version: 66.08
glider: 167
mission: 6
dive: 286
start: 11 2 110 14 52 26
data:
$ID,167
$MISSION,6
$DIVE,286
$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,-54483.055
$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,47
$R_STBD_OVSHOOT,86
$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
$GPS1,021110,144137,2123.091,12601.223,40,1.1,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.0
$GPS2,021110,145202,2123.068,12601.254,13,1.3,13,-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,353.3,2801,-28.0,-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,-0.87,-73.8,0.0,0.0,0,81,0.00,0.00,-61.22,0.000,2,0.000,0.000,112,779,3216,0,0,0,0,0,0
$GC,85,-0.88,-81.9,5.1,-10.3,8,102,9.38,2.08,-2.62,0.000,4,0.217,0.030,2522,2218,3368,0,0,0,0,0,0
$GC,194,-0.88,-81.9,42.4,-25.6,27,202,0.00,2.17,0.00,0.000,6,0.000,0.034,2520,797,3370,0,0,0,0,0,0
$GC,520,-0.88,-81.9,131.3,-21.2,88,527,0.00,0.88,0.00,0.000,4,0.000,0.041,2521,190,3371,0,0,0,0,0,0
$GC,769,-0.88,-81.9,185.6,-19.8,134,777,0.00,0.77,0.00,0.000,6,0.000,0.020,2516,861,3372,0,0,0,0,0,0
$GC,1106,-0.88,-81.9,246.4,-17.8,195,1113,0.00,1.85,0.00,0.000,4,0.000,0.016,2507,2217,3373,0,0,0,0,0,0
$GC,1349,-0.88,-81.9,281.0,-14.2,239,1357,0.12,2.17,0.00,0.000,6,0.178,0.033,2537,742,3373,0,0,0,0,0,0
$GC,1683,-0.88,-81.9,326.9,-14.2,300,1691,0.00,0.77,0.00,0.000,4,0.000,0.043,2537,200,3373,0,0,0,0,0,0
$GC,1936,-0.88,-81.9,364.5,-14.0,346,1944,0.00,0.70,0.00,0.000,6,0.000,0.021,2534,811,3373,0,0,0,0,0,0
$GC,2270,-0.88,-81.9,407.6,-12.6,407,2277,0.00,0.90,0.00,0.000,4,0.000,0.041,2535,197,3372,0,0,0,0,0,0
$GC,2522,-0.88,-81.9,442.2,-13.4,453,2530,0.00,0.60,0.00,0.000,6,0.000,0.023,2532,729,3371,0,0,0,0,0,0
$GC,2858,-0.88,-81.9,483.5,-12.2,514,2865,0.00,1.98,0.00,0.000,4,0.000,0.017,2525,2136,3369,0,0,0,0,0,0
$GC,2879,-0.88,-81.9,486.2,-11.9,517,2887,0.00,2.08,0.00,0.000,6,0.000,0.034,2524,737,3368,0,0,0,0,0,0
$GC,3207,-0.88,-81.9,525.5,-11.6,558,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,737,3367,0,0,0,0,0,0
$GC,3529,-0.88,-81.9,562.5,-11.8,588,3533,0.00,0.77,0.00,0.000,4,0.000,0.045,2525,202,3365,0,0,0,0,0,0
$GC,3789,-0.88,-81.9,594.9,-11.4,611,3792,0.00,0.60,0.00,0.000,6,0.000,0.024,2521,709,3363,0,0,0,0,0,0
$GC,4122,-0.89,-90.7,630.8,-10.2,629,4125,0.00,0.75,0.00,0.000,4,0.000,0.045,2521,200,3360,0,0,0,0,0,0
$GC,4381,-0.89,-90.7,661.4,-11.7,640,4385,0.00,0.57,0.00,0.000,6,0.000,0.024,2520,679,3358,0,0,0,0,0,0
$GC,4705,-0.89,-90.7,697.5,-11.1,656,4708,0.00,0.70,0.00,0.000,4,0.000,0.047,2520,206,3355,0,0,0,0,0,0
$GC,4751,-0.89,-90.7,703.0,-11.6,658,4755,0.00,0.57,0.00,0.000,6,0.000,0.025,2520,680,3355,0,0,0,0,0,0
$GC,5086,-0.89,-92.5,739.4,-10.9,674,5090,0.00,0.73,0.00,0.000,4,0.000,0.047,2520,193,3352,0,0,0,0,0,0
$GC,5252,-0.89,-92.5,759.2,-12.4,681,5255,0.00,0.57,0.00,0.000,6,0.000,0.026,2520,659,3351,0,0,0,0,0,0
$GC,5581,-0.91,-109.5,793.4,-9.4,697,5585,0.00,2.08,0.00,0.000,4,0.000,0.019,2520,2124,3348,0,0,0,0,0,0
$GC,5630,-0.95,-142.0,797.9,-7.8,699,5634,0.00,2.12,0.00,0.000,6,0.000,0.037,2520,716,3348,0,0,0,0,0,0
$GC,5947,-0.97,-159.7,827.0,-9.3,714,5951,0.00,0.75,0.00,0.000,4,0.000,0.048,2519,206,3345,0,0,0,0,0,0
$GC,6114,-0.98,-166.6,843.6,-10.4,721,6118,0.00,0.55,0.00,0.000,6,0.000,0.027,2519,651,3345,0,0,0,0,0,0
$GC,6442,-1.00,-178.4,875.0,-9.9,737,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,651,3343,0,0,0,0,0,0
$GC,6753,-1.02,-197.3,905.0,-9.2,752,6756,0.00,0.68,0.00,0.000,4,0.000,0.049,2519,201,3341,0,0,0,0,0,0
$GC,6813,-1.04,-216.2,911.1,-9.2,754,6820,0.00,0.55,0.00,0.000,6,0.000,0.027,2520,638,3341,0,0,0,0,0,0
$GC,7132,-1.06,-228.7,938.9,-8.6,770,7136,0.12,2.15,0.00,0.000,4,0.096,0.021,2467,2115,3338,0,0,0,0,0,0
$GC,7220,-1.06,-228.7,947.8,-9.7,774,7224,0.00,2.15,0.00,0.000,6,0.000,0.038,2467,702,3337,0,0,0,0,0,0
$GC,7543,-1.06,-228.7,982.8,-11.0,790,7547,0.00,0.75,0.00,0.000,4,0.000,0.049,2465,196,3336,0,0,0,0,0,0
$STATE,7691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7691,begin apogee
$GC,7698,-0.14,0.0,1000.1,11.7,796,7766,1.02,0.00,63.78,1.415,4,0.165,0.000,2766,973,3029,0,0,0,0,0,0
$STATE,7767,end apogee,CONTROL_FINISHED_OK
$STATE,7767,begin climb
$GC,7771,1.06,228.7,1001.8,0.0,799,7976,1.10,2.12,194.55,1.365,4,0.055,0.021,3171,2390,2095,0,0,0,0,0,0
$GC,8140,1.06,228.7,932.9,24.3,816,8144,0.00,2.15,0.00,0.000,6,0.000,0.035,3181,1010,2086,0,0,0,0,0,0
$GC,8467,1.06,228.7,849.6,24.7,832,8470,0.00,1.25,0.00,0.000,4,0.000,0.044,3188,192,2084,0,0,0,0,0,0
$GC,8646,1.06,228.7,802.8,25.4,840,8650,0.00,1.12,0.00,0.000,6,0.000,0.026,3188,994,2083,0,0,0,0,0,0
$GC,8979,1.06,228.7,718.9,25.6,856,8983,0.00,2.03,0.00,0.000,4,0.000,0.024,3188,2384,2081,0,0,0,0,0,0
$GC,9219,1.06,228.7,662.9,22.9,866,9227,0.12,2.05,0.00,0.000,6,0.210,0.034,3167,1037,2080,0,0,0,0,0,0
$GC,9538,1.06,228.7,590.6,23.1,883,9541,0.00,1.27,0.00,0.000,4,0.000,0.045,3173,192,2079,0,0,0,0,0,0
$GC,9561,1.06,228.7,584.7,23.7,885,9565,0.00,1.20,0.00,0.000,6,0.000,0.024,3173,1054,2079,0,0,0,0,0,0
$GC,9892,1.06,228.7,509.0,22.8,916,9896,0.00,1.95,0.00,0.000,4,0.000,0.025,3173,2392,2078,0,0,0,0,0,0
$GC,9921,1.06,228.7,502.8,21.8,918,9927,0.00,2.05,0.00,0.000,6,0.000,0.035,3182,1033,2077,0,0,0,0,0,0
$GC,10252,1.06,228.7,433.2,20.4,978,10260,0.00,2.00,0.00,0.000,4,0.000,0.024,3182,2391,2077,0,0,0,0,0,0
$GC,10316,1.06,228.7,420.5,19.7,989,10323,0.00,2.05,0.00,0.000,6,0.000,0.036,3190,1045,2077,0,0,0,0,0,0
$GC,10647,1.06,228.7,349.3,22.3,1050,10655,0.00,2.00,0.00,0.000,4,0.000,0.024,3190,2395,2076,0,0,0,0,0,0
$GC,10669,1.06,228.7,344.8,22.1,1053,10677,0.15,2.03,0.00,0.000,6,0.201,0.034,3162,1044,2076,0,0,0,0,0,0
$GC,11006,1.06,228.7,283.5,18.2,1114,11014,0.00,1.30,0.00,0.000,4,0.000,0.044,3168,183,2076,0,0,0,0,0,0
$GC,11121,1.06,228.7,263.5,15.6,1134,11128,0.00,1.20,0.00,0.000,6,0.000,0.022,3168,1066,2076,0,0,0,0,0,0
$GC,11457,1.06,228.7,213.8,15.2,1195,11463,0.00,1.90,0.00,0.000,4,0.000,0.022,3168,2397,2076,0,0,0,0,0,0
$GC,11572,1.06,228.7,198.0,12.3,1216,11580,0.00,2.05,0.00,0.000,6,0.000,0.034,3175,1053,2076,0,0,0,0,0,0
$GC,11908,1.06,229.1,158.5,11.1,1277,11916,0.00,1.30,0.00,0.000,4,0.000,0.041,3182,187,2076,0,0,0,0,0,0
$GC,12158,1.06,229.1,124.6,13.7,1323,12166,0.00,1.20,0.00,0.000,6,0.000,0.021,3181,1093,2077,0,0,0,0,0,0
$GC,12484,1.11,268.7,93.2,7.1,1384,12521,0.00,1.35,30.12,0.678,4,0.000,0.039,3188,180,1931,0,0,0,0,0,0
$GC,12604,1.11,268.7,82.7,11.6,1403,12612,0.00,1.23,0.00,0.000,6,0.000,0.020,3188,1106,1929,0,0,0,0,0,0
$GC,12931,1.11,270.0,48.6,11.0,1464,12941,0.00,1.38,0.00,0.000,4,0.000,0.038,3195,187,1929,0,0,0,0,0,0
$GC,12960,1.11,270.0,44.6,12.8,1468,12968,0.00,1.17,0.00,0.000,6,0.000,0.021,3195,1087,1928,0,0,0,0,0,0
$GC,13287,1.13,283.7,11.0,9.7,1529,13304,0.00,0.00,13.38,0.565,6,0.000,0.000,3195,1087,1872,0,0,0,0,0,0
$STATE,13353,end climb,SURFACE_DEPTH_REACHED
$STATE,13353,begin surface coast
$FINISH,0.5,1.022218
$STATE,13376,end surface coast,CONTROL_FINISHED_OK
$STATE,13376,begin surface
$SM_CCo,13394,93.88,0.541,1,0,1397,400.08
$SM_GC,1.41,0.00,0.00,93.88,0.000,0.000,0.541,112,760,1397,-8.47,-0.85,400.08
$IRIDIUM_FIX,2113.32,12602.66,021110,141445
$TT8_MAMPS,0.028462
$HUMID,38.02
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.1,53.342
$10V_AH,10.2,49.209
$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,19.775,74.825,301.825,93.875,0.000,58.439,81.166,219.481,0.000,0.000,14.054,3836.604,5343.245,504.317,3932.976,483.251,0.000,1867.930,0.000,3589.504,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,48.960,1415.250,540.855,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.285,1383.244,1930.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333768
$DATA_FILE_SIZE,90226,1544
$CAP_FILE_SIZE,156995,0
$CFSIZE,260165632,147996672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038, 96.1,1
$GPS,021110,183837,2124.188,12601.033,38,1.1,38,-2.9