version: 66.08
glider: 167
mission: 6
dive: 294
start: 11 4 110 2 1 44
data:
$ID,167
$MISSION,6
$DIVE,294
$N_DIVES,302
$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,-54493.117
$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,46
$R_STBD_OVSHOOT,79
$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
$GPS1,041110,015225,2120.579,12601.610,39,1.9,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-57.9
$GPS2,041110,020106,2120.526,12601.664,30,1.6,30,-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,224.5,3115,-27.7,-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,17,-0.86,-75.0,0.0,0.0,0,91,0.00,0.00,-71.57,0.000,2,0.000,0.000,111,776,3220,0,0,0,0,0,0
$GC,94,-0.87,-79.1,5.1,-10.7,10,110,9.60,0.88,-2.33,0.000,4,0.226,0.072,2536,188,3355,0,0,0,0,0,0
$GC,351,-0.87,-79.1,89.4,-32.1,57,359,0.00,0.80,0.00,0.000,6,0.000,0.020,2532,865,3356,0,0,0,0,0,0
$GC,678,-0.87,-79.1,161.1,-19.0,118,688,0.00,0.98,0.00,0.000,4,0.000,0.041,2532,199,3358,0,0,0,0,0,0
$GC,725,-0.87,-79.1,170.1,-19.9,125,731,0.00,0.75,0.00,0.000,6,0.000,0.020,2528,861,3358,0,0,0,0,0,0
$GC,1062,-0.87,-79.1,224.9,-16.2,186,1070,0.00,1.88,0.00,0.000,4,0.000,0.016,2519,2208,3359,0,0,0,0,0,0
$GC,1133,-0.87,-79.1,235.0,-13.6,198,1141,0.00,2.17,0.00,0.000,6,0.000,0.032,2519,764,3360,0,0,0,0,0,0
$GC,1476,-0.87,-79.1,288.6,-15.0,259,1482,0.00,0.82,0.00,0.000,4,0.000,0.041,2519,189,3360,0,0,0,0,0,0
$GC,1557,-0.87,-79.1,300.9,-14.6,273,1563,0.00,0.77,0.00,0.000,6,0.000,0.020,2514,866,3360,0,0,0,0,0,0
$GC,1896,-0.87,-79.1,348.0,-13.8,334,1904,0.00,0.98,0.00,0.000,4,0.000,0.040,2514,197,3360,0,0,0,0,0,0
$GC,2156,-0.87,-79.1,387.2,-14.9,380,2165,0.08,0.75,0.00,0.000,6,0.171,0.021,2533,837,3359,0,0,0,0,0,0
$GC,2501,-0.87,-79.1,431.6,-12.1,441,2508,0.00,0.95,0.00,0.000,4,0.000,0.041,2533,192,3357,0,0,0,0,0,0
$GC,2669,-0.87,-79.1,453.2,-12.7,470,2677,0.00,0.62,0.00,0.000,6,0.000,0.023,2531,741,3357,0,0,0,0,0,0
$GC,3011,-0.87,-79.1,492.0,-11.2,531,3018,0.00,0.80,0.00,0.000,4,0.000,0.044,2531,196,3354,0,0,0,0,0,0
$GC,3124,-0.87,-79.1,505.8,-12.3,547,3127,0.00,0.65,0.00,0.000,6,0.000,0.023,2528,747,3353,0,0,0,0,0,0
$GC,3455,-0.87,-79.1,544.8,-11.1,578,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,747,3351,0,0,0,0,0,0
$GC,3775,-0.87,-82.5,579.8,-10.8,608,3779,0.00,0.82,0.00,0.000,4,0.000,0.044,2528,190,3348,0,0,0,0,0,0
$GC,3879,-0.87,-82.5,592.2,-11.9,617,3883,0.00,0.68,0.00,0.000,6,0.000,0.024,2523,742,3347,0,0,0,0,0,0
$GC,4203,-0.87,-84.4,628.5,-10.9,636,4206,0.00,2.03,0.00,0.000,4,0.000,0.018,2520,2149,3345,0,0,0,0,0,0
$GC,4264,-0.89,-95.6,635.0,-10.0,638,4271,0.00,2.12,0.00,0.000,6,0.000,0.036,2519,763,3344,0,0,0,0,0,0
$GC,4582,-0.89,-95.6,671.3,-11.3,654,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,763,3341,0,0,0,0,0,0
$GC,4890,-0.89,-96.5,706.6,-11.0,669,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,763,3339,0,0,0,0,0,0
$GC,5200,-0.90,-102.5,740.2,-10.5,684,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,764,3337,0,0,0,0,0,0
$GC,5508,-0.90,-105.9,773.3,-10.8,699,5512,0.00,0.85,0.00,0.000,4,0.000,0.047,2520,190,3335,0,0,0,0,0,0
$GC,5765,-0.90,-105.9,803.0,-11.6,710,5769,0.00,0.70,0.00,0.000,6,0.000,0.024,2519,745,3332,0,0,0,0,0,0
$GC,6087,-0.92,-124.2,834.3,-9.3,726,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,746,3330,0,0,0,0,0,0
$GC,6399,-0.95,-145.3,862.8,-9.0,741,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,745,3328,0,0,0,0,0,0
$GC,6706,-0.97,-163.3,891.2,-9.3,756,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,745,3327,0,0,0,0,0,0
$GC,7015,-1.00,-183.0,919.1,-9.2,771,7019,0.00,2.05,0.00,0.000,4,0.000,0.021,2518,2148,3325,0,0,0,0,0,0
$GC,7044,-1.03,-213.3,921.6,-8.1,772,7048,0.00,2.15,0.00,0.000,6,0.000,0.038,2518,764,3325,0,0,0,0,0,0
$GC,7366,-1.05,-228.7,951.0,-9.3,788,7368,0.10,0.00,0.00,0.000,6,0.109,0.000,2475,764,3323,0,0,0,0,0,0
$GC,7676,-1.05,-228.7,984.9,-10.8,803,7679,0.00,2.05,0.00,0.000,4,0.000,0.020,2466,2160,3321,0,0,0,0,0,0
$GC,7711,-1.05,-228.7,988.6,-10.6,804,7715,0.00,2.17,0.00,0.000,6,0.000,0.038,2466,768,3321,0,0,0,0,0,0
$STATE,7819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7819,begin apogee
$GC,7825,-0.14,0.0,1000.6,11.1,809,7891,1.02,0.00,60.85,1.415,4,0.164,0.000,2766,1020,3030,0,0,0,0,0,0
$STATE,7892,end apogee,CONTROL_FINISHED_OK
$STATE,7892,begin climb
$GC,7896,1.05,228.7,1002.5,0.0,812,8104,1.08,2.03,196.23,1.369,4,0.054,0.021,3165,2370,2094,0,0,0,0,0,0
$GC,8288,1.05,228.7,931.9,23.8,830,8292,0.00,2.12,0.00,0.000,6,0.000,0.036,3175,997,2085,0,0,0,0,0,0
$GC,8618,1.05,228.7,850.2,25.0,846,8621,0.00,1.23,0.00,0.000,4,0.000,0.045,3180,190,2084,0,0,0,0,0,0
$GC,8847,1.05,228.7,788.8,26.3,856,8851,0.00,1.12,0.00,0.000,6,0.000,0.026,3181,986,2081,0,0,0,0,0,0
$GC,9178,1.05,228.7,708.1,24.2,872,9181,0.00,2.05,0.00,0.000,4,0.000,0.026,3182,2382,2080,0,0,0,0,0,0
$GC,9278,1.05,228.7,683.6,22.6,876,9282,0.00,2.10,0.00,0.000,6,0.000,0.036,3190,1024,2080,0,0,0,0,0,0
$GC,9600,1.05,228.7,607.5,23.9,892,9603,0.00,2.00,0.00,0.000,4,0.000,0.024,3190,2394,2079,0,0,0,0,0,0
$GC,9684,1.05,228.7,587.2,24.6,897,9692,0.15,2.08,0.00,0.000,6,0.204,0.036,3162,1039,2078,0,0,0,0,0,0
$GC,10011,1.05,228.7,517.1,20.6,928,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1039,2078,0,0,0,0,0,0
$GC,10339,1.05,228.7,448.4,20.4,980,10348,0.00,2.00,0.00,0.000,4,0.000,0.026,3162,2384,2077,0,0,0,0,0,0
$GC,10366,1.05,228.7,443.0,21.4,984,10375,0.00,2.05,0.00,0.000,6,0.000,0.036,3170,1053,2077,0,0,0,0,0,0
$GC,10708,1.05,228.7,373.4,21.3,1045,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1053,2076,0,0,0,0,0,0
$GC,11047,1.05,228.7,305.8,18.5,1106,11055,0.00,1.98,0.00,0.000,4,0.000,0.024,3170,2392,2075,0,0,0,0,0,0
$GC,11195,1.05,228.7,280.5,16.9,1131,11202,0.00,2.05,0.00,0.000,6,0.000,0.034,3179,1039,2075,0,0,0,0,0,0
$GC,11537,1.05,228.7,222.0,15.2,1192,11546,0.00,1.27,0.00,0.000,4,0.000,0.044,3185,187,2076,0,0,0,0,0,0
$GC,11619,1.05,228.7,206.6,21.2,1206,11627,0.00,1.17,0.00,0.000,6,0.000,0.023,3186,1061,2076,0,0,0,0,0,0
$GC,11960,1.05,228.7,156.2,14.7,1267,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1061,2076,0,0,0,0,0,0
$GC,12287,1.05,229.7,113.5,11.0,1328,12296,0.00,1.30,0.00,0.000,4,0.000,0.041,3192,194,2076,0,0,0,0,0,0
$GC,12437,1.08,248.5,97.7,9.2,1354,12461,0.00,1.15,14.30,0.668,6,0.000,0.021,3192,1060,2014,0,0,0,0,0,0
$GC,12783,1.09,257.9,64.9,10.2,1417,12799,0.00,0.00,8.98,0.594,6,0.000,0.000,3192,1060,1976,0,0,0,0,0,0
$GC,13121,1.09,257.9,26.2,11.1,1479,13129,0.00,1.30,0.00,0.000,4,0.000,0.040,3198,190,1975,0,0,0,0,0,0
$STATE,13330,end climb,SURFACE_DEPTH_REACHED
$STATE,13330,begin surface coast
$FINISH,0.7,1.022343
$STATE,13357,end surface coast,CONTROL_FINISHED_OK
$STATE,13357,begin surface
$SM_CCo,13377,116.78,0.558,1,0,1397,400.08
$SM_GC,1.34,0.00,0.00,116.78,0.000,0.000,0.558,124,839,1397,-8.42,1.41,400.08
$IRIDIUM_FIX,2113.32,12559.43,031110,212135
$TT8_MAMPS,0.028462
$HUMID,38.50
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,23.0,54.820
$10V_AH,10.2,50.676
$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,19.950,59.500,280.350,116.775,0.000,32.412,37.305,221.392,0.000,0.000,30.888,3761.393,5594.848,510.624,3683.080,464.164,0.000,1784.325,0.000,3394.996,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,71.910,1415.250,558.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.712,1355.236,1890.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86938,1523
$CAP_FILE_SIZE,146760,0
$CFSIZE,260165632,147251200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,161.4,1
$GPS,041110,054801,2118.758,12600.983,39,1.6,39,-2.9