version: 66.08
glider: 167
mission: 6
dive: 278
start: 11 1 110 3 25 33
data:
$ID,167
$MISSION,6
$DIVE,278
$N_DIVES,289
$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,-54472.988
$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,44
$R_STBD_OVSHOOT,121
$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
$GPS1,011110,031407,2119.061,12601.489,31,1.1,32,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.8
$GPS2,011110,032510,2118.940,12601.462,14,2.5,33,-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,346.0,10454,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-65.88,0.000,2,0.000,0.000,111,781,3421,0,0,0,0,0,0
$GC,89,-0.72,-228.7,6.1,-12.8,9,113,9.50,2.03,-8.48,0.000,4,0.216,0.031,2569,2184,3965,0,0,0,0,0,0
$GC,142,-0.72,-228.7,31.8,-35.8,17,150,0.00,2.12,0.00,0.000,6,0.000,0.034,2568,795,3967,0,0,0,0,0,0
$GC,468,-0.72,-228.7,129.3,-24.7,78,476,0.00,0.88,0.00,0.000,4,0.000,0.041,2568,189,3967,0,0,0,0,0,0
$GC,729,-0.72,-228.7,191.7,-20.7,124,738,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,833,3968,0,0,0,0,0,0
$GC,1075,-0.72,-228.7,254.8,-18.8,185,1081,0.00,1.75,0.00,0.000,4,0.000,0.016,2560,2104,3969,0,0,0,0,0,0
$GC,1126,-0.72,-228.7,264.2,-14.3,194,1134,0.00,2.00,0.00,0.000,6,0.000,0.032,2560,776,3969,0,0,0,0,0,0
$GC,1469,-0.72,-228.7,323.4,-16.0,255,1476,0.00,0.82,0.00,0.000,4,0.000,0.041,2561,197,3969,0,0,0,0,0,0
$GC,1574,-0.72,-228.7,340.7,-16.8,273,1581,0.00,0.62,0.00,0.000,6,0.000,0.023,2560,780,3969,0,0,0,0,0,0
$GC,1911,-0.72,-228.7,389.7,-14.5,334,1920,0.10,1.88,0.00,0.000,4,0.181,0.017,2578,2106,3969,0,0,0,0,0,0
$GC,1968,-0.72,-228.7,396.1,-9.6,343,1975,0.00,1.98,0.00,0.000,6,0.000,0.032,2578,780,3969,0,0,0,0,0,0
$GC,2309,-0.72,-228.7,435.1,-10.5,404,2318,0.00,0.85,0.00,0.000,4,0.000,0.042,2578,191,3968,0,0,0,0,0,0
$GC,2421,-0.72,-228.7,447.9,-11.1,423,2428,0.00,0.62,0.00,0.000,6,0.000,0.023,2576,745,3966,0,0,0,0,0,0
$GC,2758,-0.72,-228.7,488.0,-12.6,484,2767,0.00,1.98,0.00,0.000,4,0.000,0.018,2574,2130,3964,0,0,0,0,0,0
$GC,2853,-0.72,-228.7,497.4,-9.6,500,2862,0.00,2.03,0.00,0.000,6,0.000,0.034,2574,800,3963,0,0,0,0,0,0
$GC,3190,-0.72,-228.7,533.0,-9.9,533,3194,0.00,1.85,0.00,0.000,4,0.000,0.018,2575,2125,3961,0,0,0,0,0,0
$GC,3260,-0.72,-228.7,539.0,-8.1,539,3264,0.00,2.00,0.00,0.000,6,0.000,0.034,2574,800,3960,0,0,0,0,0,0
$GC,3592,-0.72,-228.7,570.2,-9.7,570,3595,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2135,3957,0,0,0,0,0,0
$GC,3718,-0.72,-228.7,580.9,-8.6,581,3721,0.00,1.98,0.00,0.000,6,0.000,0.035,2575,814,3957,0,0,0,0,0,0
$GC,4047,-0.72,-228.7,615.5,-10.6,605,4050,0.00,1.88,0.00,0.000,4,0.000,0.018,2575,2128,3953,0,0,0,0,0,0
$GC,4082,-0.72,-228.7,618.9,-9.0,606,4085,0.00,1.95,0.00,0.000,6,0.000,0.036,2574,828,3953,0,0,0,0,0,0
$GC,4404,-0.72,-228.7,650.8,-9.8,622,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,828,3950,0,0,0,0,0,0
$GC,4713,-0.72,-228.7,679.5,-9.0,637,4717,0.00,1.83,0.00,0.000,4,0.000,0.018,2575,2119,3948,0,0,0,0,0,0
$GC,4771,-0.72,-228.7,684.0,-7.3,639,4775,0.00,2.00,0.00,0.000,6,0.000,0.037,2575,822,3948,0,0,0,0,0,0
$GC,5093,-0.72,-228.7,712.6,-9.3,655,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,824,3946,0,0,0,0,0,0
$GC,5405,-0.72,-228.7,740.3,-8.7,670,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,824,3943,0,0,0,0,0,0
$GC,5712,-0.72,-228.7,767.1,-8.8,685,5715,0.00,1.85,0.00,0.000,4,0.000,0.020,2574,2124,3941,0,0,0,0,0,0
$GC,5767,-0.72,-228.7,771.5,-7.0,687,5771,0.00,1.95,0.00,0.000,6,0.000,0.038,2575,830,3941,0,0,0,0,0,0
$GC,6091,-0.72,-228.7,799.3,-9.0,703,6095,0.00,1.85,0.00,0.000,4,0.000,0.020,2574,2117,3939,0,0,0,0,0,0
$GC,6138,-0.72,-228.7,802.9,-7.0,705,6142,0.00,1.95,0.00,0.000,6,0.000,0.038,2575,831,3939,0,0,0,0,0,0
$GC,6474,-0.72,-228.7,831.8,-8.6,721,6478,0.00,1.85,0.00,0.000,4,0.000,0.020,2575,2115,3936,0,0,0,0,0,0
$GC,6509,-0.72,-228.7,834.6,-7.3,722,6512,0.00,1.95,0.00,0.000,6,0.000,0.039,2575,831,3936,0,0,0,0,0,0
$GC,6831,-0.72,-228.7,860.1,-7.7,738,6834,0.00,1.85,0.00,0.000,4,0.000,0.020,2575,2126,3934,0,0,0,0,0,0
$GC,6894,-0.72,-228.7,864.6,-7.4,740,6902,0.00,1.95,0.00,0.000,6,0.000,0.039,2574,844,3933,0,0,0,0,0,0
$GC,7210,-0.72,-228.7,890.5,-8.3,756,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,844,3931,0,0,0,0,0,0
$GC,7519,-0.72,-228.7,916.0,-8.0,771,7523,0.00,1.88,0.00,0.000,4,0.000,0.021,2574,2120,3929,0,0,0,0,0,0
$GC,7577,-0.72,-228.7,920.1,-6.9,773,7580,0.00,1.98,0.00,0.000,6,0.000,0.040,2574,840,3929,0,0,0,0,0,0
$GC,7899,-0.72,-228.7,945.3,-7.9,789,7903,0.00,1.83,0.00,0.000,4,0.000,0.021,2575,2117,3928,0,0,0,0,0,0
$GC,7938,-0.72,-228.7,948.3,-7.4,790,7944,0.00,1.92,0.00,0.000,6,0.000,0.039,2575,852,3928,0,0,0,0,0,0
$GC,8256,-0.72,-228.7,975.2,-8.8,806,8260,0.00,1.83,0.00,0.000,4,0.000,0.021,2574,2125,3926,0,0,0,0,0,0
$GC,8283,-0.72,-228.7,977.7,-8.2,807,8287,0.00,1.92,0.00,0.000,6,0.000,0.040,2574,864,3927,0,0,0,0,0,0
$STATE,8568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8568,begin apogee
$GC,8575,-0.14,0.0,1001.4,8.4,821,8770,0.57,0.00,183.43,1.414,4,0.113,0.000,2768,863,3027,0,0,0,0,0,0
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8775,0.72,228.7,1010.7,0.0,830,8980,0.77,1.10,197.55,1.356,4,0.050,0.050,3051,204,2096,0,0,0,0,0,0
$GC,9213,0.72,228.7,948.1,18.8,849,9216,0.00,1.05,0.00,0.000,6,0.000,0.026,3051,937,2086,0,0,0,0,0,0
$GC,9542,0.72,228.7,888.8,18.0,865,9545,0.00,1.15,0.00,0.000,4,0.000,0.046,3057,189,2084,0,0,0,0,0,0
$GC,9687,0.72,228.7,860.6,19.6,871,9691,0.00,1.08,0.00,0.000,6,0.000,0.027,3057,956,2083,0,0,0,0,0,0
$GC,10009,0.72,228.7,803.4,17.5,887,10013,0.00,2.10,0.00,0.000,4,0.000,0.026,3057,2381,2082,0,0,0,0,0,0
$GC,10099,0.72,228.7,787.9,17.4,891,10103,0.00,2.08,0.00,0.000,6,0.000,0.037,3063,1017,2081,0,0,0,0,0,0
$GC,10420,0.72,228.7,731.1,17.8,907,10424,0.00,2.03,0.00,0.000,4,0.000,0.026,3064,2392,2081,0,0,0,0,0,0
$GC,10519,0.72,228.7,714.7,16.4,911,10523,0.00,2.05,0.00,0.000,6,0.000,0.037,3069,1042,2080,0,0,0,0,0,0
$GC,10840,0.72,228.7,657.6,17.6,927,10844,0.00,1.30,0.00,0.000,4,0.000,0.046,3077,190,2080,0,0,0,0,0,0
$GC,10914,0.72,228.7,644.1,17.6,930,10918,0.00,1.20,0.00,0.000,6,0.000,0.027,3077,1045,2080,0,0,0,0,0,0
$GC,11233,0.72,228.7,589.4,17.0,948,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1047,2079,0,0,0,0,0,0
$GC,11555,0.72,228.7,536.2,16.4,978,11559,0.00,1.98,0.00,0.000,4,0.000,0.025,3077,2384,2079,0,0,0,0,0,0
$GC,11627,0.72,228.7,524.2,15.8,984,11634,0.00,2.03,0.00,0.000,6,0.000,0.037,3082,1049,2079,0,0,0,0,0,0
$GC,11957,0.72,228.7,473.8,16.4,1030,11965,0.00,1.98,0.00,0.000,4,0.000,0.024,3083,2388,2078,0,0,0,0,0,0
$GC,12032,0.72,228.7,462.1,15.2,1043,12039,0.12,2.03,0.00,0.000,6,0.183,0.035,3060,1057,2078,0,0,0,0,0,0
$GC,12368,0.72,228.7,412.4,13.2,1104,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1058,2078,0,0,0,0,0,0
$GC,12704,0.72,228.7,366.5,13.5,1165,12711,0.00,1.33,0.00,0.000,4,0.000,0.046,3065,184,2078,0,0,0,0,0,0
$GC,12830,0.72,228.7,348.7,13.9,1187,12837,0.00,1.25,0.00,0.000,6,0.000,0.024,3065,1091,2078,0,0,0,0,0,0
$GC,13162,0.72,228.7,304.0,13.0,1248,13170,0.00,1.38,0.00,0.000,4,0.000,0.044,3072,190,2078,0,0,0,0,0,0
$GC,13208,0.72,228.7,297.2,13.3,1256,13215,0.00,1.23,0.00,0.000,6,0.000,0.024,3072,1081,2078,0,0,0,0,0,0
$GC,13544,0.72,228.7,256.8,11.3,1317,13551,0.00,1.38,0.00,0.000,4,0.000,0.044,3078,186,2078,0,0,0,0,0,0
$GC,13575,0.72,228.7,252.8,11.9,1322,13583,0.00,1.23,0.00,0.000,6,0.000,0.023,3078,1088,2078,0,0,0,0,0,0
$GC,13910,0.72,228.7,213.1,12.3,1383,13917,0.00,1.88,0.00,0.000,4,0.000,0.021,3078,2403,2078,0,0,0,0,0,0
$GC,14047,0.72,228.7,197.0,11.3,1407,14054,0.00,2.00,0.00,0.000,6,0.000,0.035,3081,1066,2079,0,0,0,0,0,0
$GC,14379,0.85,330.7,163.8,7.8,1468,14467,0.00,1.98,79.88,0.757,4,0.000,0.019,3082,2397,1680,0,0,0,0,0,0
$GC,14481,0.85,330.7,154.2,11.3,1483,14488,0.00,2.08,0.00,0.000,6,0.000,0.034,3088,1064,1677,0,0,0,0,0,0
$GC,14808,0.90,373.8,119.3,9.7,1544,14853,0.00,1.35,34.40,0.695,4,0.000,0.044,3092,195,1504,0,0,0,0,0,0
$GC,15004,0.90,378.0,100.4,11.0,1578,15013,0.00,1.17,4.62,0.490,6,0.000,0.020,3092,1099,1487,0,0,0,0,0,0
$GC,15337,1.02,472.9,71.9,8.0,1639,15420,0.15,0.00,76.05,0.649,6,0.078,0.000,3167,1101,1099,0,0,0,0,0,0
$GC,15740,1.02,472.9,5.7,18.5,1710,15748,0.00,1.38,0.00,0.000,4,0.000,0.037,3174,186,1095,0,0,0,0,0,0
$STATE,15754,end climb,SURFACE_DEPTH_REACHED
$STATE,15754,begin surface coast
$FINISH,0.6,1.011079
$STATE,15768,end surface coast,CONTROL_FINISHED_OK
$STATE,15768,begin surface
$SM_CCo,15848,0.00,0.000,0,0,1093,474.90
$SM_GC,1.35,7.78,0.00,0.00,0.030,0.000,0.000,116,853,1093,-8.37,1.78,474.90
$IRIDIUM_FIX,2111.01,12601.30,011110,030308
$TT8_MAMPS,0.028462
$HUMID,39.52
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,28.20
$XPDR_PINGS,0
$24V_AH,22.9,51.905
$10V_AH,10.2,47.765
$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,19.000,105.725,575.925,0.000,0.000,63.048,82.013,226.795,0.000,0.000,35.459,4177.960,7002.808,624.921,4150.628,532.563,0.000,2154.916,0.000,3769.655,0.000,0.543,0.000
$DEVICE_MAMPS,215.730,50.490,1414.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.458,1499.865,1948.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100115,1714
$CAP_FILE_SIZE,177296,0
$CFSIZE,260165632,148717568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,194.5,1
$GPS,011110,075101,2120.552,12600.646,42,1.2,43,-2.9