version: 66.08
glider: 167
mission: 6
dive: 313
start: 11 7 110 15 1 25
data:
$ID,167
$MISSION,6
$DIVE,313
$N_DIVES,319
$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,-54518.629
$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,50
$R_STBD_OVSHOOT,135
$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
$GPS1,071110,145025,2124.381,12601.463,43,1.2,43,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.3
$GPS2,071110,150102,2124.256,12601.559,13,1.5,13,-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,193.9,9939,-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,-228.7,0.0,0.0,0,89,0.00,0.00,-68.85,0.000,2,0.000,0.000,102,770,3474,0,0,0,0,0,0
$GC,92,-0.72,-228.7,6.4,-13.6,9,117,9.77,2.00,-7.53,0.000,4,0.223,0.030,2569,2172,3965,0,0,0,0,0,0
$GC,309,-0.72,-228.7,71.4,-23.1,48,317,0.00,2.08,0.00,0.000,6,0.000,0.033,2569,802,3966,0,0,0,0,0,0
$GC,634,-0.72,-228.7,155.0,-17.8,109,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,802,3967,0,0,0,0,0,0
$GC,965,-0.72,-228.7,218.9,-19.0,170,973,0.00,0.88,0.00,0.000,4,0.000,0.041,2569,194,3968,0,0,0,0,0,0
$GC,1217,-0.72,-228.7,267.3,-17.8,216,1225,0.00,0.65,0.00,0.000,6,0.000,0.021,2564,783,3968,0,0,0,0,0,0
$GC,1552,-0.72,-228.7,320.5,-15.3,277,1559,0.00,0.85,0.00,0.000,4,0.000,0.041,2565,196,3968,0,0,0,0,0,0
$GC,1771,-0.72,-228.7,355.8,-16.8,317,1778,0.00,0.60,0.00,0.000,6,0.000,0.022,2561,738,3968,0,0,0,0,0,0
$GC,2101,-0.72,-228.7,405.0,-13.6,378,2109,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2119,3968,0,0,0,0,0,0
$GC,2144,-0.72,-228.7,410.3,-11.4,385,2151,0.00,2.00,0.00,0.000,6,0.000,0.031,2561,756,3968,0,0,0,0,0,0
$GC,2477,-0.72,-228.7,453.0,-12.9,446,2485,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2113,3966,0,0,0,0,0,0
$GC,2531,-0.72,-228.7,459.4,-11.6,455,2539,0.00,2.00,0.00,0.000,6,0.000,0.032,2561,772,3966,0,0,0,0,0,0
$GC,2869,-0.72,-228.7,505.4,-12.5,513,2873,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2122,3964,0,0,0,0,0,0
$GC,2932,-0.72,-228.7,512.6,-10.9,518,2939,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,770,3963,0,0,0,0,0,0
$GC,3258,-0.72,-228.7,548.9,-10.6,549,3262,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2113,3961,0,0,0,0,0,0
$GC,3283,-0.72,-228.7,551.3,-10.0,551,3287,0.00,1.98,0.00,0.000,6,0.000,0.034,2560,785,3961,0,0,0,0,0,0
$GC,3614,-0.72,-228.7,587.7,-11.4,582,3618,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2122,3957,0,0,0,0,0,0
$GC,3671,-0.72,-228.7,593.3,-9.6,587,3675,0.00,2.00,0.00,0.000,6,0.000,0.034,2560,795,3957,0,0,0,0,0,0
$GC,4006,-0.72,-228.7,630.6,-11.0,606,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,794,3955,0,0,0,0,0,0
$GC,4314,-0.72,-228.7,663.2,-10.8,621,4317,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2109,3952,0,0,0,0,0,0
$GC,4388,-0.72,-228.7,670.3,-8.9,624,4392,0.00,1.98,0.00,0.000,6,0.000,0.037,2561,796,3952,0,0,0,0,0,0
$GC,4716,-0.72,-228.7,704.4,-10.4,640,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,796,3950,0,0,0,0,0,0
$GC,5025,-0.72,-228.7,736.0,-10.2,655,5029,0.00,0.90,0.00,0.000,4,0.000,0.047,2561,190,3947,0,0,0,0,0,0
$GC,5073,-0.72,-228.7,741.1,-10.9,657,5077,0.00,0.68,0.00,0.000,6,0.000,0.024,2561,725,3946,0,0,0,0,0,0
$GC,5406,-0.72,-228.7,778.5,-11.3,673,5409,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2102,3944,0,0,0,0,0,0
$GC,5521,-0.72,-228.7,789.5,-8.9,678,5525,0.00,2.00,0.00,0.000,6,0.000,0.037,2561,798,3943,0,0,0,0,0,0
$GC,5854,-0.72,-228.7,823.6,-10.0,694,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,798,3940,0,0,0,0,0,0
$GC,6165,-0.72,-228.7,854.3,-9.9,709,6168,0.00,1.88,0.00,0.000,4,0.000,0.020,2561,2113,3938,0,0,0,0,0,0
$GC,6237,-0.72,-228.7,860.9,-8.3,712,6241,0.00,2.00,0.00,0.000,6,0.000,0.038,2561,799,3938,0,0,0,0,0,0
$GC,6566,-0.72,-228.7,892.0,-9.5,728,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,798,3936,0,0,0,0,0,0
$GC,6876,-0.72,-228.7,921.4,-9.6,743,6879,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2112,3934,0,0,0,0,0,0
$GC,6910,-0.72,-228.7,924.7,-8.6,744,6914,0.00,2.00,0.00,0.000,6,0.000,0.039,2560,801,3933,0,0,0,0,0,0
$GC,7233,-0.72,-228.7,953.8,-9.0,760,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,801,3931,0,0,0,0,0,0
$GC,7543,-0.72,-228.7,981.5,-9.1,775,7547,0.00,1.90,0.00,0.000,4,0.000,0.021,2560,2111,3930,0,0,0,0,0,0
$GC,7605,-0.72,-228.7,987.0,-8.7,777,7611,0.00,2.00,0.00,0.000,6,0.000,0.039,2561,802,3929,0,0,0,0,0,0
$STATE,7753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7753,begin apogee
$GC,7761,-0.14,0.0,1000.7,9.3,785,7953,0.62,0.00,185.40,1.413,4,0.114,0.000,2770,944,3029,0,0,0,0,0,0
$STATE,7954,end apogee,CONTROL_FINISHED_OK
$STATE,7954,begin climb
$GC,7958,0.72,228.7,1010.4,0.0,794,8165,0.77,1.25,199.23,1.350,4,0.050,0.050,3052,202,2095,0,0,0,0,0,0
$GC,8413,0.72,228.7,947.1,17.6,814,8420,0.00,1.02,0.00,0.000,6,0.000,0.027,3053,919,2086,0,0,0,0,0,0
$GC,8731,0.72,228.7,894.0,16.5,830,8734,0.00,1.12,0.00,0.000,4,0.000,0.047,3058,183,2083,0,0,0,0,0,0
$GC,8917,0.72,228.7,861.1,17.9,838,8920,0.00,1.05,0.00,0.000,6,0.000,0.028,3058,929,2083,0,0,0,0,0,0
$GC,9244,0.72,228.7,804.2,17.2,854,9247,0.00,2.00,0.00,0.000,4,0.000,0.024,3058,2307,2081,0,0,0,0,0,0
$GC,9359,0.72,228.7,785.5,16.9,859,9363,0.00,1.95,0.00,0.000,6,0.000,0.037,3065,1022,2080,0,0,0,0,0,0
$GC,9692,0.72,228.7,727.3,17.6,875,9696,0.00,1.88,0.00,0.000,4,0.000,0.024,3066,2311,2080,0,0,0,0,0,0
$GC,9755,0.72,228.7,716.3,18.2,877,9761,0.00,1.98,0.00,0.000,6,0.000,0.037,3073,1019,2079,0,0,0,0,0,0
$GC,10071,0.72,228.7,661.4,16.5,893,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1018,2079,0,0,0,0,0,0
$GC,10380,0.72,228.7,611.3,16.1,908,10384,0.00,1.88,0.00,0.000,4,0.000,0.024,3073,2307,2079,0,0,0,0,0,0
$GC,10518,0.72,228.7,590.1,14.9,916,10522,0.00,1.92,0.00,0.000,6,0.000,0.037,3081,1031,2078,0,0,0,0,0,0
$GC,10851,0.72,228.7,536.4,15.9,947,10854,0.00,1.83,0.00,0.000,4,0.000,0.024,3082,2307,2078,0,0,0,0,0,0
$GC,10889,0.72,228.7,529.8,15.4,950,10897,0.12,1.95,0.00,0.000,6,0.179,0.036,3058,1044,2078,0,0,0,0,0,0
$GC,11220,0.72,228.7,485.0,14.1,991,11227,0.00,1.83,0.00,0.000,4,0.000,0.025,3058,2311,2078,0,0,0,0,0,0
$GC,11251,0.72,228.7,480.3,14.0,996,11258,0.00,1.95,0.00,0.000,6,0.000,0.037,3065,1049,2078,0,0,0,0,0,0
$GC,11586,0.72,228.7,433.9,13.2,1057,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1049,2078,0,0,0,0,0,0
$GC,11914,0.72,228.7,388.9,13.2,1118,11922,0.00,1.85,0.00,0.000,4,0.000,0.024,3065,2308,2077,0,0,0,0,0,0
$GC,11946,0.72,228.7,384.4,12.8,1123,11954,0.00,1.95,0.00,0.000,6,0.000,0.037,3071,1029,2077,0,0,0,0,0,0
$GC,12278,0.72,228.7,342.9,11.9,1184,12286,0.00,1.25,0.00,0.000,4,0.000,0.045,3078,198,2077,0,0,0,0,0,0
$GC,12334,0.72,228.7,336.1,13.3,1193,12341,0.00,1.05,0.00,0.000,6,0.000,0.025,3077,967,2077,0,0,0,0,0,0
$GC,12665,0.72,228.7,295.4,12.2,1254,12673,0.00,2.08,0.00,0.000,4,0.000,0.023,3077,2380,2077,0,0,0,0,0,0
$GC,12757,0.72,228.7,283.9,11.1,1270,12765,0.00,2.05,0.00,0.000,6,0.000,0.037,3077,1052,2077,0,0,0,0,0,0
$GC,13093,0.75,251.8,246.7,10.4,1331,13115,0.00,1.35,17.73,0.815,4,0.000,0.044,3085,185,2002,0,0,0,0,0,0
$GC,13329,0.78,274.4,218.9,10.4,1373,13357,0.00,1.17,19.65,0.789,6,0.000,0.023,3084,1047,1910,0,0,0,0,0,0
$GC,13684,0.78,274.4,178.9,12.0,1437,13691,0.00,1.30,0.00,0.000,4,0.000,0.042,3089,190,1907,0,0,0,0,0,0
$GC,13871,0.78,274.4,154.9,13.4,1471,13878,0.00,1.12,0.00,0.000,6,0.000,0.021,3089,1045,1907,0,0,0,0,0,0
$GC,14201,0.87,351.7,120.3,8.6,1532,14269,0.00,1.98,62.62,0.715,4,0.000,0.018,3089,2371,1593,0,0,0,0,0,0
$GC,14293,0.94,408.6,112.0,9.3,1545,14346,0.00,2.15,46.95,0.691,6,0.000,0.034,3091,993,1362,0,0,0,0,0,0
$GC,14666,1.04,485.9,80.6,8.6,1612,14733,0.17,0.00,61.22,0.658,6,0.073,0.000,3175,992,1047,0,0,0,0,0,0
$GC,15054,1.04,485.9,15.4,17.6,1681,15062,0.00,1.17,0.00,0.000,4,0.000,0.041,3181,197,1042,0,0,0,0,0,0
$GC,15099,1.04,485.9,6.8,22.9,1688,15107,0.00,1.02,0.00,0.000,6,0.000,0.019,3181,1020,1042,0,0,0,0,0,0
$STATE,15119,end climb,SURFACE_DEPTH_REACHED
$STATE,15119,begin surface coast
$FINISH,0.5,1.006878
$STATE,15137,end surface coast,CONTROL_FINISHED_OK
$STATE,15137,begin surface
$SM_CCo,15215,0.00,0.000,0,0,1040,487.90
$SM_GC,1.49,7.78,0.00,0.00,0.031,0.000,0.000,122,791,1040,-8.35,0.03,487.90
$IRIDIUM_FIX,2115.63,12602.66,071110,141443
$TT8_MAMPS,0.028462
$HUMID,40.54
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,22.8,58.350
$10V_AH,10.1,54.197
$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,19.250,93.250,592.800,0.000,0.000,59.995,95.896,215.283,0.000,0.000,14.678,4114.105,6462.709,618.349,4112.227,521.439,0.000,2129.563,0.000,3756.356,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,71.145,1412.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.185,1496.161,1973.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,96931,1694
$CAP_FILE_SIZE,171575,0
$CFSIZE,260165632,145424384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,109.4,1
$GPS,071110,191607,2121.854,12602.155,29,1.0,30,-2.9