version: 66.08
glider: 167
mission: 6
dive: 287
start: 11 2 110 18 49 19
data:
$ID,167
$MISSION,6
$DIVE,287
$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,-54484.312
$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,60
$R_STBD_OVSHOOT,78
$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
$GPS1,021110,183837,2124.188,12601.033,38,1.1,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.0
$GPS2,021110,184856,2124.177,12601.091,13,1.3,13,-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,188.2,8850,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,86,0.00,0.00,-65.22,0.000,2,0.000,0.000,111,760,3348,0,0,0,0,0,0
$GC,89,-0.72,-228.7,5.4,-10.7,9,114,9.62,0.85,-9.90,0.000,4,0.220,0.078,2582,201,3964,0,0,0,0,0,0
$GC,355,-0.72,-228.7,102.2,-32.4,57,363,0.00,0.77,0.00,0.000,6,0.000,0.020,2579,894,3966,0,0,0,0,0,0
$GC,684,-0.72,-228.7,180.3,-19.3,118,692,0.00,1.85,0.00,0.000,4,0.000,0.017,2570,2210,3967,0,0,0,0,0,0
$GC,869,-0.72,-228.7,208.0,-13.8,151,876,0.00,2.12,0.00,0.000,6,0.000,0.032,2570,771,3968,0,0,0,0,0,0
$GC,1205,-0.72,-228.7,264.9,-16.5,212,1212,0.00,0.82,0.00,0.000,4,0.000,0.041,2570,192,3968,0,0,0,0,0,0
$GC,1291,-0.72,-228.7,280.1,-18.4,227,1300,0.00,0.75,0.00,0.000,6,0.000,0.021,2566,866,3968,0,0,0,0,0,0
$GC,1627,-0.72,-228.7,335.4,-16.2,288,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,867,3968,0,0,0,0,0,0
$GC,1959,-0.72,-228.7,382.6,-13.9,349,1965,0.00,1.85,0.00,0.000,4,0.000,0.017,2561,2209,3968,0,0,0,0,0,0
$GC,1985,-0.72,-228.7,385.9,-12.2,353,1992,0.00,2.17,0.00,0.000,6,0.000,0.032,2561,749,3968,0,0,0,0,0,0
$GC,2317,-0.72,-228.7,433.6,-14.5,414,2325,0.00,0.80,0.00,0.000,4,0.000,0.043,2561,195,3967,0,0,0,0,0,0
$GC,2415,-0.72,-228.7,447.6,-14.6,431,2422,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,847,3966,0,0,0,0,0,0
$GC,2750,-0.72,-228.7,491.8,-12.3,492,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,848,3964,0,0,0,0,0,0
$GC,3085,-0.72,-228.7,533.1,-12.1,529,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,848,3962,0,0,0,0,0,0
$GC,3403,-0.72,-228.7,572.2,-12.3,559,3407,0.00,1.92,0.00,0.000,4,0.000,0.019,2560,2201,3959,0,0,0,0,0,0
$GC,3438,-0.72,-228.7,576.2,-10.5,562,3442,0.00,2.15,0.00,0.000,6,0.000,0.034,2560,761,3959,0,0,0,0,0,0
$GC,3774,-0.72,-228.7,613.6,-10.8,587,3778,0.00,2.05,0.00,0.000,4,0.000,0.019,2560,2174,3956,0,0,0,0,0,0
$GC,3865,-0.72,-228.7,621.7,-8.4,591,3869,0.00,2.15,0.00,0.000,6,0.000,0.036,2560,771,3956,0,0,0,0,0,0
$GC,4194,-0.72,-228.7,654.3,-10.1,607,4198,0.00,2.05,0.00,0.000,4,0.000,0.019,2560,2196,3953,0,0,0,0,0,0
$GC,4232,-0.72,-228.7,658.2,-8.2,608,4239,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,782,3952,0,0,0,0,0,0
$GC,4551,-0.72,-228.7,690.4,-10.4,624,4555,0.00,2.00,0.00,0.000,4,0.000,0.019,2560,2179,3950,0,0,0,0,0,0
$GC,4575,-0.72,-228.7,692.9,-9.4,625,4579,0.00,2.12,0.00,0.000,6,0.000,0.037,2560,779,3949,0,0,0,0,0,0
$GC,4902,-0.72,-228.7,727.0,-10.6,641,4906,0.00,2.03,0.00,0.000,4,0.000,0.020,2560,2185,3946,0,0,0,0,0,0
$GC,4965,-0.72,-228.7,733.0,-8.8,643,4973,0.00,2.12,0.00,0.000,6,0.000,0.037,2560,795,3946,0,0,0,0,0,0
$GC,5282,-0.72,-228.7,766.4,-10.9,659,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,795,3943,0,0,0,0,0,0
$GC,5593,-0.72,-228.7,799.5,-10.7,674,5596,0.00,2.00,0.00,0.000,4,0.000,0.021,2559,2183,3941,0,0,0,0,0,0
$GC,5631,-0.72,-228.7,803.6,-9.2,675,5639,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,791,3941,0,0,0,0,0,0
$GC,5948,-0.72,-228.7,835.6,-10.4,691,5952,0.00,2.05,0.00,0.000,4,0.000,0.021,2560,2181,3938,0,0,0,0,0,0
$GC,6022,-0.72,-228.7,842.4,-8.9,694,6026,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,789,3938,0,0,0,0,0,0
$GC,6344,-0.72,-228.7,876.2,-10.4,710,6348,0.00,2.05,0.00,0.000,4,0.000,0.021,2560,2179,3936,0,0,0,0,0,0
$GC,6394,-0.72,-228.7,881.3,-9.4,712,6398,0.00,2.12,0.00,0.000,6,0.000,0.039,2560,803,3935,0,0,0,0,0,0
$GC,6718,-0.72,-228.7,915.2,-10.6,728,6722,0.10,2.03,0.00,0.000,4,0.168,0.021,2586,2168,3933,0,0,0,0,0,0
$GC,6756,-0.72,-228.7,918.9,-7.6,729,6763,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,807,3933,0,0,0,0,0,0
$GC,7073,-0.72,-228.7,943.7,-7.8,745,7077,0.00,2.03,0.00,0.000,4,0.000,0.021,2586,2206,3931,0,0,0,0,0,0
$GC,7111,-0.72,-228.7,946.6,-7.3,746,7118,0.00,2.12,0.00,0.000,6,0.000,0.039,2586,814,3930,0,0,0,0,0,0
$GC,7428,-0.72,-228.7,970.7,-8.0,762,7431,0.00,1.98,0.00,0.000,4,0.000,0.022,2586,2180,3928,0,0,0,0,0,0
$GC,7476,-0.72,-228.7,974.2,-7.1,764,7481,0.00,2.10,0.00,0.000,6,0.000,0.040,2586,820,3929,0,0,0,0,0,0
$STATE,7808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7808,begin apogee
$GC,7814,-0.14,0.0,1000.5,7.7,780,8007,0.52,0.00,183.40,1.408,4,0.106,0.000,2768,1024,3028,0,0,0,0,0,0
$STATE,8008,end apogee,CONTROL_FINISHED_OK
$STATE,8008,begin climb
$GC,8011,0.72,228.7,1010.2,0.0,789,8215,0.75,1.40,197.52,1.347,4,0.049,0.049,3060,193,2095,0,0,0,0,0,0
$GC,8386,0.72,228.7,959.9,18.7,806,8389,0.00,1.15,0.00,0.000,6,0.000,0.027,3060,981,2088,0,0,0,0,0,0
$GC,8713,0.72,228.7,902.4,17.4,822,8716,0.00,1.23,0.00,0.000,4,0.000,0.047,3065,187,2083,0,0,0,0,0,0
$GC,8925,0.72,228.7,861.7,19.3,831,8929,0.00,1.17,0.00,0.000,6,0.000,0.025,3065,1023,2084,0,0,0,0,0,0
$GC,9247,0.72,228.7,804.6,17.8,847,9251,0.00,2.00,0.00,0.000,4,0.000,0.025,3065,2387,2082,0,0,0,0,0,0
$GC,9354,0.72,228.7,786.6,16.5,851,9362,0.00,2.10,0.00,0.000,6,0.000,0.036,3074,1018,2080,0,0,0,0,0,0
$GC,9670,0.72,228.7,732.3,17.0,867,9674,0.00,1.25,0.00,0.000,4,0.000,0.046,3081,194,2080,0,0,0,0,0,0
$GC,9708,0.72,228.7,725.3,18.1,868,9715,0.00,1.15,0.00,0.000,6,0.000,0.027,3080,1013,2081,0,0,0,0,0,0
$GC,10026,0.72,228.7,668.7,18.1,884,10030,0.00,2.03,0.00,0.000,4,0.000,0.025,3081,2402,2080,0,0,0,0,0,0
$GC,10081,0.72,228.7,658.3,17.6,886,10086,0.10,2.12,0.00,0.000,6,0.160,0.036,3059,1029,2079,0,0,0,0,0,0
$GC,10403,0.72,228.7,608.2,14.8,902,10407,0.00,2.03,0.00,0.000,4,0.000,0.024,3059,2404,2079,0,0,0,0,0,0
$GC,10465,0.72,228.7,599.4,14.0,904,10472,0.00,2.08,0.00,0.000,6,0.000,0.035,3067,1033,2079,0,0,0,0,0,0
$GC,10792,0.72,228.7,550.4,15.9,935,10796,0.00,2.00,0.00,0.000,4,0.000,0.024,3066,2401,2078,0,0,0,0,0,0
$GC,10935,0.72,228.7,529.4,15.3,947,10942,0.00,2.05,0.00,0.000,6,0.000,0.035,3077,1048,2078,0,0,0,0,0,0
$GC,11264,0.72,228.7,478.3,15.8,990,11273,0.00,1.30,0.00,0.000,4,0.000,0.046,3082,190,2078,0,0,0,0,0,0
$GC,11297,0.72,228.7,473.0,17.4,995,11304,0.00,1.23,0.00,0.000,6,0.000,0.024,3082,1074,2078,0,0,0,0,0,0
$GC,11631,0.72,228.7,420.2,15.2,1056,11639,0.00,1.95,0.00,0.000,4,0.000,0.025,3082,2395,2078,0,0,0,0,0,0
$GC,11684,0.72,228.7,412.2,14.4,1065,11692,0.12,2.03,0.00,0.000,6,0.184,0.036,3058,1052,2077,0,0,0,0,0,0
$GC,12021,0.72,228.7,368.3,11.5,1126,12031,0.00,1.30,0.00,0.000,4,0.000,0.047,3063,199,2077,0,0,0,0,0,0
$GC,12099,0.72,228.7,357.4,14.4,1139,12107,0.00,1.20,0.00,0.000,6,0.000,0.024,3063,1069,2077,0,0,0,0,0,0
$GC,12434,0.72,228.7,314.7,12.7,1200,12442,0.00,1.95,0.00,0.000,4,0.000,0.024,3063,2398,2077,0,0,0,0,0,0
$GC,12541,0.73,233.1,301.6,11.0,1219,12549,0.00,2.03,0.00,0.000,6,0.000,0.035,3070,1067,2078,0,0,0,0,0,0
$GC,12875,0.73,233.1,260.8,11.6,1280,12882,0.00,1.95,0.00,0.000,4,0.000,0.021,3069,2402,2078,0,0,0,0,0,0
$GC,12974,0.73,233.1,249.5,11.6,1297,12981,0.00,2.00,0.00,0.000,6,0.000,0.035,3078,1073,2077,0,0,0,0,0,0
$GC,13308,0.81,303.6,212.9,8.8,1358,13377,0.00,1.40,58.50,0.806,4,0.000,0.044,3085,191,1790,0,0,0,0,0,0
$GC,13523,0.81,303.6,187.0,12.3,1395,13530,0.00,1.25,0.00,0.000,6,0.000,0.021,3085,1121,1785,0,0,0,0,0,0
$GC,13859,0.81,303.6,150.6,12.1,1456,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1122,1784,0,0,0,0,0,0
$GC,14185,0.87,349.0,118.0,9.6,1517,14229,0.00,1.45,36.30,0.697,4,0.000,0.041,3085,190,1606,0,0,0,0,0,0
$GC,14361,0.94,408.4,101.2,9.2,1547,14414,0.08,1.25,48.65,0.674,6,0.060,0.020,3135,1132,1364,0,0,0,0,0,0
$GC,14732,0.94,408.4,54.9,14.4,1614,14740,0.00,1.42,0.00,0.000,4,0.000,0.039,3140,189,1358,0,0,0,0,0,0
$GC,14819,0.94,408.4,43.5,14.8,1629,14827,0.00,1.23,0.00,0.000,6,0.000,0.018,3139,1148,1358,0,0,0,0,0,0
$STATE,15111,end climb,SURFACE_DEPTH_REACHED
$STATE,15111,begin surface coast
$FINISH,0.5,0.999752
$STATE,15137,end surface coast,CONTROL_FINISHED_OK
$STATE,15137,begin surface
$SM_CCo,15215,0.00,0.000,0,0,1355,410.63
$SM_GC,1.33,7.78,0.00,0.00,0.040,0.000,0.000,125,777,1355,-8.35,-0.34,410.63
$IRIDIUM_FIX,2117.95,12600.79,021110,181845
$TT8_MAMPS,0.028462
$HUMID,40.03
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.20
$XPDR_PINGS,0
$24V_AH,22.9,53.537
$10V_AH,10.2,49.394
$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,19.075,107.775,524.375,0.000,0.000,60.209,70.102,229.655,0.000,0.000,14.601,4111.148,6493.144,605.246,4092.104,512.914,0.000,2109.051,0.000,3743.561,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,78.030,1407.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.958,1489.598,1968.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333776
$DATA_FILE_SIZE,96791,1688
$CAP_FILE_SIZE,173873,0
$CFSIZE,260165632,147881984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 76.3,1
$GPS,021110,230407,2122.219,12601.551,36,1.4,36,-2.9