version: 66.08
glider: 167
mission: 6
dive: 304
start: 11 5 110 22 53 33
data:
$ID,167
$MISSION,6
$DIVE,304
$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,-54507.309
$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,36
$R_STBD_OVSHOOT,77
$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
$GPS1,051110,224406,2121.683,12601.168,37,1.3,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.7
$GPS2,051110,225255,2121.590,12601.147,17,1.3,34,-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,188.4,4982,-22.9,-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,-0.77,-110.9,0.0,0.0,0,84,0.00,0.00,-66.05,0.000,2,0.000,0.000,108,881,3411,0,0,0,0,0,0
$GC,88,-0.77,-110.9,6.3,-14.4,9,106,9.70,1.08,-1.12,0.000,4,0.223,0.061,2568,162,3485,0,0,0,0,0,0
$GC,346,-0.77,-110.9,88.7,-26.3,56,354,0.00,0.85,0.00,0.000,6,0.000,0.019,2564,907,3487,0,0,0,0,0,0
$GC,676,-0.77,-110.9,155.6,-18.1,117,682,0.00,1.77,0.00,0.000,4,0.000,0.015,2555,2226,3488,0,0,0,0,0,0
$GC,939,-0.77,-110.9,194.6,-14.5,163,946,0.00,2.17,0.00,0.000,6,0.000,0.031,2555,748,3489,0,0,0,0,0,0
$GC,1277,-0.77,-110.9,247.2,-16.1,224,1285,0.00,0.80,0.00,0.000,4,0.000,0.041,2555,190,3490,0,0,0,0,0,0
$GC,1480,-0.77,-110.9,280.0,-15.2,259,1487,0.00,0.75,0.00,0.000,6,0.000,0.020,2550,857,3490,0,0,0,0,0,0
$GC,1819,-0.77,-110.9,328.7,-14.3,320,1827,0.00,0.98,0.00,0.000,4,0.000,0.039,2550,190,3490,0,0,0,0,0,0
$GC,2051,-0.77,-110.9,364.8,-16.9,361,2058,0.00,0.70,0.00,0.000,6,0.000,0.022,2547,806,3490,0,0,0,0,0,0
$GC,2392,-0.77,-110.9,413.8,-12.5,422,2401,0.00,0.90,0.00,0.000,4,0.000,0.041,2547,192,3488,0,0,0,0,0,0
$GC,2654,-0.77,-110.9,448.8,-12.5,468,2661,0.00,0.57,0.00,0.000,6,0.000,0.024,2547,705,3487,0,0,0,0,0,0
$GC,2995,-0.77,-110.9,488.2,-11.6,529,3002,0.00,0.75,0.00,0.000,4,0.000,0.044,2547,192,3485,0,0,0,0,0,0
$GC,3069,-0.77,-110.9,497.7,-12.6,542,3077,0.00,0.55,0.00,0.000,6,0.000,0.025,2547,679,3485,0,0,0,0,0,0
$GC,3398,-0.77,-113.1,534.2,-11.0,574,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,679,3483,0,0,0,0,0,0
$GC,3720,-0.79,-127.0,566.3,-10.2,604,3724,0.00,2.05,0.00,0.000,4,0.000,0.018,2544,2104,3480,0,0,0,0,0,0
$GC,3828,-0.83,-157.4,576.6,-9.1,613,3834,0.00,2.15,0.00,0.000,6,0.000,0.035,2544,704,3479,0,0,0,0,0,0
$GC,4164,-0.83,-157.4,614.9,-12.1,639,4168,0.00,0.73,0.00,0.000,4,0.000,0.046,2544,203,3477,0,0,0,0,0,0
$GC,4270,-0.83,-157.4,629.0,-12.3,643,4276,0.00,0.55,0.00,0.000,6,0.000,0.025,2544,668,3476,0,0,0,0,0,0
$GC,4586,-0.83,-162.4,664.7,-10.8,659,4590,0.00,2.05,0.00,0.000,4,0.000,0.018,2536,2102,3474,0,0,0,0,0,0
$GC,4627,-0.86,-182.9,668.9,-9.7,660,4634,0.00,2.12,0.00,0.000,6,0.000,0.036,2536,716,3473,0,0,0,0,0,0
$GC,4944,-0.87,-195.1,701.8,-10.3,676,4947,0.00,2.00,0.00,0.000,4,0.000,0.019,2535,2107,3470,0,0,0,0,0,0
$GC,5015,-0.92,-227.9,708.3,-8.9,679,5019,0.00,2.10,0.00,0.000,6,0.000,0.037,2534,729,3470,0,0,0,0,0,0
$GC,5348,-0.92,-228.7,744.0,-10.7,695,5352,0.00,1.98,0.00,0.000,4,0.000,0.018,2535,2113,3467,0,0,0,0,0,0
$GC,5381,-0.92,-228.7,747.6,-10.0,696,5385,0.00,2.10,0.00,0.000,6,0.000,0.037,2534,733,3467,0,0,0,0,0,0
$GC,5700,-0.92,-228.7,782.0,-11.2,711,5703,0.00,1.98,0.00,0.000,4,0.000,0.019,2534,2107,3464,0,0,0,0,0,0
$GC,5755,-0.92,-228.7,788.0,-9.7,713,5759,0.00,2.08,0.00,0.000,6,0.000,0.038,2534,742,3465,0,0,0,0,0,0
$GC,6072,-0.92,-228.7,820.6,-9.9,728,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,742,3463,0,0,0,0,0,0
$GC,6383,-0.92,-228.7,849.8,-9.4,743,6387,0.00,0.82,0.00,0.000,4,0.000,0.049,2535,189,3461,0,0,0,0,0,0
$GC,6433,-0.92,-228.7,855.3,-10.4,745,6437,0.00,0.60,0.00,0.000,6,0.000,0.026,2534,664,3460,0,0,0,0,0,0
$GC,6763,-0.92,-228.7,887.3,-10.0,761,6767,0.00,2.05,0.00,0.000,4,0.000,0.020,2534,2087,3458,0,0,0,0,0,0
$GC,6791,-0.92,-228.7,890.1,-9.1,762,6795,0.00,2.10,0.00,0.000,6,0.000,0.040,2534,733,3458,0,0,0,0,0,0
$GC,7119,-0.92,-228.7,921.5,-9.8,778,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,733,3456,0,0,0,0,0,0
$GC,7429,-0.92,-228.7,951.7,-9.9,793,7433,0.00,2.00,0.00,0.000,4,0.000,0.021,2534,2108,3455,0,0,0,0,0,0
$GC,7479,-0.92,-228.7,956.5,-8.6,795,7483,0.00,2.10,0.00,0.000,6,0.000,0.040,2534,736,3454,0,0,0,0,0,0
$GC,7803,-0.92,-228.7,988.9,-10.3,811,7807,0.00,2.00,0.00,0.000,4,0.000,0.021,2534,2096,3453,0,0,0,0,0,0
$GC,7831,-0.92,-228.7,991.9,-9.5,812,7835,0.00,2.08,0.00,0.000,6,0.000,0.040,2533,740,3453,0,0,0,0,0,0
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7929,begin apogee
$GC,7935,-0.14,0.0,1001.9,10.2,817,8028,0.75,0.00,88.38,1.417,4,0.138,0.000,2770,941,3029,0,0,0,0,0,0
$STATE,8032,end apogee,CONTROL_FINISHED_OK
$STATE,8032,begin climb
$GC,8034,0.92,228.7,1004.8,0.0,821,8240,0.95,2.10,196.02,1.365,4,0.052,0.021,3123,2324,2096,0,0,0,0,0,0
$GC,8404,0.92,228.7,945.4,22.1,838,8408,0.00,2.08,0.00,0.000,6,0.000,0.037,3133,993,2088,0,0,0,0,0,0
$GC,8733,0.92,228.7,865.2,24.6,854,8737,0.00,1.23,0.00,0.000,4,0.000,0.046,3140,190,2085,0,0,0,0,0,0
$GC,8958,0.92,228.7,805.2,26.9,864,8962,0.00,1.05,0.00,0.000,6,0.000,0.027,3140,943,2083,0,0,0,0,0,0
$GC,9293,0.92,228.7,723.9,23.8,880,9297,0.00,1.98,0.00,0.000,4,0.000,0.025,3140,2304,2082,0,0,0,0,0,0
$GC,9466,0.92,228.7,686.0,20.6,887,9474,0.08,1.95,0.00,0.000,6,0.187,0.036,3126,1048,2082,0,0,0,0,0,0
$GC,9785,0.92,228.7,619.2,20.5,903,9788,0.00,1.83,0.00,0.000,4,0.000,0.023,3125,2319,2081,0,0,0,0,0,0
$GC,9845,0.92,228.7,606.0,20.4,905,9852,0.00,1.98,0.00,0.000,6,0.000,0.037,3133,1044,2081,0,0,0,0,0,0
$GC,10170,0.92,228.7,540.9,19.8,934,10174,0.00,1.83,0.00,0.000,4,0.000,0.024,3133,2316,2080,0,0,0,0,0,0
$GC,10228,0.92,228.7,529.7,19.5,939,10231,0.00,1.92,0.00,0.000,6,0.000,0.037,3141,1054,2080,0,0,0,0,0,0
$GC,10561,0.92,228.7,462.7,20.5,986,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1053,2079,0,0,0,0,0,0
$GC,10904,0.92,228.7,395.7,19.0,1047,10911,0.00,1.80,0.00,0.000,4,0.000,0.023,3141,2312,2078,0,0,0,0,0,0
$GC,10985,0.92,228.7,381.2,15.6,1061,10993,0.12,1.92,0.00,0.000,6,0.200,0.037,3120,1049,2078,0,0,0,0,0,0
$GC,11327,0.92,228.7,325.6,16.6,1122,11336,0.00,1.30,0.00,0.000,4,0.000,0.045,3125,187,2078,0,0,0,0,0,0
$GC,11432,0.92,228.7,307.5,18.2,1140,11441,0.00,1.10,0.00,0.000,6,0.000,0.024,3125,997,2078,0,0,0,0,0,0
$GC,11778,0.92,228.7,255.0,14.9,1201,11785,0.00,1.98,0.00,0.000,4,0.000,0.022,3125,2381,2078,0,0,0,0,0,0
$GC,11830,0.92,228.7,246.6,14.4,1210,11839,0.00,2.00,0.00,0.000,6,0.000,0.035,3132,1079,2077,0,0,0,0,0,0
$GC,12172,0.92,228.7,197.9,13.3,1271,12179,0.00,1.33,0.00,0.000,4,0.000,0.044,3139,196,2078,0,0,0,0,0,0
$GC,12430,0.92,228.7,162.4,11.2,1317,12436,0.00,1.15,0.00,0.000,6,0.000,0.023,3138,1052,2077,0,0,0,0,0,0
$GC,12760,0.92,228.7,126.2,11.2,1378,12769,0.00,1.30,0.00,0.000,4,0.000,0.043,3143,190,2079,0,0,0,0,0,0
$GC,12819,0.92,228.7,118.6,12.6,1388,12827,0.00,1.15,0.00,0.000,6,0.000,0.022,3142,1057,2079,0,0,0,0,0,0
$GC,13147,0.99,291.5,89.9,6.9,1449,13200,0.00,1.38,48.40,0.686,4,0.000,0.042,3149,186,1839,0,0,0,0,0,0
$GC,13440,0.99,291.5,58.0,11.7,1501,13448,0.00,1.12,0.00,0.000,6,0.000,0.021,3149,1047,1835,0,0,0,0,0,0
$GC,13769,1.03,324.7,25.6,8.9,1562,13799,0.00,1.35,26.88,0.613,4,0.000,0.042,3155,181,1705,0,0,0,0,0,0
$STATE,13935,end climb,SURFACE_DEPTH_REACHED
$STATE,13935,begin surface coast
$FINISH,0.5,1.008904
$STATE,13958,end surface coast,CONTROL_FINISHED_OK
$STATE,13958,begin surface
$SM_CCo,13976,62.95,0.510,1,0,1398,400.08
$SM_GC,1.26,0.00,0.00,62.95,0.000,0.000,0.510,117,802,1398,-8.45,0.34,400.08
$IRIDIUM_FIX,2117.95,12602.66,051110,181816
$TT8_MAMPS,0.028462
$HUMID,39.56
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.9,56.659
$10V_AH,10.2,52.532
$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,19.500,85.275,359.675,62.950,0.000,34.645,30.083,226.293,0.000,0.000,34.824,3932.503,5734.722,522.557,3880.359,497.613,0.000,1889.167,0.000,3583.152,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,61.200,1416.780,510.255,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.818,1421.927,1976.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,93591,1595
$CAP_FILE_SIZE,158805,0
$CFSIZE,260165632,146284544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,130.5,1
$GPS,061110,024855,2120.004,12601.212,39,1.2,39,-2.9