version: 66.08
glider: 167
mission: 6
dive: 319
start: 11 8 110 18 17 38
data:
$ID,167
$MISSION,6
$DIVE,319
$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,-54526.176
$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,39
$R_STBD_OVSHOOT,117
$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
$GPS1,081110,180631,2121.387,12601.812,38,1.6,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-66.2
$GPS2,081110,181702,2121.248,12601.878,14,1.5,14,-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,211.1,4503,-20.1,-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,-0.73,-143.9,0.0,0.0,0,92,0.00,0.00,-72.30,0.000,2,0.000,0.000,112,777,3520,0,0,0,0,0,0
$GC,95,-0.73,-143.9,6.7,-14.2,10,113,9.57,0.85,-1.52,0.000,4,0.217,0.067,2579,175,3618,0,0,0,0,0,0
$GC,126,-0.73,-143.9,24.8,-52.9,14,135,0.00,0.77,0.00,0.000,6,0.000,0.020,2576,833,3619,0,0,0,0,0,0
$GC,453,-0.73,-143.9,110.0,-20.8,75,460,0.00,1.80,0.00,0.000,4,0.000,0.016,2567,2126,3620,0,0,0,0,0,0
$GC,660,-0.73,-143.9,144.1,-14.9,113,668,0.00,2.05,0.00,0.000,6,0.000,0.034,2567,772,3622,0,0,0,0,0,0
$GC,1000,-0.73,-143.9,203.1,-17.5,174,1009,0.00,0.82,0.00,0.000,4,0.000,0.042,2567,194,3622,0,0,0,0,0,0
$GC,1258,-0.73,-143.9,246.4,-15.1,220,1266,0.00,0.60,0.00,0.000,6,0.000,0.022,2563,750,3623,0,0,0,0,0,0
$GC,1604,-0.73,-143.9,296.9,-14.5,281,1610,0.00,0.82,0.00,0.000,4,0.000,0.042,2563,186,3623,0,0,0,0,0,0
$GC,1807,-0.73,-143.9,327.8,-14.6,317,1813,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,732,3623,0,0,0,0,0,0
$GC,2145,-0.73,-143.9,372.0,-12.4,378,2154,0.00,0.80,0.00,0.000,4,0.000,0.042,2561,186,3622,0,0,0,0,0,0
$GC,2296,-0.73,-143.9,392.5,-13.9,404,2303,0.00,0.60,0.00,0.000,6,0.000,0.022,2560,723,3622,0,0,0,0,0,0
$GC,2637,-0.73,-143.9,435.0,-12.2,465,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,724,3620,0,0,0,0,0,0
$GC,2977,-0.73,-143.9,477.7,-12.7,526,2986,0.00,1.98,0.00,0.000,4,0.000,0.018,2558,2114,3617,0,0,0,0,0,0
$GC,3024,-0.75,-153.7,482.8,-10.6,533,3030,0.00,2.08,0.00,0.000,6,0.000,0.034,2557,730,3617,0,0,0,0,0,0
$GC,3361,-0.75,-153.7,523.0,-11.4,577,3364,0.00,1.95,0.00,0.000,4,0.000,0.018,2557,2109,3615,0,0,0,0,0,0
$GC,3401,-0.78,-183.4,527.0,-9.6,580,3408,0.00,2.08,0.00,0.000,6,0.000,0.034,2557,733,3615,0,0,0,0,0,0
$GC,3729,-0.79,-190.9,561.5,-10.7,611,3732,0.00,1.95,0.00,0.000,4,0.000,0.018,2557,2107,3612,0,0,0,0,0,0
$GC,3791,-0.84,-226.3,567.9,-9.3,616,3798,0.00,2.08,0.00,0.000,6,0.000,0.035,2557,737,3612,0,0,0,0,0,0
$GC,4116,-0.84,-226.3,605.8,-12.5,645,4120,0.00,1.95,0.00,0.000,4,0.000,0.018,2557,2106,3610,0,0,0,0,0,0
$GC,4151,-0.84,-226.3,610.0,-11.3,646,4155,0.00,2.08,0.00,0.000,6,0.000,0.036,2557,740,3609,0,0,0,0,0,0
$GC,4467,-0.84,-226.3,649.2,-12.6,661,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,740,3607,0,0,0,0,0,0
$GC,4776,-0.84,-226.3,685.8,-11.6,676,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,740,3605,0,0,0,0,0,0
$GC,5088,-0.84,-228.7,720.7,-10.9,691,5092,0.00,1.98,0.00,0.000,4,0.000,0.019,2557,2114,3602,0,0,0,0,0,0
$GC,5157,-0.84,-228.7,727.4,-8.8,694,5161,0.00,2.10,0.00,0.000,6,0.000,0.037,2557,741,3602,0,0,0,0,0,0
$GC,5484,-0.84,-228.7,761.9,-10.3,710,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,740,3600,0,0,0,0,0,0
$GC,5795,-0.84,-228.7,794.1,-10.4,725,5799,0.00,1.95,0.00,0.000,4,0.000,0.019,2554,2109,3597,0,0,0,0,0,0
$GC,5886,-0.84,-228.7,802.8,-9.7,729,5890,0.00,2.10,0.00,0.000,6,0.000,0.038,2554,742,3597,0,0,0,0,0,0
$GC,6216,-0.84,-228.7,834.4,-9.1,745,6220,0.00,1.98,0.00,0.000,4,0.000,0.019,2554,2095,3594,0,0,0,0,0,0
$GC,6243,-0.84,-228.7,837.0,-8.4,746,6247,0.00,2.08,0.00,0.000,6,0.000,0.039,2554,745,3594,0,0,0,0,0,0
$GC,6572,-0.84,-228.7,862.9,-7.3,762,6576,0.00,1.95,0.00,0.000,4,0.000,0.019,2554,2109,3592,0,0,0,0,0,0
$GC,6614,-0.84,-228.7,865.7,-6.0,763,6621,0.00,2.10,0.00,0.000,6,0.000,0.040,2554,750,3592,0,0,0,0,0,0
$GC,6931,-0.84,-228.7,888.9,-7.4,779,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,750,3590,0,0,0,0,0,0
$GC,7242,-0.84,-228.7,914.6,-8.4,794,7245,0.00,1.95,0.00,0.000,4,0.000,0.020,2554,2099,3588,0,0,0,0,0,0
$GC,7288,-0.84,-228.7,918.5,-7.1,796,7292,0.00,2.08,0.00,0.000,6,0.000,0.040,2554,755,3588,0,0,0,0,0,0
$GC,7616,-0.84,-228.7,946.9,-8.8,812,7619,0.00,1.98,0.00,0.000,4,0.000,0.020,2554,2103,3586,0,0,0,0,0,0
$GC,7664,-0.84,-228.7,950.5,-6.9,814,7667,0.00,2.08,0.00,0.000,6,0.000,0.041,2554,759,3586,0,0,0,0,0,0
$GC,7997,-0.84,-228.7,978.3,-8.1,830,8000,0.00,1.92,0.00,0.000,4,0.000,0.020,2554,2104,3585,0,0,0,0,0,0
$GC,8025,-0.84,-228.7,980.6,-8.0,831,8028,0.00,2.08,0.00,0.000,6,0.000,0.041,2554,765,3585,0,0,0,0,0,0
$STATE,8282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8282,begin apogee
$GC,8290,-0.14,0.0,1001.2,8.2,844,8412,0.65,0.00,115.28,1.421,4,0.125,0.000,2766,933,3028,0,0,0,0,0,0
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8417,0.84,228.7,1004.2,0.0,849,8621,0.88,0.00,197.18,1.362,6,0.054,0.000,3099,933,2096,0,0,0,0,0,0
$GC,8944,0.84,228.7,911.4,21.2,875,8948,0.00,2.03,0.00,0.000,4,0.000,0.025,3099,2297,2086,0,0,0,0,0,0
$GC,9095,0.84,228.7,880.0,21.4,881,9102,0.00,2.03,0.00,0.000,6,0.000,0.039,3101,1004,2084,0,0,0,0,0,0
$GC,9413,0.84,228.7,811.9,21.6,897,9417,0.00,1.90,0.00,0.000,4,0.000,0.024,3101,2312,2083,0,0,0,0,0,0
$GC,9497,0.84,228.7,794.3,18.7,900,9504,0.00,2.03,0.00,0.000,6,0.000,0.037,3110,996,2082,0,0,0,0,0,0
$GC,9815,0.84,228.7,729.5,19.7,916,9819,0.00,1.90,0.00,0.000,4,0.000,0.026,3110,2305,2081,0,0,0,0,0,0
$GC,9916,0.84,228.7,709.3,19.2,920,9920,0.00,1.98,0.00,0.000,6,0.000,0.038,3119,1010,2081,0,0,0,0,0,0
$GC,10238,0.84,228.7,646.7,19.4,936,10242,0.00,1.90,0.00,0.000,4,0.000,0.024,3119,2310,2080,0,0,0,0,0,0
$GC,10386,0.84,228.7,620.3,18.0,942,10390,0.12,1.92,0.00,0.000,6,0.187,0.037,3095,1051,2080,0,0,0,0,0,0
$GC,10713,0.84,228.7,564.4,17.3,967,10717,0.00,1.85,0.00,0.000,4,0.000,0.025,3096,2295,2079,0,0,0,0,0,0
$GC,10753,0.84,228.7,557.3,18.2,970,10760,0.00,1.90,0.00,0.000,6,0.000,0.037,3102,1054,2080,0,0,0,0,0,0
$GC,11078,0.84,228.7,498.6,18.5,1001,11085,0.00,1.83,0.00,0.000,4,0.000,0.024,3101,2305,2079,0,0,0,0,0,0
$GC,11220,0.84,228.7,474.6,16.4,1026,11229,0.00,1.90,0.00,0.000,6,0.000,0.037,3109,1076,2078,0,0,0,0,0,0
$GC,11565,0.84,228.7,417.2,14.7,1087,11572,0.00,1.77,0.00,0.000,4,0.000,0.024,3108,2312,2079,0,0,0,0,0,0
$GC,11635,0.84,228.7,406.3,14.9,1099,11642,0.00,1.90,0.00,0.000,6,0.000,0.037,3117,1069,2078,0,0,0,0,0,0
$GC,11975,0.84,228.7,354.6,15.5,1160,11984,0.00,1.33,0.00,0.000,4,0.000,0.046,3123,196,2077,0,0,0,0,0,0
$GC,12065,0.84,228.7,340.3,16.1,1175,12073,0.08,1.10,0.00,0.000,6,0.162,0.024,3100,994,2078,0,0,0,0,0,0
$GC,12407,0.84,228.7,291.6,14.4,1236,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,994,2078,0,0,0,0,0,0
$GC,12749,0.84,228.7,243.6,13.9,1297,12758,0.00,1.23,0.00,0.000,4,0.000,0.046,3103,192,2078,0,0,0,0,0,0
$GC,12803,0.84,228.7,235.3,14.1,1306,12812,0.00,1.20,0.00,0.000,6,0.000,0.023,3103,1081,2078,0,0,0,0,0,0
$GC,13147,0.84,228.7,191.8,11.6,1367,13153,0.00,1.88,0.00,0.000,4,0.000,0.022,3103,2391,2078,0,0,0,0,0,0
$GC,13199,0.84,228.7,184.5,13.5,1376,13206,0.00,2.05,0.00,0.000,6,0.000,0.036,3112,1056,2079,0,0,0,0,0,0
$GC,13537,0.84,228.7,145.7,11.3,1437,13545,0.00,1.30,0.00,0.000,4,0.000,0.044,3119,192,2079,0,0,0,0,0,0
$GC,13714,0.87,254.9,127.0,9.8,1469,13738,0.00,1.15,20.33,0.709,6,0.000,0.021,3118,1063,1988,0,0,0,0,0,0
$GC,14061,0.91,288.3,92.3,9.4,1532,14099,0.00,1.98,28.08,0.683,4,0.000,0.020,3119,2404,1851,0,0,0,0,0,0
$GC,14183,0.97,335.8,82.2,8.6,1552,14228,0.00,2.10,38.83,0.670,6,0.000,0.034,3127,1042,1658,0,0,0,0,0,0
$GC,14547,0.97,335.8,43.7,12.7,1618,14556,0.00,1.27,0.00,0.000,4,0.000,0.043,3133,190,1653,0,0,0,0,0,0
$GC,14565,0.97,335.8,41.1,14.2,1620,14572,0.00,1.15,0.00,0.000,6,0.000,0.019,3133,1085,1653,0,0,0,0,0,0
$GC,14892,0.97,335.8,10.7,14.7,1681,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1085,1653,0,0,0,0,0,0
$STATE,14953,end climb,SURFACE_DEPTH_REACHED
$STATE,14953,begin surface coast
$FINISH,0.6,1.010486
$STATE,14980,end surface coast,CONTROL_FINISHED_OK
$STATE,14981,begin surface
$SM_CCo,15000,54.83,0.496,1,0,1398,400.08
$SM_GC,1.40,0.00,0.00,54.83,0.000,0.000,0.496,130,773,1398,-8.40,-0.48,400.08
$IRIDIUM_FIX,2113.32,12601.30,081110,181845
$TT8_MAMPS,0.028462
$HUMID,39.68
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.10
$XPDR_PINGS,0
$24V_AH,22.8,59.478
$10V_AH,10.1,55.326
$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,18.950,99.300,399.675,54.825,0.000,58.946,85.853,217.216,0.000,0.000,14.790,4162.855,6345.574,568.097,4084.398,520.744,0.000,2013.793,0.000,3742.694,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,67.320,1420.605,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.389,1509.696,2083.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333724
$DATA_FILE_SIZE,96908,1697
$CAP_FILE_SIZE,169226,0
$CFSIZE,260165632,144855040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.134,139.3,1
$GPS,081110,223000,2118.551,12601.775,36,1.4,42,-2.9