version: 66.08
glider: 167
mission: 6
dive: 280
start: 11 1 110 12 33 37
data:
$ID,167
$MISSION,6
$DIVE,280
$N_DIVES,289
$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,-54475.504
$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,45
$R_STBD_OVSHOOT,90
$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
$GPS1,011110,122237,2122.952,12600.930,31,1.3,31,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.5
$GPS2,011110,123314,2122.958,12600.921,14,1.6,14,-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,8.5,3042,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.87,-73.8,0.0,0.0,0,85,0.00,0.00,-65.30,0.000,2,0.000,0.000,110,782,3235,0,0,0,0,0,0
$GC,89,-0.87,-74.5,5.5,-11.0,9,105,9.55,0.90,-1.67,0.000,4,0.224,0.067,2535,169,3335,0,0,0,0,0,0
$GC,198,-0.87,-74.5,49.8,-35.9,28,206,0.00,0.82,0.00,0.000,6,0.000,0.020,2532,869,3338,0,0,0,0,0,0
$GC,524,-0.87,-74.5,135.4,-19.7,89,532,0.00,1.00,0.00,0.000,4,0.000,0.040,2531,190,3339,0,0,0,0,0,0
$GC,781,-0.87,-74.5,185.1,-19.0,135,788,0.00,0.77,0.00,0.000,6,0.000,0.020,2527,880,3340,0,0,0,0,0,0
$GC,1113,-0.87,-74.5,240.7,-15.6,196,1121,0.00,1.83,0.00,0.000,4,0.000,0.016,2517,2196,3341,0,0,0,0,0,0
$GC,1230,-0.87,-74.5,257.3,-13.4,217,1237,0.00,2.10,0.00,0.000,6,0.000,0.032,2518,785,3342,0,0,0,0,0,0
$GC,1564,-0.87,-74.5,307.5,-15.6,278,1572,0.00,0.85,0.00,0.000,4,0.000,0.041,2517,192,3342,0,0,0,0,0,0
$GC,1815,-0.87,-74.5,347.6,-16.0,324,1823,0.00,0.75,0.00,0.000,6,0.000,0.021,2513,850,3341,0,0,0,0,0,0
$GC,2149,-0.87,-74.5,395.7,-14.2,385,2156,0.10,0.98,0.00,0.000,4,0.200,0.041,2536,197,3339,0,0,0,0,0,0
$GC,2402,-0.87,-74.5,431.8,-13.2,431,2410,0.00,0.73,0.00,0.000,6,0.000,0.021,2533,827,3339,0,0,0,0,0,0
$GC,2736,-0.87,-74.5,472.0,-12.3,492,2744,0.00,0.93,0.00,0.000,4,0.000,0.041,2533,197,3337,0,0,0,0,0,0
$GC,2790,-0.87,-74.5,478.9,-12.8,501,2797,0.00,0.65,0.00,0.000,6,0.000,0.022,2529,760,3337,0,0,0,0,0,0
$GC,3127,-0.87,-74.5,519.2,-11.9,548,3130,0.00,0.82,0.00,0.000,4,0.000,0.043,2530,197,3334,0,0,0,0,0,0
$GC,3210,-0.87,-74.5,530.0,-11.8,555,3218,0.00,0.65,0.00,0.000,6,0.000,0.022,2526,745,3334,0,0,0,0,0,0
$GC,3536,-0.87,-74.5,566.5,-11.5,586,3539,0.00,0.80,0.00,0.000,4,0.000,0.044,2526,201,3331,0,0,0,0,0,0
$GC,3700,-0.87,-74.5,586.8,-12.2,600,3706,0.00,0.65,0.00,0.000,6,0.000,0.024,2522,740,3330,0,0,0,0,0,0
$GC,4031,-0.88,-87.7,621.5,-9.8,622,4035,0.00,0.80,0.00,0.000,4,0.000,0.044,2522,198,3328,0,0,0,0,0,0
$GC,4252,-0.88,-87.7,646.3,-11.9,631,4259,0.00,0.65,0.00,0.000,6,0.000,0.024,2521,732,3326,0,0,0,0,0,0
$GC,4568,-0.88,-87.7,682.6,-11.7,647,4571,0.00,2.03,0.00,0.000,4,0.000,0.019,2518,2135,3323,0,0,0,0,0,0
$GC,4601,-0.89,-90.2,686.4,-10.9,648,4605,0.00,2.12,0.00,0.000,6,0.000,0.036,2519,736,3323,0,0,0,0,0,0
$GC,4918,-0.89,-90.2,721.7,-11.2,663,4922,0.00,0.80,0.00,0.000,4,0.000,0.047,2518,192,3321,0,0,0,0,0,0
$GC,5013,-0.89,-95.2,732.6,-10.6,667,5017,0.00,0.65,0.00,0.000,6,0.000,0.024,2518,722,3319,0,0,0,0,0,0
$GC,5343,-0.90,-102.7,766.5,-10.4,683,5346,0.00,0.77,0.00,0.000,4,0.000,0.047,2519,202,3317,0,0,0,0,0,0
$GC,5434,-0.90,-102.7,776.6,-11.2,687,5437,0.00,0.65,0.00,0.000,6,0.000,0.024,2517,717,3317,0,0,0,0,0,0
$GC,5767,-0.91,-108.4,811.0,-10.5,703,5770,0.00,2.03,0.00,0.000,4,0.000,0.018,2507,2128,3314,0,0,0,0,0,0
$GC,5824,-0.93,-123.0,816.8,-9.6,705,5828,0.00,2.17,0.00,0.000,6,0.000,0.037,2507,727,3314,0,0,0,0,0,0
$GC,6145,-0.93,-126.7,851.1,-10.7,721,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,727,3312,0,0,0,0,0,0
$GC,6457,-0.94,-133.2,884.0,-10.5,736,6460,0.00,0.77,0.00,0.000,4,0.000,0.047,2507,202,3309,0,0,0,0,0,0
$GC,6643,-0.94,-133.2,905.8,-11.6,744,6647,0.00,0.65,0.00,0.000,6,0.000,0.026,2506,711,3307,0,0,0,0,0,0
$GC,6971,-0.95,-143.5,939.5,-10.1,760,6975,0.00,2.05,0.00,0.000,4,0.000,0.020,2505,2146,3306,0,0,0,0,0,0
$GC,7005,-0.98,-162.9,942.7,-9.2,761,7012,0.00,2.17,0.00,0.000,6,0.000,0.038,2505,719,3306,0,0,0,0,0,0
$GC,7322,-1.00,-181.2,972.9,-9.3,777,7325,0.00,2.05,0.00,0.000,4,0.000,0.021,2505,2145,3304,0,0,0,0,0,0
$GC,7355,-1.03,-207.9,975.9,-8.4,778,7361,0.00,2.17,0.00,0.000,6,0.000,0.038,2505,731,3304,0,0,0,0,0,0
$STATE,7648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7648,begin apogee
$GC,7656,-0.14,0.0,1001.6,8.7,793,7720,0.85,0.00,56.90,1.418,4,0.149,0.000,2765,980,3029,0,0,0,0,0,0
$STATE,7721,end apogee,CONTROL_FINISHED_OK
$STATE,7721,begin climb
$GC,7723,1.03,207.9,1002.8,0.0,796,7905,1.02,0.00,175.82,1.370,6,0.060,0.000,3153,980,2181,0,0,0,0,0,0
$GC,8223,1.03,207.9,901.1,24.2,820,8227,0.00,2.05,0.00,0.000,4,0.000,0.024,3153,2375,2170,0,0,0,0,0,0
$GC,8345,1.03,207.9,871.9,23.6,825,8353,0.00,2.12,0.00,0.000,6,0.000,0.035,3161,1013,2169,0,0,0,0,0,0
$GC,8662,1.03,207.9,795.7,24.0,841,8665,0.00,2.00,0.00,0.000,4,0.000,0.024,3161,2369,2167,0,0,0,0,0,0
$GC,8687,1.03,207.9,790.3,22.9,842,8691,0.00,2.08,0.00,0.000,6,0.000,0.035,3170,1004,2167,0,0,0,0,0,0
$GC,9014,1.03,207.9,713.2,23.0,858,9018,0.00,2.00,0.00,0.000,4,0.000,0.023,3170,2372,2166,0,0,0,0,0,0
$GC,9179,1.03,207.9,677.1,21.3,865,9183,0.00,2.05,0.00,0.000,6,0.000,0.035,3179,1018,2164,0,0,0,0,0,0
$GC,9501,1.03,207.9,603.3,23.3,881,9505,0.00,1.95,0.00,0.000,4,0.000,0.025,3178,2367,2163,0,0,0,0,0,0
$GC,9562,1.03,207.9,589.4,21.2,885,9570,0.12,2.03,0.00,0.000,6,0.213,0.034,3159,1023,2163,0,0,0,0,0,0
$GC,9888,1.03,207.9,522.4,20.0,916,9892,0.00,1.95,0.00,0.000,4,0.000,0.024,3159,2374,2163,0,0,0,0,0,0
$GC,9923,1.03,207.9,515.7,19.7,919,9927,0.00,2.00,0.00,0.000,6,0.000,0.036,3166,1047,2163,0,0,0,0,0,0
$GC,10254,1.03,207.9,452.6,18.8,972,10263,0.00,1.95,0.00,0.000,4,0.000,0.024,3167,2364,2162,0,0,0,0,0,0
$GC,10375,1.03,207.9,430.4,18.3,993,10381,0.00,1.95,0.00,0.000,6,0.000,0.036,3175,1067,2161,0,0,0,0,0,0
$GC,10707,1.03,207.9,365.0,19.1,1054,10715,0.00,1.92,0.00,0.000,4,0.000,0.024,3175,2370,2160,0,0,0,0,0,0
$GC,10729,1.03,207.9,360.7,19.2,1057,10736,0.00,1.98,0.00,0.000,6,0.000,0.035,3183,1054,2161,0,0,0,0,0,0
$GC,11064,1.03,207.9,299.0,17.5,1118,11072,0.00,1.30,0.00,0.000,4,0.000,0.044,3190,192,2160,0,0,0,0,0,0
$GC,11226,1.03,207.9,269.2,19.7,1147,11235,0.10,1.17,0.00,0.000,6,0.195,0.023,3161,1049,2160,0,0,0,0,0,0
$GC,11561,1.03,207.9,218.4,15.8,1208,11569,0.00,1.95,0.00,0.000,4,0.000,0.023,3161,2384,2160,0,0,0,0,0,0
$GC,11811,1.03,207.9,185.3,11.5,1254,11819,0.00,2.05,0.00,0.000,6,0.000,0.034,3169,1045,2161,0,0,0,0,0,0
$GC,12146,1.05,222.8,152.7,9.6,1315,12162,0.00,1.33,10.38,0.691,4,0.000,0.043,3176,181,2120,0,0,0,0,0,0
$GC,12405,1.06,231.3,121.6,10.3,1362,12421,0.00,1.17,8.52,0.636,6,0.000,0.021,3176,1074,2085,0,0,0,0,0,0
$GC,12744,1.08,250.7,87.9,9.2,1424,12767,0.00,1.38,16.98,0.655,4,0.000,0.041,3181,187,2005,0,0,0,0,0,0
$GC,12792,1.13,291.2,84.0,7.0,1431,12831,0.00,1.20,32.58,0.665,6,0.000,0.021,3182,1090,1842,0,0,0,0,0,0
$GC,13152,1.14,292.0,43.1,11.0,1496,13159,0.00,1.35,0.00,0.000,4,0.000,0.040,3188,193,1838,0,0,0,0,0,0
$GC,13199,1.14,292.0,35.7,16.2,1504,13207,0.00,1.17,0.00,0.000,6,0.000,0.019,3188,1096,1837,0,0,0,0,0,0
$STATE,13474,end climb,SURFACE_DEPTH_REACHED
$STATE,13474,begin surface coast
$FINISH,0.5,1.022275
$STATE,13502,end surface coast,CONTROL_FINISHED_OK
$STATE,13502,begin surface
$SM_CCo,13520,87.70,0.535,1,0,1398,400.08
$SM_GC,1.46,0.00,0.00,87.70,0.000,0.000,0.535,113,774,1398,-8.46,-0.45,400.08
$IRIDIUM_FIX,2113.32,12602.66,011110,121243
$TT8_MAMPS,0.028462
$HUMID,38.42
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.2,52.239
$10V_AH,10.2,48.123
$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,19.575,80.575,301.175,87.700,0.000,48.502,68.792,236.863,0.000,0.000,15.140,3834.504,5548.114,505.315,3850.864,491.732,0.000,1842.933,0.000,3506.267,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,67.320,1417.545,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1064.652,1395.479,1915.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,90241,1560
$CAP_FILE_SIZE,156018,0
$CFSIZE,260165632,148561920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020, 80.3,1
$GPS,011110,162137,2124.494,12600.821,27,1.7,27,-2.9