version: 66.08
glider: 167
mission: 6
dive: 293
start: 11 3 110 21 24 37
data:
$ID,167
$MISSION,6
$DIVE,293
$N_DIVES,302
$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,-54491.859
$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,35
$R_STBD_OVSHOOT,82
$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
$GPS1,031110,211355,2122.697,12601.785,41,1.1,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.4
$GPS2,031110,212414,2122.678,12601.891,16,1.7,16,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,207.9,7098,-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,-228.7,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,2,0.000,0.000,112,785,3493,0,0,0,0,0,0
$GC,90,-0.72,-228.7,6.8,-15.4,9,115,9.80,0.85,-7.12,0.000,4,0.225,0.068,2587,182,3963,0,0,0,0,0,0
$GC,354,-0.72,-228.7,95.8,-29.0,57,362,0.00,0.80,0.00,0.000,6,0.000,0.020,2583,882,3964,0,0,0,0,0,0
$GC,680,-0.72,-228.7,172.6,-21.7,118,688,0.00,1.02,0.00,0.000,4,0.000,0.040,2583,189,3965,0,0,0,0,0,0
$GC,697,-0.72,-228.7,176.5,-20.9,120,705,0.00,0.75,0.00,0.000,6,0.000,0.021,2579,847,3965,0,0,0,0,0,0
$GC,1033,-0.72,-228.7,236.1,-17.7,181,1039,0.00,1.88,0.00,0.000,4,0.000,0.017,2574,2197,3966,0,0,0,0,0,0
$GC,1132,-0.72,-228.7,250.4,-12.3,199,1139,0.00,2.15,0.00,0.000,6,0.000,0.032,2574,740,3966,0,0,0,0,0,0
$GC,1465,-0.72,-228.7,300.8,-14.1,260,1473,0.00,0.77,0.00,0.000,4,0.000,0.041,2574,194,3966,0,0,0,0,0,0
$GC,1519,-0.72,-228.7,308.8,-14.6,269,1525,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,863,3966,0,0,0,0,0,0
$GC,1852,-0.72,-228.7,357.3,-15.1,330,1860,0.00,0.98,0.00,0.000,4,0.000,0.040,2573,195,3966,0,0,0,0,0,0
$GC,1933,-0.72,-228.7,369.0,-14.8,344,1942,0.00,0.73,0.00,0.000,6,0.000,0.021,2574,836,3966,0,0,0,0,0,0
$GC,2271,-0.72,-228.7,415.7,-13.6,405,2278,0.00,1.77,0.00,0.000,4,0.000,0.018,2574,2113,3965,0,0,0,0,0,0
$GC,2297,-0.72,-228.7,419.2,-12.9,409,2304,0.00,2.00,0.00,0.000,6,0.000,0.033,2573,758,3965,0,0,0,0,0,0
$GC,2629,-0.72,-228.7,459.7,-11.3,470,2637,0.00,1.92,0.00,0.000,4,0.000,0.017,2574,2109,3963,0,0,0,0,0,0
$GC,2688,-0.72,-228.7,465.7,-9.4,480,2696,0.00,2.03,0.00,0.000,6,0.000,0.034,2574,774,3963,0,0,0,0,0,0
$GC,3022,-0.72,-228.7,502.5,-10.8,539,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,774,3961,0,0,0,0,0,0
$GC,3344,-0.72,-228.7,539.2,-11.0,569,3348,0.00,1.88,0.00,0.000,4,0.000,0.018,2573,2113,3958,0,0,0,0,0,0
$GC,3439,-0.72,-228.7,548.6,-8.6,577,3446,0.00,2.03,0.00,0.000,6,0.000,0.034,2575,787,3957,0,0,0,0,0,0
$GC,3766,-0.72,-228.7,582.8,-10.7,608,3769,0.00,0.88,0.00,0.000,4,0.000,0.045,2574,192,3955,0,0,0,0,0,0
$GC,3812,-0.72,-228.7,587.9,-11.1,612,3816,0.00,0.68,0.00,0.000,6,0.000,0.024,2573,742,3955,0,0,0,0,0,0
$GC,4139,-0.72,-228.7,620.9,-9.8,633,4143,0.00,2.03,0.00,0.000,4,0.000,0.019,2573,2160,3952,0,0,0,0,0,0
$GC,4229,-0.72,-228.7,628.4,-7.6,637,4233,0.00,2.05,0.00,0.000,6,0.000,0.035,2574,792,3952,0,0,0,0,0,0
$GC,4558,-0.72,-228.7,660.0,-9.8,653,4562,0.00,1.95,0.00,0.000,4,0.000,0.019,2574,2149,3949,0,0,0,0,0,0
$GC,4614,-0.72,-228.7,665.3,-8.4,655,4618,0.00,2.05,0.00,0.000,6,0.000,0.037,2572,802,3949,0,0,0,0,0,0
$GC,4936,-0.72,-228.7,698.3,-10.6,671,4940,0.00,1.95,0.00,0.000,4,0.000,0.019,2574,2157,3945,0,0,0,0,0,0
$GC,4976,-0.72,-228.7,702.3,-9.1,672,4983,0.00,2.05,0.00,0.000,6,0.000,0.037,2573,800,3946,0,0,0,0,0,0
$GC,5293,-0.72,-228.7,736.0,-10.5,688,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,799,3943,0,0,0,0,0,0
$GC,5602,-0.72,-228.7,765.7,-9.2,703,5605,0.00,1.95,0.00,0.000,4,0.000,0.020,2574,2150,3941,0,0,0,0,0,0
$GC,5672,-0.72,-228.7,771.1,-8.1,706,5676,0.00,2.05,0.00,0.000,6,0.000,0.038,2574,808,3941,0,0,0,0,0,0
$GC,6005,-0.72,-228.7,799.0,-8.3,722,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,808,3938,0,0,0,0,0,0
$GC,6316,-0.72,-228.7,824.4,-8.0,737,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,808,3936,0,0,0,0,0,0
$GC,6625,-0.72,-228.7,849.7,-8.2,752,6628,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2152,3934,0,0,0,0,0,0
$GC,6686,-0.72,-228.7,854.3,-7.0,754,6693,0.00,2.05,0.00,0.000,6,0.000,0.039,2573,805,3933,0,0,0,0,0,0
$GC,7004,-0.72,-228.7,880.3,-8.5,770,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,805,3931,0,0,0,0,0,0
$GC,7312,-0.72,-228.7,907.0,-8.6,785,7315,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2148,3930,0,0,0,0,0,0
$GC,7367,-0.72,-228.7,911.4,-7.3,787,7371,0.00,2.05,0.00,0.000,6,0.000,0.039,2573,819,3930,0,0,0,0,0,0
$GC,7691,-0.72,-228.7,939.1,-8.7,803,7695,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2141,3927,0,0,0,0,0,0
$GC,7741,-0.72,-228.7,943.4,-7.8,805,7745,0.00,2.05,0.00,0.000,6,0.000,0.039,2574,814,3927,0,0,0,0,0,0
$GC,8070,-0.72,-228.7,969.5,-7.8,821,8074,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2149,3927,0,0,0,0,0,0
$GC,8103,-0.72,-228.7,972.2,-6.2,822,8107,0.00,2.03,0.00,0.000,6,0.000,0.040,2573,826,3926,0,0,0,0,0,0
$GC,8426,-0.72,-228.7,996.9,-8.1,838,8429,0.00,1.90,0.00,0.000,4,0.000,0.021,2573,2144,3925,0,0,0,0,0,0
$STATE,8470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8470,begin apogee
$GC,8480,-0.14,0.0,1000.3,7.1,840,8673,0.57,0.00,183.90,1.411,4,0.106,0.000,2772,1000,3028,0,0,0,0,0,0
$STATE,8674,end apogee,CONTROL_FINISHED_OK
$STATE,8674,begin climb
$GC,8678,0.72,228.7,1010.1,0.0,849,8890,0.80,2.12,198.62,1.349,4,0.046,0.021,3062,2362,2095,0,0,0,0,0,0
$GC,9110,0.72,228.7,954.8,17.0,868,9117,0.00,2.15,0.00,0.000,6,0.000,0.038,3071,999,2088,0,0,0,0,0,0
$GC,9429,0.72,228.7,897.5,18.4,884,9432,0.00,1.23,0.00,0.000,4,0.000,0.047,3077,196,2087,0,0,0,0,0,0
$GC,9658,0.72,228.7,851.1,19.1,894,9662,0.00,1.08,0.00,0.000,6,0.000,0.027,3077,963,2086,0,0,0,0,0,0
$GC,9987,0.72,228.7,791.2,18.3,910,9991,0.00,2.08,0.00,0.000,4,0.000,0.025,3076,2391,2084,0,0,0,0,0,0
$GC,10081,0.72,228.7,774.2,17.5,914,10085,0.00,2.12,0.00,0.000,6,0.000,0.038,3085,1007,2084,0,0,0,0,0,0
$GC,10406,0.72,228.7,715.9,18.3,930,10410,0.00,2.03,0.00,0.000,4,0.000,0.023,3085,2393,2084,0,0,0,0,0,0
$GC,10434,0.72,228.7,710.1,17.9,931,10438,0.10,2.15,0.00,0.000,6,0.163,0.037,3063,1017,2083,0,0,0,0,0,0
$GC,10761,0.72,228.7,654.8,16.7,947,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1017,2082,0,0,0,0,0,0
$GC,11073,0.72,228.7,602.4,17.2,962,11077,0.00,2.00,0.00,0.000,4,0.000,0.026,3062,2383,2082,0,0,0,0,0,0
$GC,11187,0.72,228.7,583.6,16.2,971,11191,0.00,2.10,0.00,0.000,6,0.000,0.038,3068,1019,2081,0,0,0,0,0,0
$GC,11512,0.72,228.7,534.1,15.3,1001,11516,0.00,1.25,0.00,0.000,4,0.000,0.047,3074,197,2082,0,0,0,0,0,0
$GC,11581,0.72,228.7,523.1,15.6,1007,11585,0.00,1.15,0.00,0.000,6,0.000,0.026,3074,1020,2082,0,0,0,0,0,0
$GC,11913,0.72,228.7,473.9,14.2,1053,11920,0.00,2.00,0.00,0.000,4,0.000,0.024,3074,2398,2080,0,0,0,0,0,0
$GC,11950,0.72,228.7,468.4,14.7,1059,11957,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1025,2080,0,0,0,0,0,0
$GC,12283,0.72,228.7,417.1,15.2,1120,12290,0.00,2.03,0.00,0.000,4,0.000,0.024,3083,2392,2080,0,0,0,0,0,0
$GC,12373,0.72,228.7,405.0,13.3,1135,12381,0.12,2.08,0.00,0.000,6,0.180,0.036,3059,1031,2080,0,0,0,0,0,0
$GC,12707,0.72,228.7,362.6,11.7,1196,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1032,2079,0,0,0,0,0,0
$GC,13044,0.72,228.7,323.2,11.6,1257,13051,0.00,1.25,0.00,0.000,4,0.000,0.046,3064,201,2080,0,0,0,0,0,0
$GC,13081,0.72,228.7,318.5,12.4,1263,13088,0.00,1.17,0.00,0.000,6,0.000,0.024,3064,1062,2079,0,0,0,0,0,0
$GC,13414,0.72,228.7,278.1,11.6,1324,13423,0.00,1.92,0.00,0.000,4,0.000,0.021,3064,2393,2080,0,0,0,0,0,0
$GC,13537,0.72,228.7,263.8,11.4,1346,13545,0.00,2.05,0.00,0.000,6,0.000,0.035,3073,1057,2081,0,0,0,0,0,0
$GC,13876,0.77,269.2,225.5,9.8,1407,13913,0.00,1.35,31.77,0.809,4,0.000,0.044,3080,192,1929,0,0,0,0,0,0
$GC,13958,0.77,269.2,214.9,12.5,1420,13966,0.00,1.20,0.00,0.000,6,0.000,0.021,3080,1079,1927,0,0,0,0,0,0
$GC,14294,0.80,293.7,179.2,10.3,1481,14322,0.00,1.90,21.00,0.746,4,0.000,0.018,3080,2404,1829,0,0,0,0,0,0
$GC,14414,0.80,293.7,165.8,11.3,1501,14421,0.00,2.08,0.00,0.000,6,0.000,0.034,3087,1048,1827,0,0,0,0,0,0
$GC,14748,0.84,325.0,131.6,10.1,1562,14779,0.00,1.35,26.23,0.705,4,0.000,0.044,3093,181,1703,0,0,0,0,0,0
$GC,14813,0.84,325.0,124.1,12.0,1572,14821,0.00,1.20,0.00,0.000,6,0.000,0.019,3093,1092,1702,0,0,0,0,0,0
$GC,15140,0.90,371.5,91.8,9.6,1633,15186,0.00,1.40,37.85,0.669,4,0.000,0.043,3098,197,1513,0,0,0,0,0,0
$GC,15297,0.94,410.0,77.0,9.9,1659,15335,0.00,1.15,31.90,0.645,6,0.000,0.019,3098,1079,1356,0,0,0,0,0,0
$GC,15655,1.00,458.6,42.1,9.5,1724,15701,0.12,1.40,39.42,0.616,4,0.090,0.041,3165,188,1158,0,0,0,0,0,0
$GC,15835,1.00,458.6,12.3,13.4,1755,15844,0.00,1.15,0.00,0.000,6,0.000,0.018,3165,1106,1155,0,0,0,0,0,0
$STATE,15888,end climb,SURFACE_DEPTH_REACHED
$STATE,15888,begin surface coast
$FINISH,0.5,1.022285
$STATE,15912,end surface coast,CONTROL_FINISHED_OK
$STATE,15912,begin surface
$SM_CCo,15992,0.00,0.000,0,0,1153,460.18
$SM_GC,1.46,7.85,0.00,0.00,0.037,0.000,0.000,117,780,1153,-8.37,-0.28,460.18
$IRIDIUM_FIX,2113.32,12612.87,031110,212108
$TT8_MAMPS,0.028462
$HUMID,39.40
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,22.8,54.682
$10V_AH,10.1,50.506
$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,19.375,110.300,570.700,0.000,0.000,55.728,78.961,215.910,0.000,0.000,17.826,4314.585,6843.740,630.200,4250.334,548.269,0.000,2206.450,0.000,3916.164,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,68.085,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1205.560,1562.707,2062.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,103540,1768
$CAP_FILE_SIZE,183192,0
$CFSIZE,260165632,147296256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,104.6,1
$GPS,041110,015225,2120.579,12601.610,39,1.9,39,-2.9