version: 66.08
glider: 167
mission: 6
dive: 307
start: 11 6 110 12 6 6
data:
$ID,167
$MISSION,6
$DIVE,307
$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,-54511.082
$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,40
$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
$GPS1,061110,115507,2122.930,12601.045,35,1.0,35,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.6
$GPS2,061110,120532,2122.908,12601.072,10,1.6,10,-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,4.9,3105,-20.0,-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,17,-0.73,-145.2,0.0,0.0,0,91,0.00,0.00,-71.03,0.000,2,0.000,0.000,99,779,3536,0,0,0,0,0,0
$GC,94,-0.73,-145.2,6.2,-12.5,10,110,9.73,2.10,-1.35,0.000,4,0.220,0.030,2566,2241,3625,0,0,0,0,0,0
$GC,208,-0.73,-145.2,46.0,-23.2,30,216,0.00,2.22,0.00,0.000,6,0.000,0.034,2566,786,3627,0,0,0,0,0,0
$GC,533,-0.73,-145.2,132.6,-24.6,91,541,0.00,0.85,0.00,0.000,4,0.000,0.040,2566,192,3628,0,0,0,0,0,0
$GC,793,-0.73,-145.2,188.1,-19.7,137,799,0.00,0.77,0.00,0.000,6,0.000,0.020,2562,886,3629,0,0,0,0,0,0
$GC,1134,-0.73,-145.2,246.4,-17.1,198,1141,0.00,1.02,0.00,0.000,4,0.000,0.039,2562,187,3630,0,0,0,0,0,0
$GC,1393,-0.73,-145.2,294.4,-17.8,244,1401,0.00,0.77,0.00,0.000,6,0.000,0.021,2560,884,3630,0,0,0,0,0,0
$GC,1736,-0.73,-145.2,346.2,-14.9,305,1743,0.00,1.02,0.00,0.000,4,0.000,0.039,2560,186,3629,0,0,0,0,0,0
$GC,1920,-0.73,-145.2,375.0,-15.5,338,1928,0.00,0.75,0.00,0.000,6,0.000,0.021,2557,851,3629,0,0,0,0,0,0
$GC,2261,-0.73,-145.2,421.0,-13.0,399,2270,0.00,0.98,0.00,0.000,4,0.000,0.041,2557,187,3628,0,0,0,0,0,0
$GC,2467,-0.73,-145.2,450.0,-13.6,435,2474,0.08,0.75,0.00,0.000,6,0.149,0.021,2577,820,3627,0,0,0,0,0,0
$GC,2809,-0.75,-157.7,487.5,-10.5,496,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,820,3625,0,0,0,0,0,0
$GC,3144,-0.78,-183.8,521.7,-9.8,537,3148,0.00,0.93,0.00,0.000,4,0.000,0.043,2577,193,3623,0,0,0,0,0,0
$GC,3191,-0.82,-215.3,526.3,-9.5,541,3194,0.00,0.65,0.00,0.000,6,0.000,0.023,2575,745,3622,0,0,0,0,0,0
$GC,3527,-0.84,-228.7,557.4,-9.4,572,3531,0.00,1.98,0.00,0.000,4,0.000,0.018,2574,2135,3619,0,0,0,0,0,0
$GC,3611,-0.84,-228.7,565.2,-8.7,579,3617,0.00,2.05,0.00,0.000,6,0.000,0.034,2575,760,3619,0,0,0,0,0,0
$GC,3938,-0.84,-228.7,597.4,-10.3,610,3942,0.00,1.95,0.00,0.000,4,0.000,0.018,2574,2137,3617,0,0,0,0,0,0
$GC,3977,-0.84,-228.7,601.4,-9.0,613,3984,0.00,2.05,0.00,0.000,6,0.000,0.035,2574,766,3617,0,0,0,0,0,0
$GC,4296,-0.84,-228.7,632.2,-9.8,629,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,766,3614,0,0,0,0,0,0
$GC,4604,-0.84,-228.7,661.0,-9.3,644,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,765,3612,0,0,0,0,0,0
$GC,4912,-0.84,-228.7,688.5,-8.8,659,4916,0.00,2.00,0.00,0.000,4,0.000,0.019,2574,2137,3609,0,0,0,0,0,0
$GC,4962,-0.84,-228.7,692.6,-8.0,661,4965,0.00,2.08,0.00,0.000,6,0.000,0.037,2574,762,3610,0,0,0,0,0,0
$GC,5286,-0.84,-228.7,722.4,-9.6,677,5289,0.00,1.95,0.00,0.000,4,0.000,0.019,2574,2130,3607,0,0,0,0,0,0
$GC,5332,-0.84,-228.7,726.7,-8.9,679,5336,0.00,2.05,0.00,0.000,6,0.000,0.037,2574,777,3607,0,0,0,0,0,0
$GC,5661,-0.84,-228.7,758.5,-9.8,695,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,777,3605,0,0,0,0,0,0
$GC,5968,-0.84,-228.7,788.0,-9.2,710,5972,0.00,1.95,0.00,0.000,4,0.000,0.020,2574,2139,3601,0,0,0,0,0,0
$GC,6046,-0.84,-228.7,794.6,-8.0,713,6050,0.00,2.10,0.00,0.000,6,0.000,0.038,2574,757,3601,0,0,0,0,0,0
$GC,6364,-0.84,-228.7,822.9,-8.9,728,6368,0.00,2.00,0.00,0.000,4,0.000,0.020,2574,2134,3599,0,0,0,0,0,0
$GC,6413,-0.84,-228.7,827.4,-7.9,730,6417,0.00,2.08,0.00,0.000,6,0.000,0.038,2574,773,3599,0,0,0,0,0,0
$GC,6741,-0.84,-228.7,856.0,-8.8,746,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,773,3597,0,0,0,0,0,0
$GC,7054,-0.84,-228.7,883.3,-8.6,761,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,772,3596,0,0,0,0,0,0
$GC,7361,-0.84,-228.7,909.4,-8.2,776,7365,0.00,1.95,0.00,0.000,4,0.000,0.020,2574,2130,3594,0,0,0,0,0,0
$GC,7447,-0.84,-228.7,915.8,-6.9,779,7453,0.00,2.08,0.00,0.000,6,0.000,0.040,2574,788,3593,0,0,0,0,0,0
$GC,7764,-0.84,-228.7,940.0,-7.5,795,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,788,3592,0,0,0,0,0,0
$GC,8072,-0.84,-228.7,962.1,-7.2,810,8076,0.00,1.92,0.00,0.000,4,0.000,0.021,2574,2130,3590,0,0,0,0,0,0
$GC,8152,-0.84,-228.7,967.4,-6.6,813,8156,0.00,2.08,0.00,0.000,6,0.000,0.041,2575,788,3590,0,0,0,0,0,0
$GC,8475,-0.84,-228.7,992.0,-8.2,829,8478,0.00,0.90,0.00,0.000,4,0.000,0.050,2574,192,3589,0,0,0,0,0,0
$GC,8538,-0.84,-228.7,997.7,-9.6,831,8544,0.00,0.75,0.00,0.000,6,0.000,0.025,2575,757,3589,0,0,0,0,0,0
$STATE,8563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8563,begin apogee
$GC,8569,-0.14,0.0,1000.0,8.8,833,8692,0.60,0.00,116.40,1.419,4,0.120,0.000,2772,1019,3029,0,0,0,0,0,0
$STATE,8693,end apogee,CONTROL_FINISHED_OK
$STATE,8693,begin climb
$GC,8697,0.84,228.7,1004.1,0.0,838,8902,0.85,1.38,197.88,1.364,4,0.050,0.049,3102,188,2096,0,0,0,0,0,0
$GC,9083,0.84,228.7,943.7,21.9,855,9087,0.00,1.15,0.00,0.000,6,0.000,0.025,3102,984,2086,0,0,0,0,0,0
$GC,9418,0.84,228.7,876.1,20.3,871,9421,0.00,1.23,0.00,0.000,4,0.000,0.045,3107,187,2082,0,0,0,0,0,0
$GC,9582,0.84,228.7,839.6,21.9,878,9585,0.00,1.17,0.00,0.000,6,0.000,0.024,3107,1028,2082,0,0,0,0,0,0
$GC,9910,0.84,228.7,771.3,20.6,894,9914,0.00,1.98,0.00,0.000,4,0.000,0.025,3107,2379,2081,0,0,0,0,0,0
$GC,10007,0.84,228.7,751.7,20.3,898,10011,0.00,2.08,0.00,0.000,6,0.000,0.036,3116,1013,2080,0,0,0,0,0,0
$GC,10330,0.84,228.7,684.5,20.6,914,10334,0.00,2.03,0.00,0.000,4,0.000,0.024,3117,2382,2079,0,0,0,0,0,0
$GC,10381,0.84,228.7,673.9,19.6,916,10386,0.12,2.08,0.00,0.000,6,0.188,0.036,3095,1015,2079,0,0,0,0,0,0
$GC,10704,0.84,228.7,614.8,18.1,932,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1015,2078,0,0,0,0,0,0
$GC,11020,0.84,228.7,558.3,17.8,958,11024,0.00,1.98,0.00,0.000,4,0.000,0.024,3095,2378,2078,0,0,0,0,0,0
$GC,11047,0.84,228.7,552.9,16.9,960,11055,0.00,2.08,0.00,0.000,6,0.000,0.037,3101,1015,2078,0,0,0,0,0,0
$GC,11375,0.84,228.7,497.0,17.1,992,11384,0.00,2.03,0.00,0.000,4,0.000,0.024,3101,2389,2078,0,0,0,0,0,0
$GC,11453,0.84,228.7,484.7,14.9,1005,11459,0.00,2.05,0.00,0.000,6,0.000,0.036,3110,1033,2078,0,0,0,0,0,0
$GC,11793,0.84,228.7,429.7,17.5,1066,11801,0.00,2.00,0.00,0.000,4,0.000,0.023,3110,2386,2077,0,0,0,0,0,0
$GC,11816,0.84,228.7,426.0,17.4,1069,11822,0.00,2.03,0.00,0.000,6,0.000,0.036,3119,1047,2077,0,0,0,0,0,0
$GC,12159,0.84,228.7,369.7,16.4,1130,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1048,2077,0,0,0,0,0,0
$GC,12501,0.84,228.7,311.8,16.4,1191,12508,0.00,1.27,0.00,0.000,4,0.000,0.044,3126,197,2076,0,0,0,0,0,0
$GC,12518,0.84,228.7,309.2,16.9,1193,12525,0.10,1.15,0.00,0.000,6,0.169,0.023,3096,1035,2077,0,0,0,0,0,0
$GC,12859,0.84,228.7,262.6,11.8,1254,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1035,2076,0,0,0,0,0,0
$GC,13201,0.84,228.7,220.5,13.0,1315,13207,0.00,1.27,0.00,0.000,4,0.000,0.044,3101,195,2077,0,0,0,0,0,0
$GC,13361,0.84,228.7,198.4,14.8,1343,13368,0.00,1.17,0.00,0.000,6,0.000,0.022,3100,1065,2077,0,0,0,0,0,0
$GC,13703,0.84,228.7,157.9,12.1,1404,13712,0.00,1.92,0.00,0.000,4,0.000,0.022,3101,2396,2078,0,0,0,0,0,0
$GC,13835,0.90,278.1,144.1,8.6,1427,13880,0.00,2.05,38.28,0.739,6,0.000,0.034,3109,1055,1895,0,0,0,0,0,0
$GC,14202,1.01,373.1,112.0,6.2,1493,14283,0.12,1.38,75.93,0.702,4,0.093,0.043,3176,189,1507,0,0,0,0,0,0
$GC,14523,1.01,373.1,64.4,16.6,1548,14532,0.00,1.12,0.00,0.000,6,0.000,0.021,3176,1058,1501,0,0,0,0,0,0
$GC,14846,1.01,373.1,15.0,14.5,1609,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1059,1500,0,0,0,0,0,0
$STATE,14920,end climb,SURFACE_DEPTH_REACHED
$STATE,14921,begin surface coast
$FINISH,0.5,0.998778
$STATE,14943,end surface coast,CONTROL_FINISHED_OK
$STATE,14943,begin surface
$SM_CCo,14963,32.28,0.413,1,0,1397,400.08
$SM_GC,1.34,0.00,0.00,32.28,0.000,0.000,0.413,114,774,1397,-8.46,-0.42,400.08
$IRIDIUM_FIX,2115.63,12602.66,061110,111116
$TT8_MAMPS,0.028462
$HUMID,41.17
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,22.8,57.215
$10V_AH,10.2,53.083
$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,19.525,83.975,428.475,32.275,0.000,52.369,92.252,216.435,0.000,0.000,10.842,3988.971,6686.678,538.138,3893.556,508.093,0.000,1941.734,0.000,3556.767,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,50.490,1419.075,413.100,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1111.260,1423.729,1867.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,93580,1627
$CAP_FILE_SIZE,163444,0
$CFSIZE,260165632,145993728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,127.6,1
$GPS,061110,161725,2124.477,12601.134,39,1.6,40,-2.9