version: 66.08
glider: 167
mission: 6
dive: 300
start: 11 5 110 4 23 5
data:
$ID,167
$MISSION,6
$DIVE,300
$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,-54500.664
$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,43
$R_STBD_OVSHOOT,86
$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
$GPS1,051110,041201,2119.078,12601.357,38,1.1,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.2
$GPS2,051110,042242,2118.922,12601.362,16,1.6,32,-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,354.7,10482,-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,-228.7,0.0,0.0,0,92,0.00,0.00,-71.12,0.000,2,0.000,0.000,112,778,3568,0,0,0,0,0,0
$GC,95,-0.72,-228.7,6.6,-13.8,10,119,9.80,2.03,-5.97,0.000,4,0.226,0.028,2574,2212,3963,0,0,0,0,0,0
$GC,199,-0.72,-228.7,46.1,-22.4,28,208,0.00,2.17,0.00,0.000,6,0.000,0.033,2573,787,3965,0,0,0,0,0,0
$GC,524,-0.72,-228.7,137.2,-24.4,89,532,0.00,0.85,0.00,0.000,4,0.000,0.041,2573,194,3965,0,0,0,0,0,0
$GC,684,-0.72,-228.7,175.3,-21.7,117,690,0.00,0.75,0.00,0.000,6,0.000,0.020,2569,868,3965,0,0,0,0,0,0
$GC,1024,-0.72,-228.7,238.7,-17.0,178,1032,0.00,1.00,0.00,0.000,4,0.000,0.040,2568,184,3966,0,0,0,0,0,0
$GC,1201,-0.72,-228.7,271.2,-18.8,209,1208,0.00,0.75,0.00,0.000,6,0.000,0.021,2564,847,3967,0,0,0,0,0,0
$GC,1540,-0.72,-228.7,326.8,-14.6,270,1548,0.00,0.95,0.00,0.000,4,0.000,0.040,2564,195,3967,0,0,0,0,0,0
$GC,1590,-0.72,-228.7,334.4,-15.4,278,1598,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,855,3967,0,0,0,0,0,0
$GC,1934,-0.72,-228.7,384.7,-14.4,339,1940,0.00,0.98,0.00,0.000,4,0.000,0.040,2561,190,3967,0,0,0,0,0,0
$GC,1997,-0.72,-228.7,394.4,-15.4,350,2005,0.00,0.77,0.00,0.000,6,0.000,0.021,2560,858,3967,0,0,0,0,0,0
$GC,2340,-0.72,-228.7,440.1,-12.3,411,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,859,3965,0,0,0,0,0,0
$GC,2678,-0.72,-228.7,482.3,-12.0,472,2687,0.00,0.98,0.00,0.000,4,0.000,0.041,2561,196,3963,0,0,0,0,0,0
$GC,2768,-0.72,-228.7,493.8,-12.5,487,2775,0.00,0.75,0.00,0.000,6,0.000,0.022,2561,823,3962,0,0,0,0,0,0
$GC,3096,-0.72,-228.7,530.4,-10.8,522,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,823,3960,0,0,0,0,0,0
$GC,3416,-0.72,-228.7,565.5,-11.3,552,3420,0.00,1.88,0.00,0.000,4,0.000,0.019,2561,2133,3957,0,0,0,0,0,0
$GC,3478,-0.72,-228.7,571.8,-8.8,557,3485,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,756,3957,0,0,0,0,0,0
$GC,3813,-0.72,-228.7,609.8,-11.2,585,3817,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2135,3954,0,0,0,0,0,0
$GC,3852,-0.72,-228.7,614.2,-10.1,586,3859,0.00,2.08,0.00,0.000,6,0.000,0.036,2561,768,3954,0,0,0,0,0,0
$GC,4170,-0.72,-228.7,648.4,-10.8,602,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,768,3951,0,0,0,0,0,0
$GC,4478,-0.72,-228.7,682.0,-10.8,617,4482,0.00,1.95,0.00,0.000,4,0.000,0.019,2560,2126,3948,0,0,0,0,0,0
$GC,4541,-0.72,-228.7,687.9,-8.9,619,4548,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,766,3949,0,0,0,0,0,0
$GC,4858,-0.72,-228.7,719.5,-9.8,635,4861,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2133,3946,0,0,0,0,0,0
$GC,4930,-0.72,-228.7,725.6,-7.7,638,4934,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,773,3945,0,0,0,0,0,0
$GC,5260,-0.72,-228.7,753.8,-8.5,654,5263,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2124,3943,0,0,0,0,0,0
$GC,5306,-0.72,-228.7,757.4,-7.1,656,5310,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,788,3942,0,0,0,0,0,0
$GC,5641,-0.72,-228.7,788.5,-9.8,672,5645,0.00,1.95,0.00,0.000,4,0.000,0.021,2561,2121,3940,0,0,0,0,0,0
$GC,5679,-0.72,-228.7,792.5,-8.5,673,5686,0.00,2.03,0.00,0.000,6,0.000,0.038,2560,801,3939,0,0,0,0,0,0
$GC,5996,-0.72,-228.7,824.5,-10.6,689,6000,0.00,1.92,0.00,0.000,4,0.000,0.021,2559,2118,3939,0,0,0,0,0,0
$GC,6071,-0.72,-228.7,831.6,-9.1,692,6074,0.00,2.00,0.00,0.000,6,0.000,0.038,2561,802,3937,0,0,0,0,0,0
$GC,6398,-0.72,-228.7,865.1,-10.0,708,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,802,3935,0,0,0,0,0,0
$GC,6709,-0.72,-228.7,895.5,-9.8,723,6713,0.00,1.92,0.00,0.000,4,0.000,0.021,2561,2129,3933,0,0,0,0,0,0
$GC,6770,-0.72,-228.7,901.1,-8.0,725,6777,0.00,2.00,0.00,0.000,6,0.000,0.040,2561,818,3934,0,0,0,0,0,0
$GC,7087,-0.72,-228.7,929.8,-9.0,741,7091,0.00,1.88,0.00,0.000,4,0.000,0.021,2560,2125,3931,0,0,0,0,0,0
$GC,7128,-0.72,-228.7,933.1,-7.6,742,7137,0.00,2.00,0.00,0.000,6,0.000,0.040,2561,815,3930,0,0,0,0,0,0
$GC,7445,-0.72,-228.7,961.0,-8.8,758,7448,0.00,1.88,0.00,0.000,4,0.000,0.021,2561,2121,3929,0,0,0,0,0,0
$GC,7472,-0.72,-228.7,963.5,-8.3,759,7476,0.00,1.98,0.00,0.000,6,0.000,0.040,2561,826,3929,0,0,0,0,0,0
$GC,7802,-0.72,-228.7,991.3,-8.5,775,7805,0.00,1.88,0.00,0.000,4,0.000,0.021,2560,2130,3928,0,0,0,0,0,0
$GC,7840,-0.72,-228.7,994.7,-7.5,776,7848,0.00,1.98,0.00,0.000,6,0.000,0.040,2561,837,3928,0,0,0,0,0,0
$STATE,7907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7907,begin apogee
$GC,7915,-0.14,0.0,1000.0,8.1,780,8107,0.62,0.00,185.23,1.406,4,0.112,0.000,2771,961,3028,0,0,0,0,0,0
$STATE,8107,end apogee,CONTROL_FINISHED_OK
$STATE,8107,begin climb
$GC,8110,0.72,228.7,1008.4,0.0,789,8316,0.75,1.30,199.25,1.349,4,0.050,0.050,3058,194,2096,0,0,0,0,0,0
$GC,8505,0.72,228.7,952.5,18.4,807,8509,0.00,1.12,0.00,0.000,6,0.000,0.028,3058,967,2087,0,0,0,0,0,0
$GC,8838,0.72,228.7,892.8,18.0,823,8842,0.00,1.20,0.00,0.000,4,0.000,0.047,3063,193,2084,0,0,0,0,0,0
$GC,8962,0.72,228.7,869.5,19.1,828,8965,0.00,1.17,0.00,0.000,6,0.000,0.028,3064,1022,2083,0,0,0,0,0,0
$GC,9285,0.72,228.7,812.6,17.3,844,9289,0.00,2.03,0.00,0.000,4,0.000,0.026,3063,2396,2082,0,0,0,0,0,0
$GC,9378,0.72,228.7,797.3,16.4,848,9382,0.00,2.08,0.00,0.000,6,0.000,0.037,3070,1031,2082,0,0,0,0,0,0
$GC,9705,0.72,228.7,740.3,17.3,864,9708,0.00,2.00,0.00,0.000,4,0.000,0.024,3070,2394,2081,0,0,0,0,0,0
$GC,9759,0.72,228.7,730.8,16.6,866,9764,0.00,2.10,0.00,0.000,6,0.000,0.037,3077,1042,2080,0,0,0,0,0,0
$GC,10084,0.72,228.7,677.0,17.3,882,10087,0.00,2.00,0.00,0.000,4,0.000,0.025,3078,2401,2080,0,0,0,0,0,0
$GC,10169,0.72,228.7,663.0,16.0,885,10176,0.00,2.05,0.00,0.000,6,0.000,0.037,3084,1052,2080,0,0,0,0,0,0
$GC,10487,0.72,228.7,613.5,14.8,901,10490,0.00,1.98,0.00,0.000,4,0.000,0.024,3084,2400,2079,0,0,0,0,0,0
$GC,10532,0.72,228.7,606.5,14.6,903,10537,0.15,2.05,0.00,0.000,6,0.181,0.037,3055,1062,2079,0,0,0,0,0,0
$GC,10858,0.72,228.7,563.4,14.7,931,10862,0.00,1.98,0.00,0.000,4,0.000,0.025,3054,2404,2079,0,0,0,0,0,0
$GC,10882,0.72,228.7,559.8,14.6,933,10885,0.00,2.03,0.00,0.000,6,0.000,0.037,3062,1077,2079,0,0,0,0,0,0
$GC,11213,0.72,228.7,508.1,15.2,964,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1077,2078,0,0,0,0,0,0
$GC,11537,0.72,228.7,464.7,13.2,1018,11545,0.00,1.35,0.00,0.000,4,0.000,0.047,3068,192,2078,0,0,0,0,0,0
$GC,11596,0.72,228.7,456.7,13.8,1028,11604,0.00,1.27,0.00,0.000,6,0.000,0.025,3068,1107,2078,0,0,0,0,0,0
$GC,11928,0.72,228.7,413.5,12.4,1089,11936,0.00,1.88,0.00,0.000,4,0.000,0.023,3068,2411,2077,0,0,0,0,0,0
$GC,11965,0.72,228.7,408.5,12.9,1095,11972,0.00,2.00,0.00,0.000,6,0.000,0.035,3077,1081,2078,0,0,0,0,0,0
$GC,12297,0.72,228.7,362.4,15.1,1156,12305,0.00,1.35,0.00,0.000,4,0.000,0.045,3084,191,2077,0,0,0,0,0,0
$GC,12354,0.72,228.7,353.3,16.4,1166,12362,0.08,1.25,0.00,0.000,6,0.164,0.024,3060,1085,2078,0,0,0,0,0,0
$GC,12694,0.72,228.7,312.0,11.5,1227,12701,0.00,1.88,0.00,0.000,4,0.000,0.021,3061,2408,2078,0,0,0,0,0,0
$GC,12720,0.72,228.7,308.8,11.6,1231,12727,0.00,2.00,0.00,0.000,6,0.000,0.037,3061,1077,2078,0,0,0,0,0,0
$GC,13051,0.76,260.3,273.1,10.1,1292,13079,0.00,1.40,24.33,0.848,4,0.000,0.045,3068,184,1967,0,0,0,0,0,0
$GC,13111,0.76,260.3,266.6,12.8,1301,13118,0.00,1.27,0.00,0.000,6,0.000,0.022,3068,1120,1965,0,0,0,0,0,0
$GC,13446,0.79,287.6,227.9,10.2,1362,13475,0.00,1.92,23.83,0.798,4,0.000,0.021,3068,2406,1856,0,0,0,0,0,0
$GC,13508,0.79,287.6,220.7,11.9,1372,13516,0.00,2.08,0.00,0.000,6,0.000,0.035,3075,1074,1855,0,0,0,0,0,0
$GC,13844,0.82,313.3,183.8,10.3,1433,13872,0.00,1.33,22.10,0.754,4,0.000,0.042,3076,190,1750,0,0,0,0,0,0
$GC,14118,0.82,313.3,150.0,13.5,1482,14126,0.00,1.23,0.00,0.000,6,0.000,0.021,3076,1107,1747,0,0,0,0,0,0
$GC,14444,0.95,416.4,117.5,7.7,1543,14533,0.15,1.48,82.65,0.701,4,0.081,0.042,3151,184,1330,0,0,0,0,0,0
$GC,14673,0.95,416.4,86.0,14.3,1581,14681,0.00,1.20,0.00,0.000,6,0.000,0.019,3151,1102,1325,0,0,0,0,0,0
$GC,15002,0.97,433.8,40.4,10.5,1642,15024,0.00,0.00,14.50,0.592,6,0.000,0.000,3151,1104,1258,0,0,0,0,0,0
$STATE,15268,end climb,SURFACE_DEPTH_REACHED
$STATE,15268,begin surface coast
$FINISH,0.5,1.009036
$STATE,15287,end surface coast,CONTROL_FINISHED_OK
$STATE,15287,begin surface
$SM_CCo,15366,0.00,0.000,0,0,1254,435.16
$SM_GC,1.48,7.72,0.00,0.00,0.033,0.000,0.000,115,789,1254,-8.37,-0.03,435.16
$IRIDIUM_FIX,2108.69,12559.94,051110,040407
$TT8_MAMPS,0.028462
$HUMID,40.15
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.70
$XPDR_PINGS,1
$24V_AH,22.8,55.928
$10V_AH,10.2,51.783
$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,19.275,106.550,551.875,0.000,0.000,55.241,82.521,216.278,0.250,0.000,33.099,4118.735,6638.938,615.069,4073.547,537.971,0.000,2124.129,0.000,3726.940,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,91.035,1406.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.267,1494.792,1943.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333780
$DATA_FILE_SIZE,100127,1694
$CAP_FILE_SIZE,175078,0
$CFSIZE,260165632,146644992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,159.5,1
$GPS,051110,084055,2120.299,12601.279,67,1.7,67,-2.9