version: 66.08
glider: 167
mission: 6
dive: 315
start: 11 7 110 23 56 5
data:
$ID,167
$MISSION,6
$DIVE,315
$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,-54521.145
$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,44
$R_STBD_OVSHOOT,138
$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
$GPS1,071110,234507,2119.302,12601.106,40,1.2,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.5
$GPS2,071110,235543,2119.113,12601.080,10,1.4,15,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$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,356.7,10128,-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,19,-0.72,-228.7,0.0,0.0,0,93,0.00,0.00,-72.07,0.000,2,0.000,0.000,114,775,3543,0,0,0,0,0,0
$GC,96,-0.72,-228.7,6.7,-15.0,10,120,9.57,1.95,-6.45,0.000,4,0.216,0.029,2575,2163,3964,0,0,0,0,0,0
$GC,129,-0.72,-228.7,25.9,-52.9,14,136,0.00,2.10,0.00,0.000,6,0.000,0.031,2575,784,3965,0,0,0,0,0,0
$GC,454,-0.72,-228.7,118.0,-24.0,75,462,0.00,0.85,0.00,0.000,4,0.000,0.041,2575,196,3965,0,0,0,0,0,0
$GC,572,-0.72,-228.7,144.3,-19.2,96,581,0.00,0.70,0.00,0.000,6,0.000,0.021,2571,815,3966,0,0,0,0,0,0
$GC,913,-0.72,-228.7,207.5,-19.3,157,920,0.00,0.90,0.00,0.000,4,0.000,0.041,2571,199,3967,0,0,0,0,0,0
$GC,1062,-0.72,-228.7,235.7,-18.8,183,1069,0.00,0.65,0.00,0.000,6,0.000,0.021,2567,783,3967,0,0,0,0,0,0
$GC,1404,-0.72,-228.7,295.8,-16.6,244,1413,0.00,0.85,0.00,0.000,4,0.000,0.041,2567,196,3967,0,0,0,0,0,0
$GC,1563,-0.72,-228.7,321.6,-15.3,271,1569,0.00,0.62,0.00,0.000,6,0.000,0.022,2564,757,3967,0,0,0,0,0,0
$GC,1900,-0.72,-228.7,371.3,-15.0,332,1909,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2138,3967,0,0,0,0,0,0
$GC,1935,-0.72,-228.7,375.7,-13.8,337,1942,0.00,2.08,0.00,0.000,6,0.000,0.033,2561,745,3967,0,0,0,0,0,0
$GC,2273,-0.72,-228.7,423.3,-13.1,398,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,745,3967,0,0,0,0,0,0
$GC,2615,-0.72,-228.7,464.2,-11.1,459,2621,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2132,3965,0,0,0,0,0,0
$GC,2656,-0.72,-228.7,468.5,-9.1,466,2664,0.00,2.08,0.00,0.000,6,0.000,0.034,2561,765,3964,0,0,0,0,0,0
$GC,2997,-0.72,-228.7,508.0,-12.4,521,3001,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2127,3961,0,0,0,0,0,0
$GC,3036,-0.72,-228.7,512.7,-10.4,524,3044,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,765,3962,0,0,0,0,0,0
$GC,3361,-0.72,-228.7,550.7,-11.4,555,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,765,3959,0,0,0,0,0,0
$GC,3682,-0.72,-228.7,587.0,-11.8,585,3686,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2132,3956,0,0,0,0,0,0
$GC,3786,-0.72,-228.7,597.0,-9.3,594,3790,0.00,2.03,0.00,0.000,6,0.000,0.036,2560,779,3956,0,0,0,0,0,0
$GC,4109,-0.72,-228.7,633.6,-11.5,611,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3953,0,0,0,0,0,0
$GC,4418,-0.72,-228.7,668.6,-11.2,626,4421,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2124,3951,0,0,0,0,0,0
$GC,4458,-0.72,-228.7,672.6,-9.7,627,4465,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,781,3950,0,0,0,0,0,0
$GC,4775,-0.72,-228.7,705.4,-10.0,643,4778,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2122,3948,0,0,0,0,0,0
$GC,4814,-0.72,-228.7,709.1,-8.2,644,4822,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,780,3948,0,0,0,0,0,0
$GC,5132,-0.72,-228.7,740.0,-10.1,660,5134,0.10,0.00,0.00,0.000,6,0.161,0.000,2587,779,3945,0,0,0,0,0,0
$GC,5439,-0.72,-228.7,766.5,-8.4,675,5443,0.00,1.92,0.00,0.000,4,0.000,0.020,2588,2121,3943,0,0,0,0,0,0
$GC,5525,-0.72,-228.7,772.9,-7.0,678,5531,0.00,2.03,0.00,0.000,6,0.000,0.038,2588,785,3942,0,0,0,0,0,0
$GC,5841,-0.72,-228.7,797.8,-7.6,694,5845,0.00,1.90,0.00,0.000,4,0.000,0.020,2588,2124,3940,0,0,0,0,0,0
$GC,5904,-0.72,-228.7,802.3,-6.9,696,5912,0.00,2.03,0.00,0.000,6,0.000,0.039,2587,792,3940,0,0,0,0,0,0
$GC,6222,-0.72,-228.7,825.0,-7.2,712,6226,0.00,1.90,0.00,0.000,4,0.000,0.020,2588,2126,3938,0,0,0,0,0,0
$GC,6255,-0.72,-228.7,827.3,-6.3,713,6258,0.00,2.03,0.00,0.000,6,0.000,0.039,2587,798,3938,0,0,0,0,0,0
$GC,6579,-0.72,-228.7,849.3,-6.9,729,6582,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2117,3935,0,0,0,0,0,0
$GC,6629,-0.72,-228.7,852.7,-6.0,731,6632,0.00,1.98,0.00,0.000,6,0.000,0.039,2587,817,3935,0,0,0,0,0,0
$GC,6957,-0.72,-228.7,875.9,-7.3,747,6960,0.00,1.88,0.00,0.000,4,0.000,0.020,2588,2117,3933,0,0,0,0,0,0
$GC,7013,-0.72,-228.7,879.8,-6.5,749,7017,0.00,2.00,0.00,0.000,6,0.000,0.040,2588,822,3932,0,0,0,0,0,0
$GC,7336,-0.72,-228.7,904.0,-7.8,765,7340,0.00,1.90,0.00,0.000,4,0.000,0.021,2587,2121,3931,0,0,0,0,0,0
$GC,7387,-0.72,-228.7,907.7,-7.0,767,7391,0.00,2.00,0.00,0.000,6,0.000,0.040,2587,828,3931,0,0,0,0,0,0
$GC,7716,-0.72,-228.7,931.6,-7.0,783,7720,0.00,1.85,0.00,0.000,4,0.000,0.020,2587,2124,3929,0,0,0,0,0,0
$GC,7749,-0.72,-228.7,934.0,-6.6,784,7753,0.00,1.98,0.00,0.000,6,0.000,0.039,2587,828,3928,0,0,0,0,0,0
$GC,8073,-0.72,-228.7,956.1,-6.9,800,8077,0.00,1.85,0.00,0.000,4,0.000,0.021,2588,2122,3928,0,0,0,0,0,0
$GC,8100,-0.72,-228.7,958.0,-6.6,801,8104,0.00,1.95,0.00,0.000,6,0.000,0.040,2588,847,3927,0,0,0,0,0,0
$GC,8428,-0.72,-228.7,980.1,-6.7,817,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,847,3926,0,0,0,0,0,0
$STATE,8735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8735,begin apogee
$GC,8742,-0.14,0.0,1001.0,6.9,832,8934,0.52,0.00,185.88,1.415,4,0.103,0.000,2771,846,3028,0,0,0,0,0,0
$STATE,8937,end apogee,CONTROL_FINISHED_OK
$STATE,8937,begin climb
$GC,8940,0.72,228.7,1010.0,0.0,841,9147,0.77,1.10,199.60,1.354,4,0.049,0.052,3053,195,2096,0,0,0,0,0,0
$GC,9350,0.72,228.7,951.0,19.3,860,9353,0.00,1.05,0.00,0.000,6,0.000,0.028,3054,920,2086,0,0,0,0,0,0
$GC,9685,0.72,228.7,893.1,16.7,876,9688,0.00,1.10,0.00,0.000,4,0.000,0.047,3058,200,2084,0,0,0,0,0,0
$GC,9835,0.72,228.7,866.6,16.1,882,9842,0.00,1.02,0.00,0.000,6,0.000,0.028,3058,935,2083,0,0,0,0,0,0
$GC,10153,0.72,228.7,816.8,16.1,898,10157,0.00,2.03,0.00,0.000,4,0.000,0.024,3058,2314,2082,0,0,0,0,0,0
$GC,10226,0.72,228.7,805.0,16.2,901,10230,0.00,2.00,0.00,0.000,6,0.000,0.037,3066,1005,2082,0,0,0,0,0,0
$GC,10554,0.72,228.7,752.3,16.3,917,10557,0.00,1.92,0.00,0.000,4,0.000,0.024,3066,2321,2081,0,0,0,0,0,0
$GC,10672,0.72,228.7,733.6,15.1,922,10676,0.00,1.95,0.00,0.000,6,0.000,0.037,3074,1033,2081,0,0,0,0,0,0
$GC,11000,0.72,228.7,679.2,16.5,938,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1032,2080,0,0,0,0,0,0
$GC,11311,0.72,228.7,623.8,18.3,953,11315,0.00,1.88,0.00,0.000,4,0.000,0.023,3074,2317,2080,0,0,0,0,0,0
$GC,11380,0.72,228.7,611.4,17.0,956,11383,0.00,1.95,0.00,0.000,6,0.000,0.039,3080,1032,2080,0,0,0,0,0,0
$GC,11712,0.72,228.7,553.9,16.6,984,11715,0.00,1.88,0.00,0.000,4,0.000,0.024,3080,2325,2080,0,0,0,0,0,0
$GC,11735,0.72,228.7,549.8,15.5,986,11740,0.12,1.98,0.00,0.000,6,0.178,0.037,3057,1033,2080,0,0,0,0,0,0
$GC,12060,0.72,228.7,505.6,12.7,1016,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1032,2079,0,0,0,0,0,0
$GC,12393,0.72,228.7,462.0,13.7,1072,12402,0.00,1.90,0.00,0.000,4,0.000,0.024,3057,2317,2079,0,0,0,0,0,0
$GC,12465,0.72,228.7,452.9,12.9,1084,12474,0.00,1.98,0.00,0.000,6,0.000,0.037,3064,1039,2079,0,0,0,0,0,0
$GC,12810,0.72,228.7,407.3,13.4,1145,12816,0.00,1.27,0.00,0.000,4,0.000,0.046,3069,193,2079,0,0,0,0,0,0
$GC,12890,0.72,228.7,395.7,14.7,1159,12897,0.00,1.08,0.00,0.000,6,0.000,0.026,3071,970,2079,0,0,0,0,0,0
$GC,13230,0.72,228.7,348.7,13.8,1220,13238,0.00,2.08,0.00,0.000,4,0.000,0.024,3071,2379,2079,0,0,0,0,0,0
$GC,13264,0.72,228.7,344.6,13.2,1225,13270,0.00,2.00,0.00,0.000,6,0.000,0.035,3076,1049,2079,0,0,0,0,0,0
$GC,13603,0.72,228.7,301.8,12.7,1286,13611,0.00,1.30,0.00,0.000,4,0.000,0.044,3082,192,2079,0,0,0,0,0,0
$GC,13675,0.72,228.7,292.5,12.5,1298,13683,0.00,1.17,0.00,0.000,6,0.000,0.024,3082,1048,2079,0,0,0,0,0,0
$GC,14020,0.72,228.7,249.3,11.8,1359,14027,0.00,1.30,0.00,0.000,4,0.000,0.044,3087,197,2079,0,0,0,0,0,0
$GC,14201,0.72,228.7,225.6,13.2,1391,14208,0.08,1.12,0.00,0.000,6,0.154,0.024,3063,1020,2079,0,0,0,0,0,0
$GC,14541,0.78,279.1,190.8,9.5,1452,14592,0.00,2.03,39.92,0.781,4,0.000,0.022,3063,2382,1890,0,0,0,0,0,0
$GC,14631,0.84,324.0,182.3,9.6,1465,14677,0.00,2.10,37.67,0.761,6,0.000,0.035,3067,1017,1706,0,0,0,0,0,0
$GC,15006,0.84,324.0,140.5,11.3,1532,15015,0.00,1.25,0.00,0.000,4,0.000,0.044,3071,190,1702,0,0,0,0,0,0
$GC,15218,0.97,431.5,121.1,7.6,1571,15314,0.12,1.05,85.57,0.707,6,0.050,0.021,3141,994,1267,0,0,0,0,0,0
$GC,15634,0.97,431.5,69.0,12.2,1644,15642,0.00,1.98,0.00,0.000,4,0.000,0.018,3141,2364,1261,0,0,0,0,0,0
$GC,15682,0.97,431.5,62.8,12.3,1652,15690,0.00,2.15,0.00,0.000,6,0.000,0.034,3146,965,1261,0,0,0,0,0,0
$GC,16009,0.97,431.5,17.4,14.3,1713,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,965,1261,0,0,0,0,0,0
$STATE,16110,end climb,SURFACE_DEPTH_REACHED
$STATE,16111,begin surface coast
$FINISH,0.5,1.009140
$STATE,16136,end surface coast,CONTROL_FINISHED_OK
$STATE,16136,begin surface
$SM_CCo,16214,0.00,0.000,0,0,1259,434.18
$SM_GC,1.51,7.78,0.00,0.00,0.038,0.000,0.000,114,774,1259,-8.37,-0.45,434.18
$IRIDIUM_FIX,2111.01,12559.43,071110,232316
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.80
$XPDR_PINGS,0
$24V_AH,22.7,58.747
$10V_AH,10.1,54.570
$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,19.075,109.325,548.650,0.000,0.000,58.257,86.107,221.596,0.000,0.000,16.452,4214.555,7294.023,623.911,4170.027,524.359,0.000,2167.574,0.000,3810.021,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,56.610,1415.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1184.592,1516.477,1971.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,100217,1736
$CAP_FILE_SIZE,179172,0
$CFSIZE,260165632,145223680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,223.5,1
$GPS,081110,042737,2120.961,12600.106,40,1.1,41,-2.9