version: 66.08
glider: 167
mission: 6
dive: 273
start: 10 31 110 5 35 20
data:
$ID,167
$MISSION,6
$DIVE,273
$N_DIVES,282
$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,-54466.703
$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,52
$R_STBD_OVSHOOT,98
$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
$GPS1,311010,052655,2123.955,12600.326,38,1.3,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-62.0
$GPS2,311010,053456,2123.854,12600.285,13,1.3,13,-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,34.4,2073,-28.0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.87,-73.8,0.0,0.0,0,83,0.00,0.00,-64.68,0.000,6,0.000,0.000,113,769,3332,0,0,0,0,0,0
$GC,87,-0.87,-73.8,6.0,-11.9,9,103,9.35,0.80,0.00,0.000,4,0.216,0.030,2536,189,3334,0,0,0,0,0,0
$GC,341,-0.87,-73.8,94.7,-30.7,56,349,0.00,0.77,0.00,0.000,6,0.000,0.021,2532,859,3337,0,0,0,0,0,0
$GC,670,-0.87,-73.8,171.3,-18.2,117,677,0.00,0.98,0.00,0.000,4,0.000,0.040,2532,193,3339,0,0,0,0,0,0
$GC,806,-0.87,-73.8,196.6,-19.0,141,812,0.00,0.77,0.00,0.000,6,0.000,0.019,2527,876,3339,0,0,0,0,0,0
$GC,1140,-0.87,-73.8,254.7,-13.1,202,1148,0.00,0.98,0.00,0.000,4,0.000,0.039,2527,206,3341,0,0,0,0,0,0
$GC,1392,-0.87,-73.8,293.0,-15.8,248,1400,0.00,0.70,0.00,0.000,6,0.000,0.021,2522,820,3341,0,0,0,0,0,0
$GC,1727,-0.87,-73.8,340.6,-14.2,309,1733,0.00,0.90,0.00,0.000,4,0.000,0.041,2522,204,3341,0,0,0,0,0,0
$GC,1975,-0.87,-73.8,379.6,-14.9,355,1982,0.00,0.60,0.00,0.000,6,0.000,0.023,2520,745,3340,0,0,0,0,0,0
$GC,2311,-0.87,-73.8,423.3,-12.3,416,2319,0.00,0.80,0.00,0.000,4,0.000,0.043,2519,198,3339,0,0,0,0,0,0
$GC,2564,-0.87,-73.8,457.9,-15.1,462,2572,0.00,0.62,0.00,0.000,6,0.000,0.023,2515,742,3337,0,0,0,0,0,0
$GC,2902,-0.87,-73.8,501.8,-12.1,523,2905,0.00,1.95,0.00,0.000,4,0.000,0.016,2507,2144,3335,0,0,0,0,0,0
$GC,2993,-0.87,-79.8,511.8,-10.5,531,2998,0.12,2.05,0.00,0.000,6,0.171,0.034,2538,780,3334,0,0,0,0,0,0
$GC,3318,-0.88,-86.6,546.2,-10.4,561,3322,0.00,0.85,0.00,0.000,4,0.000,0.044,2537,197,3332,0,0,0,0,0,0
$GC,3581,-0.89,-90.3,575.5,-10.7,584,3585,0.00,0.65,0.00,0.000,6,0.000,0.023,2537,738,3330,0,0,0,0,0,0
$GC,3921,-0.89,-91.4,612.0,-11.0,611,3925,0.00,0.80,0.00,0.000,4,0.000,0.044,2536,196,3328,0,0,0,0,0,0
$GC,4179,-0.89,-91.4,644.2,-12.2,622,4182,0.00,0.65,0.00,0.000,6,0.000,0.024,2535,729,3325,0,0,0,0,0,0
$GC,4503,-0.90,-103.1,678.2,-9.9,638,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,729,3322,0,0,0,0,0,0
$GC,4810,-0.93,-122.8,706.5,-9.1,653,4814,0.00,0.80,0.00,0.000,4,0.000,0.047,2534,193,3321,0,0,0,0,0,0
$GC,4871,-0.93,-128.4,712.9,-10.6,655,4879,0.00,0.65,0.00,0.000,6,0.000,0.024,2531,715,3319,0,0,0,0,0,0
$GC,5189,-0.96,-146.2,742.4,-9.3,671,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,715,3317,0,0,0,0,0,0
$GC,5497,-0.97,-156.3,773.4,-10.1,686,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,715,3315,0,0,0,0,0,0
$GC,5806,-0.99,-172.5,803.7,-9.5,701,5810,0.00,0.77,0.00,0.000,4,0.000,0.047,2532,197,3313,0,0,0,0,0,0
$GC,5858,-1.00,-181.7,808.8,-10.2,703,5861,0.00,0.68,0.00,0.000,6,0.000,0.024,2531,725,3313,0,0,0,0,0,0
$GC,6187,-1.03,-203.6,838.1,-8.9,719,6191,0.12,0.80,0.00,0.000,4,0.096,0.048,2478,202,3310,0,0,0,0,0,0
$GC,6348,-1.03,-203.6,857.8,-12.3,726,6352,0.00,0.65,0.00,0.000,6,0.000,0.024,2476,716,3309,0,0,0,0,0,0
$GC,6676,-1.03,-203.6,895.4,-11.2,742,6679,0.00,2.03,0.00,0.000,4,0.000,0.018,2467,2115,3307,0,0,0,0,0,0
$GC,6731,-1.03,-207.4,901.8,-10.7,744,6735,0.00,2.10,0.00,0.000,6,0.000,0.037,2467,752,3307,0,0,0,0,0,0
$GC,7055,-1.03,-207.4,938.6,-11.5,760,7058,0.00,0.82,0.00,0.000,4,0.000,0.047,2467,194,3305,0,0,0,0,0,0
$GC,7313,-1.03,-207.4,970.9,-12.4,771,7317,0.00,0.65,0.00,0.000,6,0.000,0.025,2466,708,3304,0,0,0,0,0,0
$STATE,7571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7571,begin apogee
$GC,7577,-0.14,0.0,1001.7,12.0,784,7641,1.02,0.00,57.08,1.415,4,0.164,0.000,2766,960,3028,0,0,0,0,0,0
$STATE,7642,end apogee,CONTROL_FINISHED_OK
$STATE,7642,begin climb
$GC,7646,1.03,207.4,1003.9,0.0,787,7830,1.08,2.12,176.07,1.371,4,0.056,0.021,3162,2380,2183,0,0,0,0,0,0
$GC,8049,1.03,207.4,931.0,24.1,804,8056,0.00,2.15,0.00,0.000,6,0.000,0.035,3172,1002,2173,0,0,0,0,0,0
$GC,8366,1.03,207.4,852.8,24.8,820,8369,0.00,1.23,0.00,0.000,4,0.000,0.044,3179,190,2171,0,0,0,0,0,0
$GC,8546,1.03,207.4,805.1,25.9,828,8550,0.00,1.12,0.00,0.000,6,0.000,0.026,3179,990,2169,0,0,0,0,0,0
$GC,8879,1.03,207.4,722.0,24.6,844,8883,0.00,2.03,0.00,0.000,4,0.000,0.026,3178,2377,2167,0,0,0,0,0,0
$GC,8987,1.03,207.4,696.8,23.3,848,8994,0.12,2.10,0.00,0.000,6,0.207,0.035,3159,1015,2167,0,0,0,0,0,0
$GC,9303,1.03,207.4,626.2,21.6,864,9307,0.00,2.03,0.00,0.000,4,0.000,0.026,3159,2396,2166,0,0,0,0,0,0
$GC,9400,1.03,207.4,605.5,20.8,868,9404,0.00,2.05,0.00,0.000,6,0.000,0.035,3167,1039,2165,0,0,0,0,0,0
$GC,9725,1.03,207.4,535.7,20.6,897,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1039,2164,0,0,0,0,0,0
$GC,10049,1.03,207.4,470.7,19.1,941,10055,0.00,1.95,0.00,0.000,4,0.000,0.025,3167,2390,2164,0,0,0,0,0,0
$GC,10171,1.03,207.4,447.4,18.9,963,10179,0.00,2.08,0.00,0.000,6,0.000,0.035,3176,1025,2163,0,0,0,0,0,0
$GC,10506,1.03,207.4,377.8,18.0,1024,10514,0.00,1.25,0.00,0.000,4,0.000,0.043,3182,191,2162,0,0,0,0,0,0
$GC,10568,1.03,207.4,366.3,19.6,1034,10575,0.00,1.17,0.00,0.000,6,0.000,0.024,3182,1051,2162,0,0,0,0,0,0
$GC,10901,1.03,207.4,301.6,19.3,1095,10909,0.00,1.30,0.00,0.000,4,0.000,0.043,3188,194,2162,0,0,0,0,0,0
$GC,10949,1.03,207.4,292.3,18.5,1103,10956,0.00,1.17,0.00,0.000,6,0.000,0.023,3188,1058,2162,0,0,0,0,0,0
$GC,11283,1.03,207.4,235.4,16.6,1164,11292,0.12,1.30,0.00,0.000,4,0.203,0.041,3165,197,2162,0,0,0,0,0,0
$GC,11327,1.03,207.4,228.6,15.8,1171,11334,0.00,1.17,0.00,0.000,6,0.000,0.022,3165,1070,2162,0,0,0,0,0,0
$GC,11660,1.03,207.4,182.1,15.4,1232,11668,0.00,1.92,0.00,0.000,4,0.000,0.023,3165,2403,2162,0,0,0,0,0,0
$GC,11914,1.06,229.5,150.3,8.9,1278,11938,0.00,2.05,15.85,0.729,6,0.000,0.034,3172,1059,2091,0,0,0,0,0,0
$GC,12261,1.09,253.2,115.4,8.7,1341,12286,0.00,1.35,19.88,0.696,4,0.000,0.042,3179,181,1996,0,0,0,0,0,0
$GC,12408,1.09,253.2,98.6,11.7,1366,12415,0.00,1.20,0.00,0.000,6,0.000,0.021,3179,1087,1993,0,0,0,0,0,0
$GC,12738,1.11,271.4,68.5,9.3,1427,12761,0.00,1.90,15.65,0.631,4,0.000,0.018,3179,2409,1920,0,0,0,0,0,0
$GC,12861,1.11,271.4,54.8,12.1,1448,12869,0.00,2.08,0.00,0.000,6,0.000,0.032,3188,1051,1919,0,0,0,0,0,0
$GC,13189,1.13,291.0,16.7,9.1,1509,13212,0.00,1.33,17.05,0.588,4,0.000,0.039,3194,178,1841,0,0,0,0,0,0
$STATE,13316,end climb,SURFACE_DEPTH_REACHED
$STATE,13316,begin surface coast
$FINISH,0.5,1.022157
$STATE,13333,end surface coast,CONTROL_FINISHED_OK
$STATE,13333,begin surface
$SM_CCo,13351,88.45,0.535,1,0,1397,400.08
$SM_GC,1.26,0.00,0.00,88.45,0.000,0.000,0.535,122,843,1397,-8.42,1.50,400.08
$IRIDIUM_FIX,2113.32,12559.43,311010,000055
$TT8_MAMPS,0.028462
$HUMID,37.91
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.2,51.013
$10V_AH,10.2,46.837
$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,19.825,63.975,301.575,88.450,0.000,27.059,16.593,225.659,0.000,0.000,14.288,3786.860,5367.476,488.310,3788.922,476.056,0.000,1828.077,0.000,3535.745,0.000,0.544,0.000
$DEVICE_MAMPS,216.495,48.195,1415.250,534.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.028,1369.029,1897.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333788
$DATA_FILE_SIZE,90076,1534
$CAP_FILE_SIZE,151964,0
$CFSIZE,260165632,149225472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,  0.3,1
$GPS,311010,092037,2125.169,12600.564,32,1.0,32,-2.9