version: 66.08
glider: 167
mission: 6
dive: 305
start: 11 6 110 2 59 29
data:
$ID,167
$MISSION,6
$DIVE,305
$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,-54508.566
$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,37
$R_STBD_OVSHOOT,127
$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
$GPS1,061110,024855,2120.004,12601.212,39,1.2,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.1
$GPS2,061110,025907,2119.914,12601.198,33,1.1,33,-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,359.4,8642,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-69.30,0.000,2,0.000,0.000,112,801,3508,0,0,0,0,0,0
$GC,92,-0.72,-228.7,6.7,-14.5,10,117,9.73,1.92,-7.03,0.000,4,0.223,0.029,2573,2175,3963,0,0,0,0,0,0
$GC,205,-0.72,-228.7,45.5,-22.7,29,213,0.00,2.12,0.00,0.000,6,0.000,0.034,2572,782,3964,0,0,0,0,0,0
$GC,531,-0.72,-228.7,133.7,-24.2,90,539,0.00,0.85,0.00,0.000,4,0.000,0.041,2572,192,3965,0,0,0,0,0,0
$GC,678,-0.72,-228.7,166.4,-18.5,116,686,0.00,0.73,0.00,0.000,6,0.000,0.021,2568,843,3965,0,0,0,0,0,0
$GC,1023,-0.72,-228.7,226.8,-17.2,177,1030,0.00,0.95,0.00,0.000,4,0.000,0.038,2568,190,3966,0,0,0,0,0,0
$GC,1280,-0.72,-228.7,272.5,-17.9,223,1287,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,813,3966,0,0,0,0,0,0
$GC,1617,-0.72,-228.7,328.3,-16.1,284,1627,0.00,1.83,0.00,0.000,4,0.000,0.018,2561,2110,3966,0,0,0,0,0,0
$GC,1687,-0.72,-228.7,337.2,-11.8,295,1694,0.00,1.98,0.00,0.000,6,0.000,0.032,2561,767,3965,0,0,0,0,0,0
$GC,2028,-0.72,-228.7,388.5,-14.4,356,2037,0.00,0.82,0.00,0.000,4,0.000,0.042,2561,192,3966,0,0,0,0,0,0
$GC,2086,-0.72,-228.7,397.7,-15.9,365,2093,0.00,0.68,0.00,0.000,6,0.000,0.022,2560,788,3966,0,0,0,0,0,0
$GC,2426,-0.72,-228.7,445.5,-14.0,426,2434,0.10,1.92,0.00,0.000,4,0.176,0.018,2585,2124,3964,0,0,0,0,0,0
$GC,2486,-0.72,-228.7,451.6,-9.1,436,2495,0.00,2.00,0.00,0.000,6,0.000,0.034,2585,801,3964,0,0,0,0,0,0
$GC,2830,-0.72,-228.7,486.0,-10.3,497,2837,0.00,1.88,0.00,0.000,4,0.000,0.018,2585,2111,3962,0,0,0,0,0,0
$GC,2947,-0.72,-228.7,496.5,-8.5,517,2953,0.00,1.92,0.00,0.000,6,0.000,0.034,2585,815,3961,0,0,0,0,0,0
$GC,3277,-0.72,-228.7,528.7,-10.1,551,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,815,3959,0,0,0,0,0,0
$GC,3595,-0.72,-228.7,561.4,-10.4,581,3599,0.00,1.83,0.00,0.000,4,0.000,0.018,2585,2113,3957,0,0,0,0,0,0
$GC,3664,-0.72,-228.7,567.8,-8.9,587,3667,0.00,1.92,0.00,0.000,6,0.000,0.035,2585,822,3956,0,0,0,0,0,0
$GC,3995,-0.72,-228.7,599.2,-9.1,618,3999,0.00,1.85,0.00,0.000,4,0.000,0.019,2585,2105,3952,0,0,0,0,0,0
$GC,4085,-0.72,-228.7,606.6,-7.7,623,4089,0.00,1.95,0.00,0.000,6,0.000,0.036,2585,835,3952,0,0,0,0,0,0
$GC,4420,-0.72,-228.7,636.1,-9.0,639,4423,0.00,1.80,0.00,0.000,4,0.000,0.019,2585,2111,3949,0,0,0,0,0,0
$GC,4469,-0.72,-228.7,640.4,-7.6,641,4473,0.00,1.90,0.00,0.000,6,0.000,0.037,2585,842,3949,0,0,0,0,0,0
$GC,4799,-0.72,-228.7,668.6,-8.6,657,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,842,3947,0,0,0,0,0,0
$GC,5107,-0.72,-228.7,694.5,-8.2,672,5111,0.00,1.83,0.00,0.000,4,0.000,0.020,2585,2112,3944,0,0,0,0,0,0
$GC,5191,-0.72,-228.7,700.9,-7.6,675,5198,0.00,1.95,0.00,0.000,6,0.000,0.037,2585,832,3943,0,0,0,0,0,0
$GC,5510,-0.72,-228.7,727.2,-8.6,691,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,832,3941,0,0,0,0,0,0
$GC,5818,-0.72,-228.7,753.9,-9.0,706,5822,0.00,1.83,0.00,0.000,4,0.000,0.020,2585,2113,3939,0,0,0,0,0,0
$GC,5861,-0.72,-228.7,757.4,-7.9,707,5867,0.00,1.95,0.00,0.000,6,0.000,0.038,2585,842,3938,0,0,0,0,0,0
$GC,6177,-0.72,-228.7,785.4,-9.0,723,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,842,3937,0,0,0,0,0,0
$GC,6486,-0.72,-228.7,812.6,-8.7,738,6490,0.00,1.80,0.00,0.000,4,0.000,0.020,2585,2108,3934,0,0,0,0,0,0
$GC,6571,-0.72,-228.7,819.2,-7.9,741,6578,0.00,1.92,0.00,0.000,6,0.000,0.040,2584,855,3934,0,0,0,0,0,0
$GC,6888,-0.72,-228.7,844.1,-7.5,757,6891,0.00,1.83,0.00,0.000,4,0.000,0.021,2585,2118,3932,0,0,0,0,0,0
$GC,6943,-0.72,-228.7,848.1,-6.3,759,6947,0.00,1.92,0.00,0.000,6,0.000,0.039,2585,864,3932,0,0,0,0,0,0
$GC,7267,-0.72,-228.7,871.3,-7.3,775,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,865,3930,0,0,0,0,0,0
$GC,7575,-0.72,-228.7,894.0,-7.5,790,7578,0.00,1.80,0.00,0.000,4,0.000,0.021,2585,2109,3928,0,0,0,0,0,0
$GC,7649,-0.72,-228.7,899.1,-6.7,793,7653,0.00,1.90,0.00,0.000,6,0.000,0.040,2584,866,3928,0,0,0,0,0,0
$GC,7977,-0.72,-228.7,924.2,-7.9,809,7981,0.00,1.77,0.00,0.000,4,0.000,0.021,2585,2107,3926,0,0,0,0,0,0
$GC,8010,-0.72,-228.7,926.8,-8.0,810,8014,0.00,1.92,0.00,0.000,6,0.000,0.040,2585,862,3926,0,0,0,0,0,0
$GC,8334,-0.72,-228.7,952.3,-8.3,826,8338,0.00,1.77,0.00,0.000,4,0.000,0.021,2585,2104,3925,0,0,0,0,0,0
$GC,8367,-0.72,-228.7,955.2,-8.2,827,8371,0.00,1.88,0.00,0.000,6,0.000,0.041,2585,878,3925,0,0,0,0,0,0
$GC,8691,-0.72,-228.7,980.8,-7.9,843,8695,0.00,1.80,0.00,0.000,4,0.000,0.022,2585,2103,3924,0,0,0,0,0,0
$GC,8724,-0.72,-228.7,983.5,-6.7,844,8727,0.00,1.88,0.00,0.000,6,0.000,0.041,2585,877,3924,0,0,0,0,0,0
$STATE,8940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8940,begin apogee
$GC,8946,-0.14,0.0,1000.2,7.7,855,9136,0.55,0.00,185.18,1.413,4,0.106,0.000,2774,876,3029,0,0,0,0,0,0
$STATE,9138,end apogee,CONTROL_FINISHED_OK
$STATE,9138,begin climb
$GC,9141,0.72,228.7,1009.8,0.0,863,9354,0.80,2.30,199.88,1.355,4,0.046,0.021,3065,2331,2095,0,0,0,0,0,0
$GC,9545,0.72,228.7,958.9,18.2,881,9550,0.00,2.08,0.00,0.000,6,0.000,0.038,3074,1007,2088,0,0,0,0,0,0
$GC,9862,0.72,228.7,897.6,19.8,896,9865,0.00,1.25,0.00,0.000,4,0.000,0.047,3080,190,2086,0,0,0,0,0,0
$GC,10056,0.72,228.7,856.9,20.9,904,10064,0.00,1.02,0.00,0.000,6,0.000,0.026,3080,930,2086,0,0,0,0,0,0
$GC,10373,0.72,228.7,796.6,19.1,920,10376,0.00,2.03,0.00,0.000,4,0.000,0.024,3081,2309,2085,0,0,0,0,0,0
$GC,10526,0.72,228.7,768.8,17.1,926,10534,0.12,1.98,0.00,0.000,6,0.181,0.037,3058,1013,2084,0,0,0,0,0,0
$GC,10843,0.72,228.7,716.3,16.0,942,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1012,2084,0,0,0,0,0,0
$GC,11152,0.72,228.7,668.1,15.4,957,11155,0.00,1.90,0.00,0.000,4,0.000,0.024,3056,2313,2083,0,0,0,0,0,0
$GC,11231,0.72,228.7,656.5,14.6,960,11235,0.00,1.95,0.00,0.000,6,0.000,0.038,3064,1026,2083,0,0,0,0,0,0
$GC,11552,0.72,228.7,605.4,16.2,976,11556,0.00,1.88,0.00,0.000,4,0.000,0.023,3064,2316,2083,0,0,0,0,0,0
$GC,11667,0.72,228.7,587.7,14.6,984,11671,0.00,1.92,0.00,0.000,6,0.000,0.037,3072,1044,2082,0,0,0,0,0,0
$GC,11998,0.72,228.7,531.8,16.3,1015,12002,0.00,1.85,0.00,0.000,4,0.000,0.024,3072,2316,2082,0,0,0,0,0,0
$GC,12046,0.72,228.7,524.3,15.5,1019,12050,0.00,1.98,0.00,0.000,6,0.000,0.037,3080,1042,2082,0,0,0,0,0,0
$GC,12374,0.72,228.7,469.1,16.5,1066,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1042,2081,0,0,0,0,0,0
$GC,12707,0.72,228.7,418.4,13.7,1127,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1042,2080,0,0,0,0,0,0
$GC,13042,0.72,228.7,369.6,14.6,1188,13050,0.00,1.88,0.00,0.000,4,0.000,0.024,3080,2316,2081,0,0,0,0,0,0
$GC,13140,0.72,228.7,356.1,12.2,1205,13148,0.12,1.90,0.00,0.000,6,0.174,0.036,3057,1051,2081,0,0,0,0,0,0
$GC,13472,0.72,228.7,315.1,11.6,1266,13479,0.00,1.30,0.00,0.000,4,0.000,0.046,3062,191,2081,0,0,0,0,0,0
$GC,13579,0.72,228.7,300.6,11.8,1285,13587,0.00,1.08,0.00,0.000,6,0.000,0.025,3062,977,2081,0,0,0,0,0,0
$GC,13910,0.74,245.6,263.5,10.6,1346,13932,0.00,2.08,12.90,0.813,4,0.000,0.021,3062,2384,2028,0,0,0,0,0,0
$GC,14089,0.76,262.0,243.9,10.6,1377,14110,0.00,2.03,15.05,0.801,6,0.000,0.035,3065,1041,1960,0,0,0,0,0,0
$GC,14439,0.83,316.7,205.9,9.3,1440,14493,0.00,1.33,45.70,0.797,4,0.000,0.045,3071,192,1736,0,0,0,0,0,0
$GC,14635,0.83,316.7,182.9,12.4,1473,14642,0.00,1.17,0.00,0.000,6,0.000,0.021,3071,1069,1732,0,0,0,0,0,0
$GC,14967,0.90,373.0,144.8,9.3,1534,15020,0.12,1.92,45.65,0.732,4,0.087,0.018,3130,2394,1507,0,0,0,0,0,0
$GC,15089,0.90,373.0,129.3,12.3,1553,15097,0.00,2.05,0.00,0.000,6,0.000,0.034,3138,1072,1503,0,0,0,0,0,0
$GC,15416,0.90,373.0,87.6,11.3,1614,15423,0.00,1.33,0.00,0.000,4,0.000,0.042,3145,190,1501,0,0,0,0,0,0
$GC,15500,0.90,373.0,77.0,12.8,1629,15509,0.10,1.17,0.00,0.000,6,0.140,0.020,3112,1084,1501,0,0,0,0,0,0
$GC,15829,0.91,380.5,42.3,10.9,1690,15844,0.00,1.35,6.90,0.533,4,0.000,0.042,3117,195,1477,0,0,0,0,0,0
$GC,15922,0.91,383.7,31.1,11.0,1706,15931,0.00,1.15,4.57,0.451,6,0.000,0.019,3117,1092,1464,0,0,0,0,0,0
$STATE,16185,end climb,SURFACE_DEPTH_REACHED
$STATE,16185,begin surface coast
$FINISH,0.5,1.022392
$STATE,16217,end surface coast,CONTROL_FINISHED_OK
$STATE,16217,begin surface
$SM_CCo,16235,18.95,0.259,1,0,1397,400.08
$SM_GC,1.55,0.00,0.00,18.95,0.000,0.000,0.259,114,779,1397,-8.47,-0.34,400.08
$IRIDIUM_FIX,2111.01,12601.30,061110,020201
$TT8_MAMPS,0.028462
$HUMID,41.06
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.7,56.854
$10V_AH,10.1,52.723
$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,19.325,105.600,515.825,18.950,0.000,57.552,60.833,212.214,0.000,0.000,34.574,4302.174,7174.737,609.489,4221.927,546.044,0.000,2166.833,0.000,3890.215,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,47.430,1412.955,258.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1202.005,1540.423,2017.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,103619,1760
$CAP_FILE_SIZE,181124,0
$CFSIZE,260165632,146153472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,158.8,1
$GPS,061110,073137,2121.635,12601.221,27,1.3,28,-2.9