version: 66.08
glider: 167
mission: 6
dive: 295
start: 11 4 110 6 4 14
data:
$ID,167
$MISSION,6
$DIVE,295
$N_DIVES,308
$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,-54494.375
$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,120
$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
$GPS1,041110,054801,2118.758,12600.983,39,1.6,39,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.4
$GPS2,041110,060352,2118.663,12600.945,14,2.5,33,-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,359.2,10967,-15.8,-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,-0.72,-228.7,0.0,0.0,0,87,0.00,0.00,-66.78,0.000,2,0.000,0.000,110,840,3387,0,0,0,0,0,0
$GC,90,-0.72,-228.7,5.5,-10.7,9,114,9.65,0.00,-9.20,0.000,6,0.220,0.000,2582,840,3966,0,0,0,0,0,0
$GC,429,-0.72,-228.7,114.0,-25.4,72,437,0.00,0.95,0.00,0.000,4,0.000,0.040,2582,192,3967,0,0,0,0,0,0
$GC,680,-0.72,-228.7,175.5,-19.1,118,688,0.00,0.73,0.00,0.000,6,0.000,0.020,2578,834,3967,0,0,0,0,0,0
$GC,1015,-0.72,-228.7,235.4,-18.2,179,1022,0.00,0.95,0.00,0.000,4,0.000,0.041,2578,187,3968,0,0,0,0,0,0
$GC,1149,-0.72,-228.7,257.6,-16.0,203,1155,0.00,0.65,0.00,0.000,6,0.000,0.021,2574,778,3968,0,0,0,0,0,0
$GC,1478,-0.72,-228.7,307.6,-14.3,264,1486,0.00,0.85,0.00,0.000,4,0.000,0.041,2574,192,3968,0,0,0,0,0,0
$GC,1554,-0.72,-228.7,318.7,-15.1,277,1562,0.00,0.60,0.00,0.000,6,0.000,0.023,2574,747,3968,0,0,0,0,0,0
$GC,1890,-0.72,-228.7,367.9,-13.3,338,1898,0.00,1.92,0.00,0.000,4,0.000,0.017,2570,2114,3968,0,0,0,0,0,0
$GC,1937,-0.72,-228.7,374.1,-12.0,346,1946,0.00,2.03,0.00,0.000,6,0.000,0.032,2570,768,3968,0,0,0,0,0,0
$GC,2272,-0.72,-228.7,420.4,-13.9,407,2278,0.00,0.82,0.00,0.000,4,0.000,0.043,2570,192,3967,0,0,0,0,0,0
$GC,2323,-0.72,-228.7,427.9,-14.8,416,2331,0.00,0.62,0.00,0.000,6,0.000,0.022,2570,750,3967,0,0,0,0,0,0
$GC,2662,-0.72,-228.7,470.6,-12.4,477,2669,0.00,1.92,0.00,0.000,4,0.000,0.017,2563,2133,3964,0,0,0,0,0,0
$GC,2694,-0.72,-228.7,474.2,-11.7,482,2702,0.00,2.08,0.00,0.000,6,0.000,0.033,2563,762,3964,0,0,0,0,0,0
$GC,3023,-0.72,-228.7,515.7,-12.9,532,3027,0.00,0.82,0.00,0.000,4,0.000,0.044,2563,193,3962,0,0,0,0,0,0
$GC,3097,-0.72,-228.7,525.7,-14.1,538,3104,0.00,0.65,0.00,0.000,6,0.000,0.023,2562,735,3961,0,0,0,0,0,0
$GC,3424,-0.72,-228.7,565.0,-12.1,569,3428,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2125,3959,0,0,0,0,0,0
$GC,3528,-0.72,-228.7,575.7,-10.2,578,3532,0.00,2.03,0.00,0.000,6,0.000,0.035,2561,772,3958,0,0,0,0,0,0
$GC,3868,-0.72,-228.7,615.3,-11.6,604,3871,0.00,0.85,0.00,0.000,4,0.000,0.045,2561,192,3956,0,0,0,0,0,0
$GC,3930,-0.72,-228.7,623.2,-12.8,606,3937,0.00,0.68,0.00,0.000,6,0.000,0.024,2561,740,3955,0,0,0,0,0,0
$GC,4249,-0.72,-228.7,660.7,-11.6,622,4252,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2150,3952,0,0,0,0,0,0
$GC,4343,-0.72,-228.7,670.4,-9.4,626,4347,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,777,3951,0,0,0,0,0,0
$GC,4668,-0.72,-228.7,704.9,-10.5,642,4671,0.00,2.00,0.00,0.000,4,0.000,0.020,2561,2159,3949,0,0,0,0,0,0
$GC,4740,-0.72,-228.7,711.6,-7.8,645,4744,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,802,3949,0,0,0,0,0,0
$GC,5064,-0.72,-228.7,742.1,-9.5,661,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,802,3946,0,0,0,0,0,0
$GC,5372,-0.72,-228.7,772.3,-9.8,676,5375,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2165,3943,0,0,0,0,0,0
$GC,5410,-0.72,-228.7,775.9,-8.7,677,5418,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,808,3943,0,0,0,0,0,0
$GC,5729,-0.72,-228.7,806.3,-9.6,693,5732,0.00,1.95,0.00,0.000,4,0.000,0.021,2562,2153,3940,0,0,0,0,0,0
$GC,5775,-0.72,-228.7,810.4,-8.3,695,5779,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,816,3940,0,0,0,0,0,0
$GC,6110,-0.72,-228.7,841.6,-9.4,711,6114,0.10,0.95,0.00,0.000,4,0.163,0.050,2587,196,3938,0,0,0,0,0,0
$GC,6159,-0.72,-228.7,846.0,-8.1,713,6163,0.00,0.80,0.00,0.000,6,0.000,0.024,2587,814,3938,0,0,0,0,0,0
$GC,6487,-0.72,-228.7,871.2,-7.6,729,6491,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2152,3935,0,0,0,0,0,0
$GC,6561,-0.72,-228.7,876.6,-7.3,732,6564,0.00,2.03,0.00,0.000,6,0.000,0.038,2587,818,3935,0,0,0,0,0,0
$GC,6888,-0.72,-228.7,902.1,-7.9,748,6892,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2161,3932,0,0,0,0,0,0
$GC,6929,-0.72,-228.7,905.2,-7.9,749,6937,0.00,2.05,0.00,0.000,6,0.000,0.038,2587,828,3932,0,0,0,0,0,0
$GC,7246,-0.72,-228.7,929.5,-7.6,765,7249,0.00,1.92,0.00,0.000,4,0.000,0.021,2587,2169,3931,0,0,0,0,0,0
$GC,7279,-0.72,-228.7,932.0,-7.1,766,7282,0.00,2.05,0.00,0.000,6,0.000,0.040,2587,825,3930,0,0,0,0,0,0
$GC,7603,-0.72,-228.7,955.4,-7.2,782,7607,0.00,1.92,0.00,0.000,4,0.000,0.021,2587,2167,3929,0,0,0,0,0,0
$GC,7642,-0.72,-228.7,958.4,-7.1,783,7648,0.00,2.05,0.00,0.000,6,0.000,0.040,2587,839,3928,0,0,0,0,0,0
$GC,7958,-0.72,-228.7,980.9,-7.3,799,7962,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2163,3926,0,0,0,0,0,0
$GC,7993,-0.72,-228.7,983.5,-6.9,800,7997,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,838,3927,0,0,0,0,0,0
$STATE,8229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8229,begin apogee
$GC,8236,-0.14,0.0,1001.3,7.7,812,8428,0.52,0.00,184.25,1.405,4,0.104,0.000,2770,1004,3028,0,0,0,0,0,0
$STATE,8428,end apogee,CONTROL_FINISHED_OK
$STATE,8429,begin climb
$GC,8431,0.72,228.7,1011.6,0.0,821,8637,0.75,1.35,198.15,1.351,4,0.047,0.050,3057,204,2097,0,0,0,0,0,0
$GC,8872,0.72,228.7,949.8,18.7,841,8876,0.00,1.12,0.00,0.000,6,0.000,0.026,3057,993,2088,0,0,0,0,0,0
$GC,9209,0.72,228.7,890.7,17.8,857,9212,0.00,1.23,0.00,0.000,4,0.000,0.047,3062,196,2085,0,0,0,0,0,0
$GC,9393,0.72,228.7,855.0,19.2,865,9397,0.00,1.15,0.00,0.000,6,0.000,0.028,3062,1008,2084,0,0,0,0,0,0
$GC,9720,0.72,228.7,797.9,17.3,881,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1009,2084,0,0,0,0,0,0
$GC,10031,0.72,228.7,745.6,17.3,896,10034,0.00,2.03,0.00,0.000,4,0.000,0.025,3062,2383,2082,0,0,0,0,0,0
$GC,10109,0.72,228.7,732.5,15.9,899,10113,0.00,2.10,0.00,0.000,6,0.000,0.037,3069,1010,2081,0,0,0,0,0,0
$GC,10431,0.72,228.7,678.4,16.3,915,10435,0.00,2.03,0.00,0.000,4,0.000,0.024,3069,2397,2082,0,0,0,0,0,0
$GC,10471,0.72,228.7,671.8,15.9,916,10478,0.00,2.10,0.00,0.000,6,0.000,0.037,3079,1017,2081,0,0,0,0,0,0
$GC,10787,0.72,228.7,619.0,17.0,932,10791,0.00,2.03,0.00,0.000,4,0.000,0.026,3079,2387,2081,0,0,0,0,0,0
$GC,10887,0.72,228.7,602.7,16.2,936,10891,0.00,2.05,0.00,0.000,6,0.000,0.037,3085,1041,2080,0,0,0,0,0,0
$GC,11218,0.72,228.7,548.7,17.3,966,11222,0.00,1.30,0.00,0.000,4,0.000,0.047,3091,191,2080,0,0,0,0,0,0
$GC,11279,0.72,228.7,537.2,19.9,971,11286,0.10,1.20,0.00,0.000,6,0.171,0.026,3061,1044,2080,0,0,0,0,0,0
$GC,11606,0.72,228.7,485.6,17.4,1010,11614,0.00,1.98,0.00,0.000,4,0.000,0.024,3061,2385,2080,0,0,0,0,0,0
$GC,11684,0.72,228.7,473.9,14.3,1023,11691,0.00,2.05,0.00,0.000,6,0.000,0.037,3065,1048,2079,0,0,0,0,0,0
$GC,12017,0.72,228.7,423.7,13.7,1084,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1048,2080,0,0,0,0,0,0
$GC,12353,0.72,228.7,379.3,12.8,1145,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1048,2079,0,0,0,0,0,0
$GC,12689,0.72,228.7,333.6,13.2,1206,12697,0.00,1.98,0.00,0.000,4,0.000,0.022,3065,2387,2079,0,0,0,0,0,0
$GC,12745,0.72,228.7,326.9,12.7,1215,12752,0.00,2.03,0.00,0.000,6,0.000,0.036,3072,1044,2080,0,0,0,0,0,0
$GC,13077,0.75,256.4,287.2,10.2,1276,13105,0.00,1.27,21.73,0.861,4,0.000,0.043,3078,180,1982,0,0,0,0,0,0
$GC,13266,0.75,256.4,261.5,14.5,1309,13273,0.00,1.20,0.00,0.000,6,0.000,0.022,3078,1067,1980,0,0,0,0,0,0
$GC,13599,0.75,256.4,221.5,12.2,1370,13607,0.00,1.33,0.00,0.000,4,0.000,0.045,3080,199,1979,0,0,0,0,0,0
$GC,13698,0.75,256.4,209.6,11.9,1387,13705,0.00,1.12,0.00,0.000,6,0.000,0.024,3080,1028,1979,0,0,0,0,0,0
$GC,14031,0.76,258.9,170.5,11.0,1448,14039,0.00,1.98,0.00,0.000,4,0.000,0.021,3079,2391,1978,0,0,0,0,0,0
$GC,14162,0.78,277.1,156.4,10.5,1471,14190,0.00,2.05,17.80,0.721,6,0.000,0.034,3079,1022,1900,0,0,0,0,0,0
$GC,14511,0.89,363.5,123.0,8.3,1535,14592,0.00,1.33,69.65,0.709,4,0.000,0.045,3079,188,1546,0,0,0,0,0,0
$GC,14656,0.99,446.2,110.6,8.4,1557,14730,0.12,1.10,66.68,0.682,6,0.052,0.021,3149,1018,1208,0,0,0,0,0,0
$GC,15048,0.99,446.2,55.7,13.7,1627,15056,0.00,1.92,0.00,0.000,4,0.000,0.018,3149,2368,1202,0,0,0,0,0,0
$GC,15078,0.99,446.2,52.3,12.3,1631,15086,0.00,2.12,0.00,0.000,6,0.000,0.033,3156,982,1202,0,0,0,0,0,0
$STATE,15394,end climb,SURFACE_DEPTH_REACHED
$STATE,15394,begin surface coast
$FINISH,0.9,1.022441
$STATE,15414,end surface coast,CONTROL_FINISHED_OK
$STATE,15414,begin surface
$SM_CCo,15492,0.00,0.000,0,0,1201,448.41
$SM_GC,1.52,7.80,0.00,0.00,0.037,0.000,0.000,113,772,1201,-8.37,-0.51,448.41
$IRIDIUM_FIX,2111.01,12601.30,041110,050549
$TT8_MAMPS,0.028462
$HUMID,40.43
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,22.9,55.026
$10V_AH,10.2,50.863
$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,19.050,102.475,558.250,0.000,0.000,138.423,136.005,204.848,0.000,0.000,34.842,4122.094,6890.575,617.041,4255.756,536.474,0.000,2150.738,0.000,3771.561,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,55.080,1405.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.248,1491.237,1946.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,97055,1693
$CAP_FILE_SIZE,178127,0
$CFSIZE,260165632,147120128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,193.9,1
$GPS,041110,102401,2120.298,12600.511,57,1.3,58,-2.9