version: 66.08
glider: 167
mission: 6
dive: 302
start: 11 5 110 13 42 27
data:
$ID,167
$MISSION,6
$DIVE,302
$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,-54504.793
$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,35
$R_STBD_OVSHOOT,76
$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
$GPS1,051110,132906,2122.106,12601.104,34,1.3,35,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.7
$GPS2,051110,134152,2121.996,12601.158,14,2.6,33,-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,3.1,4786,-17.2,-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,16,-0.72,-195.0,0.0,0.0,0,82,0.00,0.00,-63.80,0.000,2,0.000,0.000,96,881,3307,0,0,0,0,0,0
$GC,85,-0.72,-195.0,5.5,-11.5,9,110,9.77,1.88,-8.35,0.000,4,0.222,0.029,2570,2234,3826,0,0,0,0,0,0
$GC,203,-0.72,-195.0,44.5,-24.6,29,211,0.00,2.22,0.00,0.000,6,0.000,0.033,2570,778,3827,0,0,0,0,0,0
$GC,527,-0.72,-195.0,129.8,-23.0,90,536,0.00,0.85,0.00,0.000,4,0.000,0.041,2570,189,3828,0,0,0,0,0,0
$GC,782,-0.72,-195.0,188.9,-23.4,136,789,0.00,0.77,0.00,0.000,6,0.000,0.020,2566,874,3829,0,0,0,0,0,0
$GC,1126,-0.72,-195.0,249.1,-16.6,197,1132,0.00,1.00,0.00,0.000,4,0.000,0.039,2566,189,3830,0,0,0,0,0,0
$GC,1231,-0.72,-195.0,267.4,-18.0,215,1237,0.00,0.75,0.00,0.000,6,0.000,0.021,2562,854,3829,0,0,0,0,0,0
$GC,1572,-0.72,-195.0,320.4,-15.5,276,1579,0.00,0.98,0.00,0.000,4,0.000,0.039,2561,187,3830,0,0,0,0,0,0
$GC,1694,-0.72,-195.0,340.2,-16.1,297,1701,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,828,3830,0,0,0,0,0,0
$GC,2032,-0.72,-195.0,391.8,-13.7,358,2042,0.10,0.95,0.00,0.000,4,0.182,0.041,2585,193,3829,0,0,0,0,0,0
$GC,2122,-0.73,-208.3,403.0,-10.6,373,2128,0.00,0.57,0.00,0.000,6,0.000,0.023,2584,711,3829,0,0,0,0,0,0
$GC,2461,-0.76,-227.0,439.9,-10.4,434,2470,0.00,1.98,0.00,0.000,4,0.000,0.017,2578,2109,3827,0,0,0,0,0,0
$GC,2545,-0.76,-228.7,447.9,-9.8,448,2552,0.00,2.08,0.00,0.000,6,0.000,0.034,2578,737,3826,0,0,0,0,0,0
$GC,2887,-0.76,-228.7,487.2,-11.6,509,2894,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2115,3824,0,0,0,0,0,0
$GC,2949,-0.76,-228.7,493.6,-9.8,519,2956,0.00,2.05,0.00,0.000,6,0.000,0.034,2574,745,3823,0,0,0,0,0,0
$GC,3284,-0.76,-228.7,530.2,-10.6,555,3288,0.00,1.95,0.00,0.000,4,0.000,0.018,2575,2105,3820,0,0,0,0,0,0
$GC,3378,-0.76,-228.7,539.0,-8.8,563,3385,0.00,2.00,0.00,0.000,6,0.000,0.034,2574,764,3820,0,0,0,0,0,0
$GC,3704,-0.76,-228.7,573.2,-10.5,594,3708,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2112,3818,0,0,0,0,0,0
$GC,3776,-0.76,-228.7,579.6,-8.0,600,3783,0.00,2.00,0.00,0.000,6,0.000,0.035,2574,775,3817,0,0,0,0,0,0
$GC,4102,-0.76,-228.7,610.1,-9.8,626,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,775,3815,0,0,0,0,0,0
$GC,4408,-0.76,-228.7,642.0,-10.5,641,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,775,3812,0,0,0,0,0,0
$GC,4717,-0.76,-228.7,674.3,-10.3,656,4721,0.00,1.90,0.00,0.000,4,0.000,0.019,2575,2112,3810,0,0,0,0,0,0
$GC,4813,-0.76,-228.7,682.7,-8.6,660,4817,0.00,2.00,0.00,0.000,6,0.000,0.037,2574,788,3809,0,0,0,0,0,0
$GC,5141,-0.76,-228.7,714.0,-9.5,676,5144,0.00,1.88,0.00,0.000,4,0.000,0.019,2575,2107,3806,0,0,0,0,0,0
$GC,5170,-0.76,-228.7,716.7,-9.1,677,5174,0.00,2.00,0.00,0.000,6,0.000,0.038,2575,785,3806,0,0,0,0,0,0
$GC,5498,-0.76,-228.7,746.7,-9.1,693,5502,0.00,1.92,0.00,0.000,4,0.000,0.020,2575,2103,3804,0,0,0,0,0,0
$GC,5558,-0.76,-228.7,751.8,-7.4,695,5565,0.00,1.98,0.00,0.000,6,0.000,0.038,2575,798,3803,0,0,0,0,0,0
$GC,5877,-0.76,-228.7,779.2,-8.8,711,5881,0.00,1.85,0.00,0.000,4,0.000,0.020,2574,2099,3801,0,0,0,0,0,0
$GC,5946,-0.76,-228.7,784.7,-7.3,714,5950,0.00,1.98,0.00,0.000,6,0.000,0.039,2574,797,3800,0,0,0,0,0,0
$GC,6281,-0.76,-228.7,813.7,-8.9,730,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,798,3798,0,0,0,0,0,0
$GC,6589,-0.76,-228.7,841.8,-9.3,745,6592,0.00,1.88,0.00,0.000,4,0.000,0.021,2575,2109,3796,0,0,0,0,0,0
$GC,6622,-0.76,-228.7,844.8,-8.6,746,6626,0.00,1.98,0.00,0.000,6,0.000,0.039,2575,812,3795,0,0,0,0,0,0
$GC,6946,-0.76,-228.7,874.3,-9.1,762,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,812,3794,0,0,0,0,0,0
$GC,7253,-0.76,-228.7,903.3,-9.5,777,7257,0.00,1.85,0.00,0.000,4,0.000,0.021,2574,2106,3791,0,0,0,0,0,0
$GC,7315,-0.76,-228.7,908.9,-9.1,779,7321,0.00,1.98,0.00,0.000,6,0.000,0.040,2574,822,3791,0,0,0,0,0,0
$GC,7634,-0.76,-228.7,938.8,-9.4,795,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,822,3790,0,0,0,0,0,0
$GC,7940,-0.76,-228.7,967.1,-8.9,810,7944,0.00,1.83,0.00,0.000,4,0.000,0.021,2574,2097,3788,0,0,0,0,0,0
$GC,8014,-0.76,-228.7,973.0,-7.6,813,8018,0.00,1.98,0.00,0.000,6,0.000,0.041,2574,805,3788,0,0,0,0,0,0
$STATE,8339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8339,begin apogee
$GC,8345,-0.14,0.0,1001.2,8.9,829,8508,0.57,0.00,156.23,1.414,4,0.114,0.000,2768,937,3029,0,0,0,0,0,0
$STATE,8509,end apogee,CONTROL_FINISHED_OK
$STATE,8509,begin climb
$GC,8512,0.76,228.7,1009.4,0.0,836,8718,0.77,1.23,199.45,1.356,4,0.053,0.050,3068,204,2095,0,0,0,0,0,0
$GC,8830,0.76,228.7,970.4,19.3,851,8834,0.00,1.02,0.00,0.000,6,0.000,0.025,3068,909,2088,0,0,0,0,0,0
$GC,9155,0.76,228.7,913.3,18.1,867,9158,0.00,1.10,0.00,0.000,4,0.000,0.046,3074,190,2084,0,0,0,0,0,0
$GC,9246,0.76,228.7,895.7,19.1,871,9250,0.00,1.05,0.00,0.000,6,0.000,0.028,3073,935,2083,0,0,0,0,0,0
$GC,9580,0.76,228.7,833.0,18.9,887,9583,0.00,1.98,0.00,0.000,4,0.000,0.024,3073,2298,2081,0,0,0,0,0,0
$GC,9717,0.76,228.7,808.2,18.0,893,9721,0.00,1.95,0.00,0.000,6,0.000,0.037,3081,1043,2081,0,0,0,0,0,0
$GC,10050,0.76,228.7,746.2,18.2,909,10053,0.00,1.85,0.00,0.000,4,0.000,0.023,3081,2312,2080,0,0,0,0,0,0
$GC,10173,0.76,228.7,725.0,16.4,914,10177,0.00,1.95,0.00,0.000,6,0.000,0.036,3089,1053,2079,0,0,0,0,0,0
$GC,10495,0.76,228.7,667.3,17.7,930,10499,0.00,1.80,0.00,0.000,4,0.000,0.023,3090,2309,2079,0,0,0,0,0,0
$GC,10543,0.76,228.7,659.2,16.9,932,10547,0.12,1.88,0.00,0.000,6,0.184,0.036,3067,1064,2078,0,0,0,0,0,0
$GC,10875,0.76,228.7,606.8,15.2,948,10879,0.00,1.83,0.00,0.000,4,0.000,0.025,3066,2309,2078,0,0,0,0,0,0
$GC,10947,0.76,228.7,595.9,14.4,951,10954,0.00,1.92,0.00,0.000,6,0.000,0.037,3072,1066,2078,0,0,0,0,0,0
$GC,11273,0.76,228.7,545.4,15.8,982,11276,0.00,1.33,0.00,0.000,4,0.000,0.047,3080,194,2078,0,0,0,0,0,0
$GC,11296,0.76,228.7,541.4,17.7,984,11300,0.00,1.12,0.00,0.000,6,0.000,0.026,3080,998,2078,0,0,0,0,0,0
$GC,11625,0.76,228.7,486.5,16.2,1022,11634,0.00,2.05,0.00,0.000,4,0.000,0.026,3079,2386,2077,0,0,0,0,0,0
$GC,11736,0.76,228.7,469.5,16.3,1041,11743,0.00,1.98,0.00,0.000,6,0.000,0.037,3088,1090,2077,0,0,0,0,0,0
$GC,12075,0.76,228.7,416.0,14.4,1102,12084,0.00,1.92,0.00,0.000,4,0.000,0.024,3088,2398,2077,0,0,0,0,0,0
$GC,12111,0.76,228.7,411.1,14.9,1107,12118,0.00,1.98,0.00,0.000,6,0.000,0.037,3095,1088,2077,0,0,0,0,0,0
$GC,12452,0.76,228.7,359.9,15.8,1168,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1087,2077,0,0,0,0,0,0
$GC,12791,0.76,228.7,309.5,14.8,1229,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1088,2077,0,0,0,0,0,0
$GC,13131,0.76,230.0,263.9,11.1,1290,13139,0.00,1.38,0.00,0.000,4,0.000,0.045,3102,186,2076,0,0,0,0,0,0
$GC,13212,0.76,230.0,252.2,14.3,1304,13221,0.10,1.30,0.00,0.000,6,0.161,0.023,3071,1129,2077,0,0,0,0,0,0
$GC,13557,0.77,238.7,215.5,10.8,1365,13572,0.00,1.40,7.15,0.694,4,0.000,0.041,3077,186,2054,0,0,0,0,0,0
$GC,13723,0.78,244.1,195.0,10.9,1394,13732,0.00,1.25,6.20,0.650,6,0.000,0.021,3077,1120,2034,0,0,0,0,0,0
$GC,14067,0.84,293.4,162.7,9.2,1455,14116,0.00,1.40,41.50,0.750,4,0.000,0.041,3083,190,1830,0,0,0,0,0,0
$GC,14161,0.84,293.4,152.1,11.1,1470,14170,0.00,1.25,0.00,0.000,6,0.000,0.021,3084,1113,1827,0,0,0,0,0,0
$GC,14490,0.89,337.3,119.9,9.4,1531,14534,0.00,1.42,35.65,0.702,4,0.000,0.041,3086,196,1652,0,0,0,0,0,0
$GC,14607,0.90,340.9,108.5,11.0,1550,14617,0.00,1.20,4.07,0.463,6,0.000,0.021,3086,1093,1638,0,0,0,0,0,0
$GC,14938,0.97,400.6,79.3,8.8,1611,14999,0.12,1.40,49.08,0.659,4,0.089,0.041,3155,195,1394,0,0,0,0,0,0
$GC,15030,0.97,400.6,69.1,12.8,1624,15038,0.00,1.20,0.00,0.000,6,0.000,0.019,3155,1106,1392,0,0,0,0,0,0
$GC,15361,0.97,400.6,17.6,13.3,1685,15369,0.00,1.40,0.00,0.000,4,0.000,0.041,3162,180,1390,0,0,0,0,0,0
$GC,15400,0.97,400.6,11.4,18.8,1691,15408,0.00,1.17,0.00,0.000,6,0.000,0.018,3162,1114,1390,0,0,0,0,0,0
$STATE,15453,end climb,SURFACE_DEPTH_REACHED
$STATE,15453,begin surface coast
$FINISH,0.5,1.022380
$STATE,15470,end surface coast,CONTROL_FINISHED_OK
$STATE,15471,begin surface
$SM_CCo,15549,0.00,0.000,0,0,1386,403.03
$SM_GC,1.43,7.80,0.00,0.00,0.036,0.000,0.000,111,769,1386,-8.35,-0.59,403.03
$IRIDIUM_FIX,2111.01,12559.43,051110,131319
$TT8_MAMPS,0.028462
$HUMID,40.78
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.8,56.313
$10V_AH,10.3,52.160
$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,19.375,99.825,499.325,0.000,0.000,81.278,102.372,225.450,0.000,0.000,37.046,4155.099,6880.815,568.948,4165.538,532.440,0.000,2071.879,0.000,3750.715,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,91.800,1413.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.898,1497.237,1981.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333720
$DATA_FILE_SIZE,100321,1703
$CAP_FILE_SIZE,175524,0
$CFSIZE,260165632,146448384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,128.0,1
$GPS,051110,180255,2123.944,12601.617,41,1.1,42,-2.9