version: 66.08
glider: 167
mission: 6
dive: 314
start: 11 7 110 19 26 37
data:
$ID,167
$MISSION,6
$DIVE,314
$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,-54519.887
$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,31
$R_STBD_OVSHOOT,151
$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
$GPS1,071110,191607,2121.854,12602.155,29,1.0,30,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.0
$GPS2,071110,192614,2121.720,12602.284,15,1.0,15,-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,223.5,5548,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,98,0.00,0.00,-78.68,0.000,2,0.000,0.000,113,790,3285,0,0,0,0,0,0
$GC,102,-0.72,-228.7,5.1,-10.5,11,127,9.70,0.93,-11.30,0.000,4,0.222,0.074,2580,182,3964,0,0,0,0,0,0
$GC,369,-0.72,-228.7,94.2,-31.1,59,377,0.00,0.70,0.00,0.000,6,0.000,0.021,2578,798,3966,0,0,0,0,0,0
$GC,701,-0.72,-228.7,169.4,-17.5,120,710,0.00,0.90,0.00,0.000,4,0.000,0.041,2578,186,3967,0,0,0,0,0,0
$GC,959,-0.72,-228.7,220.9,-21.3,166,967,0.00,0.70,0.00,0.000,6,0.000,0.021,2573,811,3968,0,0,0,0,0,0
$GC,1302,-0.72,-228.7,278.9,-15.2,227,1308,0.00,0.93,0.00,0.000,4,0.000,0.041,2573,181,3968,0,0,0,0,0,0
$GC,1390,-0.72,-228.7,292.9,-15.4,242,1398,0.00,0.70,0.00,0.000,6,0.000,0.021,2571,791,3968,0,0,0,0,0,0
$GC,1734,-0.72,-228.7,342.8,-14.5,303,1741,0.00,1.85,0.00,0.000,4,0.000,0.016,2563,2138,3968,0,0,0,0,0,0
$GC,1797,-0.72,-228.7,351.8,-12.6,314,1806,0.00,2.03,0.00,0.000,6,0.000,0.032,2563,792,3968,0,0,0,0,0,0
$GC,2139,-0.72,-228.7,401.7,-14.4,375,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,792,3967,0,0,0,0,0,0
$GC,2477,-0.72,-228.7,443.4,-10.7,436,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,792,3966,0,0,0,0,0,0
$GC,2823,-0.72,-228.7,484.5,-12.5,497,2829,0.00,1.85,0.00,0.000,4,0.000,0.017,2561,2127,3963,0,0,0,0,0,0
$GC,2882,-0.72,-228.7,491.4,-10.1,507,2889,0.00,1.95,0.00,0.000,6,0.000,0.033,2561,808,3963,0,0,0,0,0,0
$GC,3212,-0.72,-228.7,530.9,-11.6,544,3216,0.00,1.85,0.00,0.000,4,0.000,0.018,2561,2124,3961,0,0,0,0,0,0
$GC,3251,-0.72,-228.7,535.1,-10.2,547,3257,0.00,1.98,0.00,0.000,6,0.000,0.034,2561,809,3960,0,0,0,0,0,0
$GC,3576,-0.72,-228.7,570.6,-10.7,578,3580,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2118,3958,0,0,0,0,0,0
$GC,3634,-0.72,-228.7,576.1,-9.2,583,3638,0.00,1.98,0.00,0.000,6,0.000,0.034,2561,807,3958,0,0,0,0,0,0
$GC,3976,-0.72,-228.7,612.7,-11.2,610,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,807,3955,0,0,0,0,0,0
$GC,4282,-0.72,-228.7,648.1,-11.2,625,4285,0.00,1.85,0.00,0.000,4,0.000,0.018,2561,2122,3953,0,0,0,0,0,0
$GC,4351,-0.72,-228.7,654.9,-9.1,628,4354,0.00,1.98,0.00,0.000,6,0.000,0.036,2561,817,3951,0,0,0,0,0,0
$GC,4686,-0.72,-228.7,690.9,-10.9,644,4690,0.00,1.85,0.00,0.000,4,0.000,0.018,2561,2127,3949,0,0,0,0,0,0
$GC,4735,-0.72,-228.7,696.3,-9.3,646,4739,0.00,1.98,0.00,0.000,6,0.000,0.037,2561,828,3949,0,0,0,0,0,0
$GC,5065,-0.72,-228.7,732.3,-11.1,662,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,828,3945,0,0,0,0,0,0
$GC,5373,-0.72,-228.7,764.9,-10.3,677,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,828,3944,0,0,0,0,0,0
$GC,5682,-0.72,-228.7,794.5,-9.3,692,5685,0.00,1.83,0.00,0.000,4,0.000,0.020,2561,2114,3941,0,0,0,0,0,0
$GC,5739,-0.72,-228.7,798.9,-7.1,694,5743,0.00,2.00,0.00,0.000,6,0.000,0.037,2561,825,3941,0,0,0,0,0,0
$GC,6060,-0.72,-228.7,826.8,-9.0,710,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,825,3939,0,0,0,0,0,0
$GC,6372,-0.72,-228.7,855.9,-9.8,725,6375,0.00,1.85,0.00,0.000,4,0.000,0.020,2561,2115,3936,0,0,0,0,0,0
$GC,6411,-0.72,-228.7,859.9,-9.0,726,6418,0.00,1.98,0.00,0.000,6,0.000,0.038,2561,828,3936,0,0,0,0,0,0
$GC,6727,-0.72,-228.7,891.7,-10.2,742,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,828,3934,0,0,0,0,0,0
$GC,7039,-0.72,-228.7,922.5,-10.0,757,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,828,3932,0,0,0,0,0,0
$GC,7346,-0.72,-228.7,951.9,-9.0,772,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,828,3930,0,0,0,0,0,0
$GC,7655,-0.72,-228.7,977.4,-8.1,787,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,828,3929,0,0,0,0,0,0
$STATE,7963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7963,begin apogee
$GC,7971,-0.14,0.0,1001.3,7.5,802,8165,0.62,0.00,185.30,1.410,4,0.112,0.000,2771,954,3028,0,0,0,0,0,0
$STATE,8166,end apogee,CONTROL_FINISHED_OK
$STATE,8166,begin climb
$GC,8170,0.72,228.7,1007.9,0.0,811,8383,0.80,2.22,198.75,1.346,4,0.048,0.020,3061,2381,2094,0,0,0,0,0,0
$GC,8586,0.72,228.7,949.4,17.5,830,8590,0.00,2.15,0.00,0.000,6,0.000,0.037,3069,1000,2088,0,0,0,0,0,0
$GC,8921,0.72,228.7,886.7,18.4,846,8925,0.00,1.23,0.00,0.000,4,0.000,0.046,3076,193,2085,0,0,0,0,0,0
$GC,9139,0.72,228.7,845.4,19.4,855,9146,0.00,1.10,0.00,0.000,6,0.000,0.027,3077,981,2085,0,0,0,0,0,0
$GC,9457,0.72,228.7,789.7,17.1,871,9461,0.00,2.08,0.00,0.000,4,0.000,0.024,3076,2401,2084,0,0,0,0,0,0
$GC,9534,0.72,228.7,776.1,16.6,874,9541,0.00,2.15,0.00,0.000,6,0.000,0.037,3082,999,2084,0,0,0,0,0,0
$GC,9852,0.72,228.7,719.5,18.6,890,9855,0.00,2.05,0.00,0.000,4,0.000,0.024,3082,2381,2082,0,0,0,0,0,0
$GC,9901,0.72,228.7,709.7,18.1,892,9906,0.12,2.10,0.00,0.000,6,0.185,0.037,3059,1008,2082,0,0,0,0,0,0
$GC,10230,0.72,228.7,655.2,16.7,908,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1008,2082,0,0,0,0,0,0
$GC,10541,0.72,228.7,605.3,16.2,923,10545,0.00,2.03,0.00,0.000,4,0.000,0.024,3060,2397,2081,0,0,0,0,0,0
$GC,10642,0.72,228.7,590.0,14.9,930,10646,0.00,2.10,0.00,0.000,6,0.000,0.037,3067,1022,2081,0,0,0,0,0,0
$GC,10967,0.72,228.7,540.5,15.1,960,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1022,2081,0,0,0,0,0,0
$GC,11291,0.72,228.7,490.1,15.8,995,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1022,2080,0,0,0,0,0,0
$GC,11630,0.72,228.7,438.1,13.3,1056,11638,0.00,2.03,0.00,0.000,4,0.000,0.024,3067,2388,2080,0,0,0,0,0,0
$GC,11665,0.72,228.7,433.5,14.0,1061,11672,0.00,2.08,0.00,0.000,6,0.000,0.035,3071,1016,2080,0,0,0,0,0,0
$GC,12004,0.72,228.7,386.3,13.7,1122,12012,0.00,2.03,0.00,0.000,4,0.000,0.023,3071,2396,2079,0,0,0,0,0,0
$GC,12052,0.72,228.7,380.0,12.6,1130,12060,0.00,2.12,0.00,0.000,6,0.000,0.038,3071,1028,2080,0,0,0,0,0,0
$GC,12395,0.72,228.7,337.1,12.2,1191,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1028,2080,0,0,0,0,0,0
$GC,12734,0.72,228.7,296.0,13.1,1252,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1028,2080,0,0,0,0,0,0
$GC,13082,0.72,228.7,257.5,11.3,1313,13088,0.00,1.27,0.00,0.000,4,0.000,0.046,3072,191,2080,0,0,0,0,0,0
$GC,13313,0.72,231.8,232.2,11.0,1354,13320,0.00,1.17,0.00,0.000,6,0.000,0.024,3072,1060,2080,0,0,0,0,0,0
$GC,13659,0.78,274.8,197.4,9.7,1415,13701,0.00,1.38,36.28,0.786,4,0.000,0.044,3072,191,1907,0,0,0,0,0,0
$GC,13783,0.78,274.8,181.9,13.1,1435,13790,0.00,1.15,0.00,0.000,6,0.000,0.022,3072,1044,1905,0,0,0,0,0,0
$GC,14127,0.80,296.7,146.9,10.4,1496,14151,0.00,1.35,18.52,0.711,4,0.000,0.044,3071,186,1819,0,0,0,0,0,0
$GC,14193,0.85,331.1,140.4,10.0,1506,14232,0.00,1.05,29.25,0.715,6,0.000,0.021,3072,979,1677,0,0,0,0,0,0
$GC,14552,0.93,403.0,104.9,8.8,1571,14621,0.15,2.08,57.58,0.686,4,0.078,0.018,3144,2373,1385,0,0,0,0,0,0
$GC,14767,0.93,403.0,77.2,13.2,1607,14775,0.00,2.17,0.00,0.000,6,0.000,0.034,3149,961,1380,0,0,0,0,0,0
$GC,15099,0.93,403.0,31.2,13.9,1668,15108,0.00,1.12,0.00,0.000,4,0.000,0.041,3155,198,1379,0,0,0,0,0,0
$GC,15184,0.93,403.0,18.2,14.9,1683,15192,0.08,1.00,0.00,0.000,6,0.148,0.020,3128,993,1380,0,0,0,0,0,0
$STATE,15316,end climb,SURFACE_DEPTH_REACHED
$STATE,15316,begin surface coast
$FINISH,0.5,0.997970
$STATE,15354,end surface coast,CONTROL_FINISHED_OK
$STATE,15354,begin surface
$SM_CCo,15434,0.00,0.000,0,0,1376,405.48
$SM_GC,1.47,7.70,0.00,0.00,0.037,0.000,0.000,131,780,1376,-8.36,-0.31,405.48
$IRIDIUM_FIX,2113.32,12602.66,071110,191919
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.80
$XPDR_PINGS,0
$24V_AH,22.8,58.545
$10V_AH,10.1,54.382
$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,19.175,77.075,525.675,0.000,0.000,60.863,64.659,213.422,0.000,0.000,16.665,4139.182,6733.385,586.774,4048.300,509.065,0.000,2060.554,0.000,3726.362,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,91.800,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.281,1515.563,1996.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333736
$DATA_FILE_SIZE,99979,1714
$CAP_FILE_SIZE,165797,0
$CFSIZE,260165632,145330176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,159.5,1
$GPS,071110,234507,2119.302,12601.106,40,1.2,41,-2.9