version: 66.08
glider: 167
mission: 6
dive: 281
start: 11 1 110 16 32 21
data:
$ID,167
$MISSION,6
$DIVE,281
$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,-54476.766
$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,90
$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
$GPS1,011110,162137,2124.494,12600.821,27,1.7,27,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.0
$GPS2,011110,163158,2124.511,12600.831,14,99.0,33,-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,182.6,9487,-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,17,-0.72,-228.7,0.0,0.0,0,84,0.00,0.00,-64.65,0.000,2,0.000,0.000,112,772,3372,0,0,0,0,0,0
$GC,87,-0.72,-228.7,6.6,-14.6,9,112,9.65,0.88,-9.07,0.000,4,0.220,0.075,2581,195,3964,0,0,0,0,0,0
$GC,351,-0.72,-228.7,103.8,-27.4,57,359,0.00,0.77,0.00,0.000,6,0.000,0.020,2578,890,3966,0,0,0,0,0,0
$GC,681,-0.72,-228.7,182.0,-19.8,118,689,0.00,1.83,0.00,0.000,4,0.000,0.016,2569,2191,3967,0,0,0,0,0,0
$GC,864,-0.72,-228.7,211.4,-14.6,151,872,0.00,2.12,0.00,0.000,6,0.000,0.032,2569,766,3968,0,0,0,0,0,0
$GC,1193,-0.72,-228.7,267.2,-16.6,212,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,765,3968,0,0,0,0,0,0
$GC,1531,-0.72,-228.7,322.9,-16.8,273,1537,0.00,2.00,0.00,0.000,4,0.000,0.016,2561,2191,3968,0,0,0,0,0,0
$GC,1567,-0.72,-228.7,328.4,-15.1,279,1575,0.00,2.12,0.00,0.000,6,0.000,0.032,2561,750,3968,0,0,0,0,0,0
$GC,1903,-0.72,-228.7,383.8,-15.8,340,1911,0.00,2.05,0.00,0.000,4,0.000,0.018,2561,2185,3968,0,0,0,0,0,0
$GC,1952,-0.72,-228.7,390.4,-12.2,348,1960,0.00,2.15,0.00,0.000,6,0.000,0.033,2561,764,3969,0,0,0,0,0,0
$GC,2285,-0.72,-228.7,436.4,-13.6,409,2292,0.00,0.82,0.00,0.000,4,0.000,0.043,2561,192,3967,0,0,0,0,0,0
$GC,2364,-0.72,-228.7,447.8,-14.7,423,2372,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,852,3966,0,0,0,0,0,0
$GC,2697,-0.72,-228.7,491.9,-13.1,484,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,852,3965,0,0,0,0,0,0
$GC,3026,-0.72,-228.7,536.1,-13.1,520,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,852,3962,0,0,0,0,0,0
$GC,3347,-0.72,-228.7,574.9,-11.6,550,3351,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2180,3959,0,0,0,0,0,0
$GC,3416,-0.72,-228.7,582.4,-9.1,556,3420,0.00,2.10,0.00,0.000,6,0.000,0.034,2560,773,3959,0,0,0,0,0,0
$GC,3740,-0.72,-228.7,620.0,-12.1,578,3743,0.00,2.00,0.00,0.000,4,0.000,0.018,2560,2177,3956,0,0,0,0,0,0
$GC,3795,-0.72,-228.7,626.5,-10.0,580,3799,0.00,2.10,0.00,0.000,6,0.000,0.035,2560,778,3956,0,0,0,0,0,0
$GC,4113,-0.72,-228.7,662.8,-11.7,595,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,778,3954,0,0,0,0,0,0
$GC,4421,-0.72,-228.7,696.6,-10.9,610,4424,0.00,2.03,0.00,0.000,4,0.000,0.019,2560,2175,3950,0,0,0,0,0,0
$GC,4448,-0.72,-228.7,699.7,-10.7,611,4452,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,772,3950,0,0,0,0,0,0
$GC,4777,-0.72,-228.7,736.1,-11.4,627,4778,0.10,0.00,0.00,0.000,6,0.165,0.000,2586,772,3948,0,0,0,0,0,0
$GC,5084,-0.72,-228.7,764.0,-8.7,642,5088,0.00,2.03,0.00,0.000,4,0.000,0.019,2586,2167,3945,0,0,0,0,0,0
$GC,5131,-0.72,-228.7,767.6,-6.9,644,5136,0.00,2.12,0.00,0.000,6,0.000,0.037,2586,773,3945,0,0,0,0,0,0
$GC,5461,-0.72,-228.7,794.2,-8.1,660,5465,0.00,2.03,0.00,0.000,4,0.000,0.019,2586,2166,3942,0,0,0,0,0,0
$GC,5517,-0.72,-228.7,798.4,-6.7,662,5521,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,785,3941,0,0,0,0,0,0
$GC,5840,-0.72,-228.7,823.1,-7.4,678,5844,0.00,2.03,0.00,0.000,4,0.000,0.020,2586,2177,3939,0,0,0,0,0,0
$GC,5913,-0.72,-228.7,828.0,-6.5,681,5917,0.00,2.12,0.00,0.000,6,0.000,0.037,2586,799,3939,0,0,0,0,0,0
$GC,6242,-0.72,-228.7,851.3,-7.3,697,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,799,3937,0,0,0,0,0,0
$GC,6550,-0.72,-228.7,874.8,-7.6,712,6554,0.00,2.00,0.00,0.000,4,0.000,0.021,2586,2176,3934,0,0,0,0,0,0
$GC,6596,-0.72,-228.7,878.1,-7.4,714,6600,0.00,2.10,0.00,0.000,6,0.000,0.038,2586,812,3934,0,0,0,0,0,0
$GC,6926,-0.72,-228.7,905.2,-8.6,730,6929,0.00,1.98,0.00,0.000,4,0.000,0.021,2586,2172,3932,0,0,0,0,0,0
$GC,6949,-0.72,-228.7,907.3,-8.4,731,6954,0.00,2.05,0.00,0.000,6,0.000,0.039,2586,825,3933,0,0,0,0,0,0
$GC,7277,-0.72,-228.7,935.4,-8.6,747,7281,0.00,0.95,0.00,0.000,4,0.000,0.050,2586,195,3930,0,0,0,0,0,0
$GC,7340,-0.72,-228.7,941.0,-8.9,749,7346,0.00,0.82,0.00,0.000,6,0.000,0.024,2586,824,3930,0,0,0,0,0,0
$GC,7656,-0.72,-228.7,967.7,-8.2,765,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,824,3928,0,0,0,0,0,0
$GC,7967,-0.72,-228.7,991.5,-7.2,780,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,824,3927,0,0,0,0,0,0
$STATE,8107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8107,begin apogee
$GC,8113,-0.14,0.0,1001.4,6.8,787,8306,0.52,0.00,183.57,1.406,4,0.109,0.000,2768,998,3027,0,0,0,0,0,0
$STATE,8307,end apogee,CONTROL_FINISHED_OK
$STATE,8307,begin climb
$GC,8309,0.72,228.7,1008.2,0.0,796,8516,0.77,1.35,197.77,1.344,4,0.050,0.048,3062,199,2096,0,0,0,0,0,0
$GC,8530,0.72,228.7,982.5,19.0,806,8534,0.00,1.20,0.00,0.000,6,0.000,0.025,3062,979,2092,0,0,0,0,0,0
$GC,8857,0.72,228.7,919.5,18.7,822,8861,0.00,2.10,0.00,0.000,4,0.000,0.025,3062,2400,2085,0,0,0,0,0,0
$GC,9070,0.72,228.7,883.8,16.2,831,9077,0.00,2.12,0.00,0.000,6,0.000,0.036,3070,1010,2081,0,0,0,0,0,0
$GC,9386,0.72,228.7,830.1,17.2,847,9390,0.00,2.03,0.00,0.000,4,0.000,0.024,3070,2390,2082,0,0,0,0,0,0
$GC,9494,0.72,228.7,812.9,15.8,851,9500,0.00,2.10,0.00,0.000,6,0.000,0.037,3079,1036,2081,0,0,0,0,0,0
$GC,9810,0.72,228.7,757.6,17.9,867,9814,0.00,2.00,0.00,0.000,4,0.000,0.024,3080,2402,2080,0,0,0,0,0,0
$GC,9993,0.72,228.7,726.0,15.5,875,9998,0.12,2.08,0.00,0.000,6,0.187,0.036,3057,1032,2079,0,0,0,0,0,0
$GC,10321,0.72,228.7,674.5,14.9,891,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1032,2079,0,0,0,0,0,0
$GC,10633,0.72,228.7,630.2,14.2,906,10637,0.00,1.27,0.00,0.000,4,0.000,0.047,3063,196,2078,0,0,0,0,0,0
$GC,10724,0.72,228.7,616.0,15.4,910,10727,0.00,1.23,0.00,0.000,6,0.000,0.026,3063,1070,2078,0,0,0,0,0,0
$GC,11056,0.72,228.7,566.9,15.3,935,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1070,2077,0,0,0,0,0,0
$GC,11382,0.72,228.7,519.6,15.1,966,11386,0.00,1.90,0.00,0.000,4,0.000,0.025,3063,2394,2078,0,0,0,0,0,0
$GC,11419,0.72,228.7,514.3,14.9,969,11423,0.00,2.00,0.00,0.000,6,0.000,0.036,3071,1068,2078,0,0,0,0,0,0
$GC,11756,0.72,228.7,464.8,14.7,1021,11763,0.00,1.95,0.00,0.000,4,0.000,0.024,3071,2401,2078,0,0,0,0,0,0
$GC,11832,0.72,228.7,453.1,14.1,1034,11839,0.00,2.03,0.00,0.000,6,0.000,0.037,3080,1089,2078,0,0,0,0,0,0
$GC,12174,0.72,228.7,402.5,14.8,1095,12181,0.00,1.35,0.00,0.000,4,0.000,0.046,3086,197,2077,0,0,0,0,0,0
$GC,12277,0.72,228.7,386.1,15.5,1113,12284,0.08,1.25,0.00,0.000,6,0.169,0.024,3063,1090,2077,0,0,0,0,0,0
$GC,12623,0.72,228.7,343.4,12.3,1174,12631,0.00,1.90,0.00,0.000,4,0.000,0.024,3062,2392,2077,0,0,0,0,0,0
$GC,12679,0.72,228.7,336.7,12.1,1183,12688,0.00,2.00,0.00,0.000,6,0.000,0.036,3069,1076,2077,0,0,0,0,0,0
$GC,13021,0.72,228.7,294.4,12.0,1244,13030,0.00,1.92,0.00,0.000,4,0.000,0.021,3069,2398,2077,0,0,0,0,0,0
$GC,13066,0.73,240.1,289.1,10.7,1251,13081,0.00,1.98,7.90,0.773,6,0.000,0.036,3077,1081,2050,0,0,0,0,0,0
$GC,13416,0.73,240.1,244.7,12.2,1313,13423,0.00,1.90,0.00,0.000,4,0.000,0.022,3077,2400,2048,0,0,0,0,0,0
$GC,13642,0.77,272.6,218.6,10.0,1353,13676,0.00,1.98,28.15,0.797,6,0.000,0.035,3085,1096,1917,0,0,0,0,0,0
$GC,14010,0.77,272.6,177.8,11.2,1418,14018,0.00,1.90,0.00,0.000,4,0.000,0.020,3085,2405,1912,0,0,0,0,0,0
$GC,14043,0.77,272.6,174.1,11.4,1423,14050,0.00,1.98,0.00,0.000,6,0.000,0.035,3089,1123,1913,0,0,0,0,0,0
$GC,14383,0.81,297.6,141.0,10.3,1484,14414,0.00,1.42,21.35,0.705,4,0.000,0.044,3096,197,1814,0,0,0,0,0,0
$GC,14550,0.81,297.6,122.9,12.7,1513,14558,0.00,1.27,0.00,0.000,6,0.000,0.019,3095,1169,1812,0,0,0,0,0,0
$GC,14877,0.93,403.1,94.4,7.7,1574,14966,0.00,1.88,84.10,0.670,4,0.000,0.019,3096,2419,1384,0,0,0,0,0,0
$GC,15003,1.03,482.7,83.9,8.5,1592,15072,0.12,2.03,63.45,0.643,6,0.050,0.034,3168,1121,1060,0,0,0,0,0,0
$GC,15394,1.03,482.7,26.9,14.1,1661,15402,0.00,1.40,0.00,0.000,4,0.000,0.041,3174,190,1055,0,0,0,0,0,0
$GC,15472,1.03,482.7,15.5,18.6,1675,15480,0.00,1.30,0.00,0.000,6,0.000,0.018,3174,1202,1055,0,0,0,0,0,0
$STATE,15555,end climb,SURFACE_DEPTH_REACHED
$STATE,15555,begin surface coast
$FINISH,0.7,1.022075
$STATE,15574,end surface coast,CONTROL_FINISHED_OK
$STATE,15574,begin surface
$SM_CCo,15654,0.00,0.000,0,0,1053,484.71
$SM_GC,1.38,7.80,0.00,0.00,0.034,0.000,0.000,129,792,1053,-8.36,0.06,484.71
$IRIDIUM_FIX,2115.63,12602.66,011110,161642
$TT8_MAMPS,0.028462
$HUMID,39.40
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,22.9,52.443
$10V_AH,10.2,48.306
$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,19.175,103.700,586.300,0.000,0.000,51.294,67.147,215.998,0.000,0.000,35.724,4111.692,6948.151,618.451,4051.519,525.976,0.000,2127.896,0.000,3707.491,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,74.970,1406.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.139,1483.735,1943.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333764
$DATA_FILE_SIZE,96909,1693
$CAP_FILE_SIZE,173250,0
$CFSIZE,260165632,148447232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 52.7,1
$GPS,011110,205431,2122.468,12601.285,39,1.0,39,-2.9