version: 66.08
glider: 167
mission: 6
dive: 306
start: 11 6 110 7 40 17
data:
$ID,167
$MISSION,6
$DIVE,306
$N_DIVES,319
$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,-54509.824
$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,48
$R_STBD_OVSHOOT,88
$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
$GPS1,061110,073137,2121.635,12601.221,27,1.3,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.1
$GPS2,061110,073955,2121.597,12601.197,14,1.3,19,-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,358.9,5525,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-228.7,0.0,0.0,0,85,0.00,0.00,-67.03,0.000,2,0.000,0.000,113,779,3389,0,0,0,0,0,0
$GC,89,-0.72,-228.7,5.6,-11.8,9,113,9.75,2.08,-9.12,0.000,4,0.223,0.031,2570,2214,3965,0,0,0,0,0,0
$GC,189,-0.72,-228.7,42.0,-24.1,26,197,0.00,2.17,0.00,0.000,6,0.000,0.033,2570,792,3966,0,0,0,0,0,0
$GC,515,-0.72,-228.7,130.0,-25.6,87,523,0.00,0.88,0.00,0.000,4,0.000,0.040,2570,184,3966,0,0,0,0,0,0
$GC,771,-0.72,-228.7,189.2,-19.1,133,778,0.00,0.77,0.00,0.000,6,0.000,0.020,2565,864,3967,0,0,0,0,0,0
$GC,1101,-0.72,-228.7,251.7,-18.6,194,1109,0.00,0.98,0.00,0.000,4,0.000,0.038,2565,192,3968,0,0,0,0,0,0
$GC,1329,-0.72,-228.7,295.2,-19.1,235,1337,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,856,3968,0,0,0,0,0,0
$GC,1662,-0.72,-228.7,349.9,-15.5,296,1669,0.00,0.98,0.00,0.000,4,0.000,0.039,2562,190,3968,0,0,0,0,0,0
$GC,1738,-0.72,-228.7,362.3,-17.4,309,1744,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,848,3968,0,0,0,0,0,0
$GC,2070,-0.72,-228.7,411.6,-14.5,370,2079,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2186,3968,0,0,0,0,0,0
$GC,2146,-0.72,-228.7,420.1,-10.3,383,2154,0.00,2.10,0.00,0.000,6,0.000,0.032,2561,762,3968,0,0,0,0,0,0
$GC,2479,-0.72,-228.7,463.8,-12.4,444,2487,0.00,0.82,0.00,0.000,4,0.000,0.043,2561,192,3967,0,0,0,0,0,0
$GC,2526,-0.72,-228.7,470.1,-13.2,452,2534,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,824,3966,0,0,0,0,0,0
$GC,2865,-0.72,-228.7,511.5,-11.7,505,2868,0.00,1.83,0.00,0.000,4,0.000,0.018,2561,2137,3964,0,0,0,0,0,0
$GC,2913,-0.72,-228.7,516.4,-9.9,509,2917,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,762,3963,0,0,0,0,0,0
$GC,3244,-0.72,-228.7,556.2,-12.3,540,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3961,0,0,0,0,0,0
$GC,3566,-0.72,-228.7,595.8,-12.7,570,3569,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2122,3958,0,0,0,0,0,0
$GC,3634,-0.72,-228.7,603.8,-10.5,575,3638,0.00,2.03,0.00,0.000,6,0.000,0.036,2560,771,3958,0,0,0,0,0,0
$GC,3969,-0.72,-228.7,644.8,-12.3,591,3973,0.00,1.95,0.00,0.000,4,0.000,0.019,2560,2140,3956,0,0,0,0,0,0
$GC,4015,-0.72,-228.7,649.9,-9.9,593,4019,0.00,2.08,0.00,0.000,6,0.000,0.036,2560,771,3955,0,0,0,0,0,0
$GC,4348,-0.72,-228.7,686.4,-10.4,609,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,771,3952,0,0,0,0,0,0
$GC,4659,-0.72,-228.7,716.7,-9.6,624,4663,0.00,1.92,0.00,0.000,4,0.000,0.020,2562,2122,3950,0,0,0,0,0,0
$GC,4760,-0.72,-228.7,725.3,-8.2,628,4764,0.00,2.03,0.00,0.000,6,0.000,0.037,2560,782,3949,0,0,0,0,0,0
$GC,5084,-0.72,-228.7,756.2,-9.9,644,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,783,3947,0,0,0,0,0,0
$GC,5391,-0.72,-228.7,788.7,-10.5,659,5395,0.00,1.92,0.00,0.000,4,0.000,0.021,2560,2130,3944,0,0,0,0,0,0
$GC,5429,-0.72,-228.7,792.5,-9.4,660,5436,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,792,3944,0,0,0,0,0,0
$GC,5748,-0.72,-228.7,826.2,-11.1,676,5752,0.10,1.92,0.00,0.000,4,0.164,0.020,2587,2116,3942,0,0,0,0,0,0
$GC,5793,-0.72,-228.7,830.7,-9.1,678,5797,0.00,2.03,0.00,0.000,6,0.000,0.039,2586,791,3941,0,0,0,0,0,0
$GC,6126,-0.72,-228.7,861.2,-9.0,694,6130,0.00,1.92,0.00,0.000,4,0.000,0.020,2587,2120,3940,0,0,0,0,0,0
$GC,6189,-0.72,-228.7,866.4,-8.2,696,6196,0.00,2.00,0.00,0.000,6,0.000,0.038,2587,804,3939,0,0,0,0,0,0
$GC,6506,-0.72,-228.7,891.7,-7.7,712,6509,0.00,1.90,0.00,0.000,4,0.000,0.020,2587,2121,3937,0,0,0,0,0,0
$GC,6558,-0.72,-228.7,895.4,-7.3,714,6561,0.00,2.03,0.00,0.000,6,0.000,0.039,2586,819,3937,0,0,0,0,0,0
$GC,6885,-0.72,-228.7,919.9,-7.6,730,6889,0.00,1.88,0.00,0.000,4,0.000,0.020,2587,2132,3934,0,0,0,0,0,0
$GC,6932,-0.72,-228.7,923.2,-6.7,732,6936,0.00,2.00,0.00,0.000,6,0.000,0.039,2587,819,3934,0,0,0,0,0,0
$GC,7268,-0.72,-228.7,948.6,-7.7,748,7272,0.00,1.90,0.00,0.000,4,0.000,0.021,2587,2115,3932,0,0,0,0,0,0
$GC,7324,-0.72,-228.7,952.9,-7.2,750,7327,0.00,1.98,0.00,0.000,6,0.000,0.040,2587,821,3932,0,0,0,0,0,0
$GC,7648,-0.72,-228.7,977.0,-7.5,766,7651,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2118,3931,0,0,0,0,0,0
$GC,7703,-0.72,-228.7,981.1,-7.0,768,7706,0.00,1.95,0.00,0.000,6,0.000,0.040,2587,840,3930,0,0,0,0,0,0
$STATE,7981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7981,begin apogee
$GC,7987,-0.14,0.0,1000.9,6.9,782,8181,0.55,0.00,185.45,1.407,4,0.105,0.000,2775,955,3029,0,0,0,0,0,0
$STATE,8182,end apogee,CONTROL_FINISHED_OK
$STATE,8182,begin climb
$GC,8184,0.72,228.7,1009.3,0.0,791,8392,0.80,2.25,199.38,1.349,4,0.044,0.021,3069,2385,2096,0,0,0,0,0,0
$GC,8551,0.72,228.7,958.4,19.1,807,8559,0.00,2.22,0.00,0.000,6,0.000,0.037,3079,990,2088,0,0,0,0,0,0
$GC,8868,0.72,228.7,894.0,20.5,823,8871,0.00,1.23,0.00,0.000,4,0.000,0.047,3085,189,2086,0,0,0,0,0,0
$GC,9086,0.72,228.7,846.6,22.3,832,9093,0.08,1.12,0.00,0.000,6,0.169,0.026,3062,989,2085,0,0,0,0,0,0
$GC,9403,0.72,228.7,789.1,17.8,848,9406,0.00,2.05,0.00,0.000,4,0.000,0.024,3062,2377,2084,0,0,0,0,0,0
$GC,9504,0.72,228.7,772.3,15.1,852,9508,0.00,2.08,0.00,0.000,6,0.000,0.037,3068,1019,2083,0,0,0,0,0,0
$GC,9820,0.72,228.7,720.8,16.0,867,9824,0.00,2.03,0.00,0.000,4,0.000,0.024,3069,2391,2083,0,0,0,0,0,0
$GC,9888,0.72,228.7,710.5,14.9,870,9892,0.00,2.08,0.00,0.000,6,0.000,0.036,3078,1027,2082,0,0,0,0,0,0
$GC,10217,0.72,228.7,655.8,16.7,886,10221,0.00,2.00,0.00,0.000,4,0.000,0.023,3078,2394,2082,0,0,0,0,0,0
$GC,10273,0.72,228.7,645.9,16.5,888,10277,0.00,2.12,0.00,0.000,6,0.000,0.039,3080,1035,2082,0,0,0,0,0,0
$GC,10597,0.72,228.7,588.3,18.6,906,10601,0.00,2.00,0.00,0.000,4,0.000,0.024,3080,2398,2081,0,0,0,0,0,0
$GC,10636,0.72,228.7,580.5,17.7,909,10643,0.00,2.10,0.00,0.000,6,0.000,0.038,3080,1032,2081,0,0,0,0,0,0
$GC,10964,0.72,228.7,525.8,15.8,940,10967,0.00,2.00,0.00,0.000,4,0.000,0.024,3079,2398,2081,0,0,0,0,0,0
$GC,11033,0.72,228.7,515.6,14.8,946,11037,0.00,2.05,0.00,0.000,6,0.000,0.038,3079,1053,2080,0,0,0,0,0,0
$GC,11361,0.72,228.7,468.8,14.7,996,11369,0.00,1.98,0.00,0.000,4,0.000,0.023,3079,2391,2080,0,0,0,0,0,0
$GC,11383,0.72,228.7,465.2,15.6,999,11391,0.00,2.03,0.00,0.000,6,0.000,0.038,3080,1058,2080,0,0,0,0,0,0
$GC,11717,0.72,228.7,413.8,16.1,1060,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1058,2081,0,0,0,0,0,0
$GC,12051,0.72,228.7,366.8,14.1,1121,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1058,2080,0,0,0,0,0,0
$GC,12382,0.72,228.7,321.4,12.3,1182,12390,0.00,1.33,0.00,0.000,4,0.000,0.045,3086,189,2080,0,0,0,0,0,0
$GC,12436,0.72,228.7,314.4,14.6,1191,12444,0.08,1.23,0.00,0.000,6,0.158,0.023,3062,1078,2080,0,0,0,0,0,0
$GC,12774,0.74,247.2,277.6,10.5,1252,12795,0.00,1.92,14.27,0.825,4,0.000,0.020,3061,2405,2020,0,0,0,0,0,0
$GC,12918,0.75,251.8,262.0,11.0,1277,12933,0.00,1.98,5.47,0.664,6,0.000,0.035,3065,1090,2000,0,0,0,0,0,0
$GC,13264,0.80,294.9,222.9,9.7,1339,13306,0.00,1.42,36.42,0.803,4,0.000,0.044,3072,187,1825,0,0,0,0,0,0
$GC,13525,0.80,294.9,189.5,13.2,1385,13531,0.00,1.25,0.00,0.000,6,0.000,0.020,3072,1130,1821,0,0,0,0,0,0
$GC,13858,0.85,330.8,153.5,9.9,1446,13894,0.00,1.90,30.00,0.731,4,0.000,0.020,3072,2411,1679,0,0,0,0,0,0
$GC,13925,0.89,366.8,147.0,9.9,1456,13965,0.00,2.08,29.75,0.714,6,0.000,0.034,3076,1075,1533,0,0,0,0,0,0
$GC,14286,0.91,383.5,109.5,10.6,1521,14310,0.10,1.35,14.48,0.656,4,0.106,0.041,3132,190,1465,0,0,0,0,0,0
$GC,14425,0.91,383.5,93.3,11.4,1545,14433,0.00,1.23,0.00,0.000,6,0.000,0.019,3132,1135,1463,0,0,0,0,0,0
$GC,14751,0.91,383.5,52.7,13.2,1606,14759,0.00,1.42,0.00,0.000,4,0.000,0.041,3136,190,1462,0,0,0,0,0,0
$GC,14829,0.91,383.5,41.7,13.4,1620,14837,0.00,1.17,0.00,0.000,6,0.000,0.019,3136,1118,1462,0,0,0,0,0,0
$STATE,15147,end climb,SURFACE_DEPTH_REACHED
$STATE,15147,begin surface coast
$FINISH,0.7,1.022401
$STATE,15172,end surface coast,CONTROL_FINISHED_OK
$STATE,15172,begin surface
$SM_CCo,15191,18.83,0.255,1,0,1398,400.08
$SM_GC,1.33,0.00,0.00,18.83,0.000,0.000,0.255,99,779,1398,-8.51,-0.31,400.08
$IRIDIUM_FIX,2113.32,12602.66,061110,020216
$TT8_MAMPS,0.028462
$HUMID,40.86
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.8,57.047
$10V_AH,10.1,52.907
$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,19.100,108.200,515.225,18.825,0.000,34.043,19.733,222.761,0.000,0.000,20.579,4111.094,6434.831,600.030,4015.476,529.876,0.000,2101.652,0.000,3750.139,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,128.520,1406.835,254.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.350,1486.081,1974.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,96951,1683
$CAP_FILE_SIZE,173127,0
$CFSIZE,260165632,146067456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,178.1,1
$GPS,061110,115507,2122.930,12601.045,35,1.0,35,-2.9