version: 66.08
glider: 167
mission: 6
dive: 288
start: 11 2 110 23 14 56
data:
$ID,167
$MISSION,6
$DIVE,288
$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,-54485.57
$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,42
$R_STBD_OVSHOOT,68
$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
$GPS1,021110,230407,2122.219,12601.551,36,1.4,36,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.3
$GPS2,021110,231420,2122.150,12601.648,12,2.0,12,-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,204.9,5152,-16.0,-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,-0.72,-223.7,0.0,0.0,0,85,0.00,0.00,-64.47,0.000,2,0.000,0.000,112,774,3245,0,0,0,0,0,0
$GC,88,-0.73,-228.7,5.1,-10.4,9,113,9.57,0.90,-11.65,0.000,4,0.219,0.074,2576,185,3964,0,0,0,0,0,0
$GC,355,-0.73,-228.7,101.9,-31.1,57,363,0.00,0.82,0.00,0.000,6,0.000,0.019,2572,922,3965,0,0,0,0,0,0
$GC,686,-0.73,-228.7,182.4,-20.3,118,695,0.00,1.08,0.00,0.000,4,0.000,0.038,2572,193,3966,0,0,0,0,0,0
$GC,710,-0.73,-228.7,187.4,-20.2,121,717,0.00,0.75,0.00,0.000,6,0.000,0.020,2567,867,3966,0,0,0,0,0,0
$GC,1050,-0.73,-228.7,252.7,-17.3,182,1059,0.00,1.90,0.00,0.000,4,0.000,0.017,2560,2220,3967,0,0,0,0,0,0
$GC,1117,-0.73,-228.7,262.3,-12.6,193,1123,0.00,2.22,0.00,0.000,6,0.000,0.031,2560,725,3967,0,0,0,0,0,0
$GC,1457,-0.73,-228.7,319.6,-17.1,254,1466,0.00,2.12,0.00,0.000,4,0.000,0.017,2557,2217,3967,0,0,0,0,0,0
$GC,1570,-0.73,-228.7,335.0,-13.4,273,1577,0.10,2.20,0.00,0.000,6,0.160,0.032,2582,726,3967,0,0,0,0,0,0
$GC,1912,-0.73,-228.7,379.9,-13.2,334,1921,0.00,2.12,0.00,0.000,4,0.000,0.017,2583,2211,3967,0,0,0,0,0,0
$GC,1969,-0.73,-228.7,385.9,-9.4,343,1976,0.00,2.20,0.00,0.000,6,0.000,0.033,2583,741,3967,0,0,0,0,0,0
$GC,2312,-0.73,-228.7,425.4,-10.9,404,2320,0.00,2.10,0.00,0.000,4,0.000,0.018,2582,2208,3965,0,0,0,0,0,0
$GC,2357,-0.73,-228.7,429.9,-9.0,411,2364,0.00,2.17,0.00,0.000,6,0.000,0.034,2582,752,3965,0,0,0,0,0,0
$GC,2697,-0.73,-228.7,465.1,-10.6,472,2705,0.00,2.08,0.00,0.000,4,0.000,0.018,2583,2200,3962,0,0,0,0,0,0
$GC,2764,-0.73,-228.7,471.3,-9.0,483,2771,0.00,2.17,0.00,0.000,6,0.000,0.034,2583,755,3962,0,0,0,0,0,0
$GC,3110,-0.73,-228.7,508.6,-10.8,538,3113,0.00,2.08,0.00,0.000,4,0.000,0.018,2582,2187,3959,0,0,0,0,0,0
$GC,3173,-0.73,-228.7,514.1,-8.4,543,3179,0.00,2.15,0.00,0.000,6,0.000,0.034,2583,773,3959,0,0,0,0,0,0
$GC,3498,-0.73,-228.7,548.5,-10.4,574,3502,0.00,2.05,0.00,0.000,4,0.000,0.018,2583,2211,3957,0,0,0,0,0,0
$GC,3550,-0.73,-228.7,553.5,-8.8,578,3558,0.00,2.15,0.00,0.000,6,0.000,0.035,2582,779,3956,0,0,0,0,0,0
$GC,3876,-0.73,-228.7,586.1,-9.9,609,3879,0.00,2.05,0.00,0.000,4,0.000,0.018,2583,2193,3953,0,0,0,0,0,0
$GC,3938,-0.73,-228.7,591.4,-7.7,614,3946,0.00,2.15,0.00,0.000,6,0.000,0.036,2583,793,3953,0,0,0,0,0,0
$GC,4268,-0.73,-228.7,620.9,-8.6,635,4272,0.00,2.03,0.00,0.000,4,0.000,0.019,2583,2196,3950,0,0,0,0,0,0
$GC,4354,-0.73,-228.7,627.4,-6.9,638,4362,0.00,2.12,0.00,0.000,6,0.000,0.036,2583,803,3950,0,0,0,0,0,0
$GC,4670,-0.73,-228.7,656.6,-9.7,654,4674,0.00,2.00,0.00,0.000,4,0.000,0.019,2583,2194,3948,0,0,0,0,0,0
$GC,4695,-0.73,-228.7,658.6,-9.1,655,4699,0.00,2.10,0.00,0.000,6,0.000,0.037,2583,806,3947,0,0,0,0,0,0
$GC,5025,-0.73,-228.7,689.6,-9.6,671,5029,0.00,2.03,0.00,0.000,4,0.000,0.019,2582,2216,3944,0,0,0,0,0,0
$GC,5052,-0.73,-228.7,692.4,-9.3,672,5056,0.00,2.12,0.00,0.000,6,0.000,0.037,2581,810,3944,0,0,0,0,0,0
$GC,5374,-0.73,-228.7,722.8,-9.3,688,5378,0.00,2.03,0.00,0.000,4,0.000,0.020,2583,2216,3942,0,0,0,0,0,0
$GC,5437,-0.73,-228.7,727.8,-6.8,690,5445,0.00,2.12,0.00,0.000,6,0.000,0.037,2583,812,3942,0,0,0,0,0,0
$GC,5754,-0.73,-228.7,754.4,-8.1,706,5757,0.00,2.00,0.00,0.000,4,0.000,0.020,2583,2194,3939,0,0,0,0,0,0
$GC,5788,-0.73,-228.7,757.1,-7.4,707,5793,0.00,2.08,0.00,0.000,6,0.000,0.038,2583,829,3939,0,0,0,0,0,0
$GC,6105,-0.73,-228.7,782.1,-7.9,722,6109,0.00,1.98,0.00,0.000,4,0.000,0.021,2583,2193,3937,0,0,0,0,0,0
$GC,6137,-0.73,-228.7,784.7,-7.3,723,6141,0.00,2.10,0.00,0.000,6,0.000,0.038,2582,826,3936,0,0,0,0,0,0
$GC,6456,-0.73,-228.7,810.9,-8.5,738,6459,0.00,2.00,0.00,0.000,4,0.000,0.020,2583,2202,3935,0,0,0,0,0,0
$GC,6511,-0.73,-228.7,815.6,-7.1,740,6515,0.00,2.08,0.00,0.000,6,0.000,0.038,2583,847,3934,0,0,0,0,0,0
$GC,6833,-0.73,-228.7,842.1,-8.1,756,6837,0.00,1.95,0.00,0.000,4,0.000,0.021,2583,2196,3933,0,0,0,0,0,0
$GC,6936,-0.73,-228.7,849.8,-7.3,760,6940,0.00,2.05,0.00,0.000,6,0.000,0.038,2583,850,3932,0,0,0,0,0,0
$GC,7253,-0.73,-228.7,874.7,-7.6,775,7256,0.00,1.92,0.00,0.000,4,0.000,0.021,2583,2193,3930,0,0,0,0,0,0
$GC,7301,-0.73,-228.7,877.9,-6.9,777,7304,0.00,2.03,0.00,0.000,6,0.000,0.039,2583,864,3929,0,0,0,0,0,0
$GC,7634,-0.73,-228.7,900.4,-6.4,793,7638,0.00,1.95,0.00,0.000,4,0.000,0.021,2583,2206,3927,0,0,0,0,0,0
$GC,7695,-0.73,-228.7,904.2,-5.8,795,7702,0.00,2.03,0.00,0.000,6,0.000,0.038,2583,875,3928,0,0,0,0,0,0
$GC,8014,-0.73,-228.7,923.3,-6.1,811,8018,0.00,1.90,0.00,0.000,4,0.000,0.021,2583,2199,3927,0,0,0,0,0,0
$GC,8053,-0.73,-228.7,925.7,-5.8,812,8059,0.00,2.05,0.00,0.000,6,0.000,0.039,2583,872,3926,0,0,0,0,0,0
$GC,8371,-0.73,-228.7,946.7,-7.1,828,8375,0.00,1.92,0.00,0.000,4,0.000,0.021,2583,2199,3924,0,0,0,0,0,0
$GC,8417,-0.73,-228.7,950.0,-6.6,830,8421,0.00,2.00,0.00,0.000,6,0.000,0.039,2583,885,3924,0,0,0,0,0,0
$GC,8751,-0.73,-228.7,975.0,-7.9,846,8754,0.00,1.90,0.00,0.000,4,0.000,0.021,2582,2193,3923,0,0,0,0,0,0
$GC,8787,-0.73,-228.7,977.5,-6.9,847,8791,0.00,2.00,0.00,0.000,6,0.000,0.039,2583,884,3923,0,0,0,0,0,0
$STATE,9086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9086,begin apogee
$GC,9092,-0.14,0.0,1000.5,7.6,862,9284,0.55,0.00,183.15,1.412,4,0.111,0.000,2771,1040,3030,0,0,0,0,0,0
$STATE,9285,end apogee,CONTROL_FINISHED_OK
$STATE,9285,begin climb
$GC,9288,0.73,228.7,1009.9,0.0,871,9495,0.82,2.10,199.73,1.351,4,0.049,0.021,3068,2377,2095,0,0,0,0,0,0
$GC,9693,0.73,228.7,957.5,18.5,889,9697,0.00,2.17,0.00,0.000,6,0.000,0.037,3078,996,2088,0,0,0,0,0,0
$GC,10015,0.73,228.7,896.3,19.3,905,10019,0.00,1.25,0.00,0.000,4,0.000,0.047,3085,189,2086,0,0,0,0,0,0
$GC,10266,0.73,228.7,845.3,20.6,916,10270,0.00,1.12,0.00,0.000,6,0.000,0.026,3085,988,2085,0,0,0,0,0,0
$GC,10594,0.73,228.7,786.1,17.7,932,10598,0.00,2.05,0.00,0.000,4,0.000,0.025,3084,2381,2084,0,0,0,0,0,0
$GC,10713,0.73,228.7,766.1,15.9,937,10718,0.15,2.12,0.00,0.000,6,0.187,0.037,3056,1012,2083,0,0,0,0,0,0
$GC,11034,0.73,228.7,719.5,14.1,953,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1011,2083,0,0,0,0,0,0
$GC,11346,0.73,228.7,675.5,14.5,968,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1011,2083,0,0,0,0,0,0
$GC,11653,0.73,228.7,630.4,14.7,983,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1011,2082,0,0,0,0,0,0
$GC,11965,0.73,228.7,584.2,15.0,1002,11969,0.00,2.00,0.00,0.000,4,0.000,0.024,3056,2388,2081,0,0,0,0,0,0
$GC,12038,0.73,228.7,573.3,14.2,1008,12045,0.00,2.10,0.00,0.000,6,0.000,0.037,3062,1023,2081,0,0,0,0,0,0
$GC,12365,0.73,228.7,523.7,14.5,1039,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1023,2081,0,0,0,0,0,0
$GC,12687,0.73,228.7,476.7,13.9,1083,12695,0.00,2.00,0.00,0.000,4,0.000,0.024,3062,2386,2081,0,0,0,0,0,0
$GC,12771,0.73,228.7,464.6,13.4,1098,12779,0.00,2.12,0.00,0.000,6,0.000,0.038,3068,1019,2081,0,0,0,0,0,0
$GC,13107,0.73,228.7,417.6,14.5,1159,13115,0.00,1.98,0.00,0.000,4,0.000,0.024,3068,2381,2081,0,0,0,0,0,0
$GC,13171,0.73,228.7,409.1,13.1,1170,13179,0.00,2.12,0.00,0.000,6,0.000,0.037,3077,1012,2081,0,0,0,0,0,0
$GC,13506,0.73,228.7,365.0,13.7,1231,13514,0.00,1.23,0.00,0.000,4,0.000,0.046,3083,197,2081,0,0,0,0,0,0
$GC,13576,0.73,228.7,354.6,14.2,1243,13583,0.00,1.12,0.00,0.000,6,0.000,0.025,3083,1015,2080,0,0,0,0,0,0
$GC,13905,0.73,228.7,310.8,13.1,1304,13913,0.00,2.00,0.00,0.000,4,0.000,0.023,3083,2380,2080,0,0,0,0,0,0
$GC,14026,0.73,228.7,295.8,13.5,1325,14033,0.12,2.08,0.00,0.000,6,0.174,0.036,3060,1018,2081,0,0,0,0,0,0
$GC,14359,0.75,252.1,259.7,10.3,1386,14382,0.00,2.08,18.17,0.828,4,0.000,0.022,3060,2395,2000,0,0,0,0,0,0
$GC,14592,0.77,266.4,234.3,10.6,1427,14613,0.00,2.05,13.30,0.778,6,0.000,0.036,3065,1055,1941,0,0,0,0,0,0
$GC,14941,0.84,318.5,196.2,9.4,1490,14990,0.00,2.03,43.03,0.779,4,0.000,0.020,3065,2389,1729,0,0,0,0,0,0
$GC,15019,0.85,332.6,188.0,10.6,1502,15041,0.00,2.08,13.38,0.715,6,0.000,0.035,3073,1068,1670,0,0,0,0,0,0
$GC,15371,0.88,356.9,148.6,10.3,1565,15396,0.10,1.38,19.85,0.713,4,0.101,0.044,3127,190,1573,0,0,0,0,0,0
$GC,15427,0.88,356.9,141.6,14.6,1573,15435,0.00,1.25,0.00,0.000,6,0.000,0.020,3127,1128,1571,0,0,0,0,0,0
$GC,15755,0.88,356.9,96.0,12.8,1634,15763,0.00,1.42,0.00,0.000,4,0.000,0.042,3133,192,1569,0,0,0,0,0,0
$GC,15980,0.88,356.9,69.9,12.7,1676,15988,0.00,1.20,0.00,0.000,6,0.000,0.019,3133,1119,1569,0,0,0,0,0,0
$GC,16310,0.90,371.4,31.9,10.6,1737,16333,0.00,1.42,12.93,0.588,4,0.000,0.044,3135,193,1514,0,0,0,0,0,0
$GC,16419,0.96,423.1,20.9,9.4,1755,16466,0.00,1.17,42.25,0.610,6,0.000,0.018,3135,1121,1303,0,0,0,0,0,0
$STATE,16561,end climb,SURFACE_DEPTH_REACHED
$STATE,16562,begin surface coast
$FINISH,0.6,1.022169
$STATE,16591,end surface coast,CONTROL_FINISHED_OK
$STATE,16591,begin surface
$SM_CCo,16671,0.00,0.000,0,0,1296,425.10
$SM_GC,1.44,7.75,0.00,0.00,0.035,0.000,0.000,121,779,1296,-8.35,-0.31,425.10
$IRIDIUM_FIX,2115.63,12559.43,021110,232314
$TT8_MAMPS,0.027713
$HUMID,39.60
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.10
$XPDR_PINGS,1
$24V_AH,22.8,53.737
$10V_AH,10.2,49.586
$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,19.175,136.250,545.775,0.000,0.000,52.822,75.675,220.957,0.250,0.000,12.925,4388.996,7445.773,630.249,4257.039,550.564,0.000,2221.877,0.000,3925.160,0.000,0.545,0.000
$DEVICE_MAMPS,218.790,74.205,1412.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1217.715,1558.110,1999.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333756
$DATA_FILE_SIZE,103594,1784
$CAP_FILE_SIZE,190126,0
$CFSIZE,260165632,147763200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,130.2,1
$GPS,031110,035405,2119.828,12601.020,36,1.3,41,-2.9