version: 66.08
glider: 167
mission: 6
dive: 317
start: 11 8 110 9 15 12
data:
$ID,167
$MISSION,6
$DIVE,317
$N_DIVES,330
$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,-54523.66
$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,41
$R_STBD_OVSHOOT,132
$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
$GPS1,081110,090625,2122.607,12600.688,39,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.0
$GPS2,081110,091438,2122.550,12600.643,14,1.9,14,-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,19.2,3881,-20.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-142.7,0.0,0.0,0,97,0.00,0.00,-79.32,0.000,2,0.000,0.000,113,771,3474,0,0,0,0,0,0
$GC,101,-0.74,-142.7,6.5,-14.5,11,119,9.48,2.03,-2.17,0.000,4,0.215,0.031,2563,2170,3615,0,0,0,0,0,0
$GC,164,-0.74,-142.7,34.3,-27.8,21,172,0.00,2.10,0.00,0.000,6,0.000,0.033,2563,792,3617,0,0,0,0,0,0
$GC,490,-0.74,-142.7,121.4,-23.8,82,498,0.00,0.88,0.00,0.000,4,0.000,0.042,2563,187,3618,0,0,0,0,0,0
$GC,744,-0.74,-142.7,171.9,-18.3,128,753,0.00,0.70,0.00,0.000,6,0.000,0.021,2559,806,3619,0,0,0,0,0,0
$GC,1088,-0.74,-142.7,230.0,-17.2,189,1095,0.00,0.90,0.00,0.000,4,0.000,0.040,2559,189,3619,0,0,0,0,0,0
$GC,1345,-0.74,-142.7,273.5,-17.4,235,1352,0.00,0.62,0.00,0.000,6,0.000,0.022,2554,748,3620,0,0,0,0,0,0
$GC,1688,-0.74,-142.7,325.6,-14.3,296,1697,0.10,0.82,0.00,0.000,4,0.190,0.043,2579,193,3620,0,0,0,0,0,0
$GC,1921,-0.74,-142.7,356.2,-12.3,337,1927,0.00,0.62,0.00,0.000,6,0.000,0.022,2577,753,3619,0,0,0,0,0,0
$GC,2260,-0.74,-142.7,395.2,-11.8,398,2268,0.00,0.82,0.00,0.000,4,0.000,0.042,2577,189,3618,0,0,0,0,0,0
$GC,2317,-0.74,-142.7,401.9,-12.3,407,2324,0.00,0.62,0.00,0.000,6,0.000,0.023,2574,740,3617,0,0,0,0,0,0
$GC,2655,-0.74,-142.7,440.5,-11.8,468,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,740,3616,0,0,0,0,0,0
$GC,2996,-0.74,-142.7,478.8,-12.3,529,3003,0.00,1.95,0.00,0.000,4,0.000,0.018,2574,2132,3614,0,0,0,0,0,0
$GC,3059,-0.76,-161.4,485.1,-10.1,539,3066,0.00,2.08,0.00,0.000,6,0.000,0.034,2574,733,3614,0,0,0,0,0,0
$GC,3390,-0.76,-162.9,522.8,-11.0,581,3394,0.00,1.95,0.00,0.000,4,0.000,0.018,2574,2121,3611,0,0,0,0,0,0
$GC,3499,-0.81,-204.4,532.9,-8.9,590,3506,0.00,2.05,0.00,0.000,6,0.000,0.034,2574,753,3610,0,0,0,0,0,0
$GC,3825,-0.84,-224.2,565.6,-10.1,621,3829,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2124,3608,0,0,0,0,0,0
$GC,3874,-0.84,-228.7,569.7,-8.3,625,3878,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,769,3608,0,0,0,0,0,0
$GC,4204,-0.84,-228.7,602.2,-9.8,655,4208,0.00,0.85,0.00,0.000,4,0.000,0.046,2574,192,3606,0,0,0,0,0,0
$GC,4285,-0.84,-228.7,610.8,-11.0,658,4288,0.00,0.68,0.00,0.000,6,0.000,0.024,2574,738,3605,0,0,0,0,0,0
$GC,4607,-0.84,-228.7,643.3,-10.0,674,4610,0.00,1.95,0.00,0.000,4,0.000,0.019,2574,2118,3603,0,0,0,0,0,0
$GC,4664,-0.84,-228.7,648.5,-8.4,676,4668,0.00,2.03,0.00,0.000,6,0.000,0.036,2574,775,3601,0,0,0,0,0,0
$GC,4980,-0.84,-228.7,677.9,-9.2,691,4984,0.00,1.95,0.00,0.000,4,0.000,0.019,2574,2121,3599,0,0,0,0,0,0
$GC,5019,-0.84,-228.7,681.4,-8.2,692,5027,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,776,3598,0,0,0,0,0,0
$GC,5337,-0.84,-228.7,708.2,-8.6,708,5341,0.00,0.85,0.00,0.000,4,0.000,0.047,2573,200,3597,0,0,0,0,0,0
$GC,5383,-0.84,-228.7,712.6,-9.5,710,5386,0.00,0.68,0.00,0.000,6,0.000,0.024,2574,736,3596,0,0,0,0,0,0
$GC,5716,-0.84,-228.7,742.0,-8.8,726,5720,0.00,1.98,0.00,0.000,4,0.000,0.021,2574,2122,3594,0,0,0,0,0,0
$GC,5764,-0.84,-228.7,745.7,-7.7,728,5768,0.00,2.03,0.00,0.000,6,0.000,0.038,2574,790,3594,0,0,0,0,0,0
$GC,6093,-0.84,-228.7,775.5,-9.3,744,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,791,3592,0,0,0,0,0,0
$GC,6402,-0.84,-228.7,803.9,-9.1,759,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,791,3590,0,0,0,0,0,0
$GC,6709,-0.84,-228.7,830.2,-8.3,774,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,790,3589,0,0,0,0,0,0
$GC,7019,-0.84,-228.7,855.4,-8.1,789,7023,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2117,3586,0,0,0,0,0,0
$GC,7082,-0.84,-228.7,860.2,-7.4,791,7089,0.00,2.03,0.00,0.000,6,0.000,0.039,2574,788,3587,0,0,0,0,0,0
$GC,7399,-0.84,-228.7,887.3,-8.7,807,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,788,3584,0,0,0,0,0,0
$GC,7709,-0.84,-228.7,914.8,-8.9,822,7713,0.00,1.92,0.00,0.000,4,0.000,0.021,2574,2125,3583,0,0,0,0,0,0
$GC,7772,-0.84,-228.7,920.1,-8.3,824,7780,0.00,2.05,0.00,0.000,6,0.000,0.040,2574,784,3583,0,0,0,0,0,0
$GC,8089,-0.84,-228.7,947.3,-8.6,840,8092,0.00,0.90,0.00,0.000,4,0.000,0.051,2574,189,3582,0,0,0,0,0,0
$GC,8146,-0.84,-228.7,952.7,-9.1,842,8150,0.00,0.70,0.00,0.000,6,0.000,0.025,2574,725,3581,0,0,0,0,0,0
$GC,8469,-0.84,-228.7,980.1,-8.2,858,8472,0.00,2.03,0.00,0.000,4,0.000,0.022,2574,2113,3579,0,0,0,0,0,0
$GC,8561,-0.84,-228.7,986.9,-6.7,862,8565,0.00,2.03,0.00,0.000,6,0.000,0.040,2573,798,3579,0,0,0,0,0,0
$STATE,8741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8741,begin apogee
$GC,8749,-0.14,0.0,1001.1,7.6,871,8869,0.60,0.00,114.28,1.418,4,0.117,0.000,2773,951,3030,0,0,0,0,0,0
$STATE,8870,end apogee,CONTROL_FINISHED_OK
$STATE,8870,begin climb
$GC,8874,0.84,228.7,1005.0,0.0,876,9079,0.85,1.25,197.65,1.363,4,0.051,0.049,3103,190,2096,0,0,0,0,0,0
$GC,9209,0.84,228.7,954.4,21.3,891,9213,0.00,1.15,0.00,0.000,6,0.000,0.025,3103,973,2087,0,0,0,0,0,0
$GC,9532,0.84,228.7,888.9,21.0,907,9535,0.00,1.20,0.00,0.000,4,0.000,0.045,3109,189,2083,0,0,0,0,0,0
$GC,9670,0.84,228.7,858.3,22.9,913,9673,0.00,1.17,0.00,0.000,6,0.000,0.026,3109,1023,2083,0,0,0,0,0,0
$GC,10003,0.84,228.7,787.3,20.5,929,10007,0.00,1.98,0.00,0.000,4,0.000,0.024,3109,2393,2081,0,0,0,0,0,0
$GC,10060,0.84,228.7,775.9,18.9,931,10064,0.00,2.12,0.00,0.000,6,0.000,0.036,3118,1010,2081,0,0,0,0,0,0
$GC,10376,0.84,228.7,709.1,21.3,946,10380,0.00,2.05,0.00,0.000,4,0.000,0.025,3118,2395,2080,0,0,0,0,0,0
$GC,10481,0.84,228.7,687.8,18.7,950,10489,0.12,2.08,0.00,0.000,6,0.190,0.035,3095,1026,2079,0,0,0,0,0,0
$GC,10800,0.84,228.7,632.1,17.3,966,10803,0.00,1.98,0.00,0.000,4,0.000,0.024,3097,2388,2079,0,0,0,0,0,0
$GC,10855,0.84,228.7,622.1,16.7,968,10859,0.00,2.03,0.00,0.000,6,0.000,0.037,3103,1051,2079,0,0,0,0,0,0
$GC,11186,0.84,228.7,563.7,17.5,993,11190,0.00,1.98,0.00,0.000,4,0.000,0.026,3104,2396,2079,0,0,0,0,0,0
$GC,11225,0.84,228.7,556.0,17.1,996,11233,0.00,2.03,0.00,0.000,6,0.000,0.035,3113,1048,2079,0,0,0,0,0,0
$GC,11552,0.84,228.7,499.0,17.6,1027,11559,0.00,1.98,0.00,0.000,4,0.000,0.024,3113,2402,2078,0,0,0,0,0,0
$GC,11600,0.84,228.7,490.6,17.0,1035,11607,0.00,2.03,0.00,0.000,6,0.000,0.036,3121,1066,2078,0,0,0,0,0,0
$GC,11943,0.84,228.7,429.2,17.1,1096,11951,0.00,1.95,0.00,0.000,4,0.000,0.025,3121,2382,2078,0,0,0,0,0,0
$GC,12080,0.84,228.7,406.2,16.5,1120,12089,0.10,1.98,0.00,0.000,6,0.164,0.037,3099,1100,2077,0,0,0,0,0,0
$GC,12429,0.84,228.7,353.3,15.6,1181,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1100,2077,0,0,0,0,0,0
$GC,12768,0.84,228.7,303.1,14.5,1242,12776,0.00,1.38,0.00,0.000,4,0.000,0.046,3104,192,2077,0,0,0,0,0,0
$GC,12926,0.84,228.7,280.7,14.2,1269,12932,0.00,1.25,0.00,0.000,6,0.000,0.023,3104,1109,2077,0,0,0,0,0,0
$GC,13267,0.84,228.7,233.9,11.4,1330,13275,0.00,1.88,0.00,0.000,4,0.000,0.023,3105,2400,2077,0,0,0,0,0,0
$GC,13383,0.84,228.7,219.5,12.5,1350,13391,0.00,2.00,0.00,0.000,6,0.000,0.034,3113,1092,2077,0,0,0,0,0,0
$GC,13726,0.86,243.4,181.7,10.3,1411,13742,0.00,1.40,11.05,0.721,4,0.000,0.044,3121,190,2036,0,0,0,0,0,0
$GC,13996,0.89,272.4,147.8,9.6,1458,14029,0.00,1.23,24.58,0.734,6,0.000,0.021,3120,1117,1918,0,0,0,0,0,0
$GC,14351,0.95,313.5,111.9,9.0,1522,14395,0.00,1.48,34.03,0.699,4,0.000,0.042,3127,182,1748,0,0,0,0,0,0
$GC,14546,0.98,342.6,93.0,9.6,1556,14576,0.00,1.25,23.98,0.666,6,0.000,0.020,3127,1127,1631,0,0,0,0,0,0
$GC,14899,1.01,362.4,57.6,10.1,1620,14922,0.00,1.40,16.98,0.620,4,0.000,0.040,3131,186,1550,0,0,0,0,0,0
$GC,14984,1.01,362.4,47.4,12.8,1634,14992,0.00,1.23,0.00,0.000,6,0.000,0.019,3130,1127,1548,0,0,0,0,0,0
$GC,15313,1.02,374.6,9.0,10.5,1695,15330,0.00,1.45,11.50,0.558,4,0.000,0.042,3133,191,1500,0,0,0,0,0,0
$STATE,15365,end climb,SURFACE_DEPTH_REACHED
$STATE,15365,begin surface coast
$FINISH,0.7,1.022445
$STATE,15393,end surface coast,CONTROL_FINISHED_OK
$STATE,15394,begin surface
$SM_CCo,15413,25.42,0.351,1,0,1398,400.08
$SM_GC,1.85,0.00,0.00,25.42,0.000,0.000,0.351,109,860,1398,-8.48,1.95,400.08
$IRIDIUM_FIX,2111.01,12559.43,081110,040409
$TT8_MAMPS,0.028462
$HUMID,39.36
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,22.8,59.115
$10V_AH,10.1,54.949
$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,18.975,96.525,434.025,25.425,0.000,28.795,25.061,224.741,0.000,0.000,14.920,4184.403,6618.109,556.987,4031.765,537.229,0.000,2036.167,0.000,3773.916,0.000,0.543,0.000
$DEVICE_MAMPS,214.965,59.670,1418.310,351.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.608,1509.063,2037.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333768
$DATA_FILE_SIZE,100138,1708
$CAP_FILE_SIZE,172710,0
$CFSIZE,260165632,145035264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,194.4,1
$GPS,081110,133400,2123.868,12600.922,37,1.0,43,-2.9