014,1311,0,0,0,0,0,0
$GC,16317,0.96,420.1,29.0,13.0,1749,16324,0.00,1.23,0.00,0.000,4,0.000,0.043,3144,194,1311,0,0,0,0,0,0
$GC,16410,0.96,420.1,16.2,14.9,1765,16418,0.00,1.08,0.00,0.000,6,0.000,0.019,3144,1061,1311,0,0,0,0,0,0
$STATE,16557,end climb,SURFACE_DEPTH_REACHED
$STATE,16557,begin surface coast
$FINISH,0.5,1.008497
$STATE,16585,end surface coast,CONTROL_FINISHED_OK
$STATE,16585,begin surface
$SM_CCo,16664,0.00,0.000,0,0,1309,421.92
$SM_GC,1.47,7.80,0.00,0.00,0.040,0.000,0.000,116,790,1309,-8.38,0.03,421.92
$IRIDIUM_FIX,2117.95,12600.79,311010,090945
$TT8_MAMPS,0.028462
$HUMID,39.52
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.40
$XPDR_PINGS,1
$24V_AH,22.9,51.209
$10V_AH,10.3,47.031
$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,19.000,111.575,535.475,0.000,0.000,54.862,65.924,211.948,0.250,0.000,17.178,4396.862,7411.792,607.954,4284.519,542.728,0.000,2194.548,0.000,3960.662,0.000,0.544,0.000
$DEVICE_MAMPS,214.200,51.255,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1226.683,1574.120,2052.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333784
$DATA_FILE_SIZE,103229,1797
$CAP_FILE_SIZE,185243,0
$CFSIZE,260165632,149082112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,356.5,1
$GPS,311010,141001,2122.899,12600.688,39,1.5,40,-2.9