version: 66.08
glider: 167
mission: 6
dive: 309
start: 11 6 110 21 10 18
data:
$ID,167
$MISSION,6
$DIVE,309
$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,-54513.598
$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,50
$R_STBD_OVSHOOT,84
$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
$GPS1,061110,205907,2121.653,12601.770,27,1.1,28,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.2
$GPS2,061110,210943,2121.568,12601.857,10,1.1,15,-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,215.5,5069,-20.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.74,-139.0,0.0,0.0,0,100,0.00,0.00,-79.03,0.000,2,0.000,0.000,112,769,3490,0,0,0,0,0,0
$GC,103,-0.74,-139.0,6.2,-13.4,11,120,9.57,0.85,-1.70,0.000,4,0.219,0.072,2575,189,3598,0,0,0,0,0,0
$GC,360,-0.74,-139.0,86.8,-27.9,58,368,0.00,0.80,0.00,0.000,6,0.000,0.021,2571,883,3601,0,0,0,0,0,0
$GC,688,-0.74,-139.0,162.8,-16.7,119,694,0.00,1.00,0.00,0.000,4,0.000,0.040,2571,203,3601,0,0,0,0,0,0
$GC,942,-0.74,-139.0,205.1,-16.5,165,949,0.00,0.77,0.00,0.000,6,0.000,0.021,2567,880,3603,0,0,0,0,0,0
$GC,1277,-0.74,-139.0,257.9,-15.3,226,1285,0.00,1.00,0.00,0.000,4,0.000,0.041,2567,197,3603,0,0,0,0,0,0
$GC,1531,-0.74,-139.0,298.8,-15.0,272,1539,0.00,0.75,0.00,0.000,6,0.000,0.021,2562,859,3603,0,0,0,0,0,0
$GC,1865,-0.74,-139.0,345.2,-13.1,333,1872,0.00,0.95,0.00,0.000,4,0.000,0.041,2562,209,3603,0,0,0,0,0,0
$GC,2056,-0.74,-139.0,373.0,-14.3,368,2064,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,834,3603,0,0,0,0,0,0
$GC,2393,-0.74,-142.1,415.4,-10.9,429,2401,0.00,1.77,0.00,0.000,4,0.000,0.017,2561,2113,3601,0,0,0,0,0,0
$GC,2462,-0.78,-169.1,422.9,-9.7,441,2470,0.00,2.03,0.00,0.000,6,0.000,0.033,2561,758,3601,0,0,0,0,0,0
$GC,2797,-0.78,-176.5,460.2,-10.7,502,2804,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2109,3599,0,0,0,0,0,0
$GC,2829,-0.81,-200.4,463.6,-9.8,507,2837,0.00,2.00,0.00,0.000,6,0.000,0.034,2561,767,3599,0,0,0,0,0,0
$GC,3163,-0.83,-209.9,500.5,-10.6,568,3166,0.00,0.82,0.00,0.000,4,0.000,0.044,2561,193,3597,0,0,0,0,0,0
$GC,3345,-0.83,-209.9,522.4,-11.7,584,3348,0.00,0.62,0.00,0.000,6,0.000,0.024,2561,729,3596,0,0,0,0,0,0
$GC,3678,-0.83,-211.0,559.2,-11.0,615,3681,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2106,3593,0,0,0,0,0,0
$GC,3718,-0.85,-228.7,563.6,-9.6,618,3725,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,750,3592,0,0,0,0,0,0
$GC,4043,-0.85,-228.7,599.6,-11.4,649,4047,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2105,3591,0,0,0,0,0,0
$GC,4114,-0.85,-228.7,606.2,-9.2,653,4118,0.00,2.03,0.00,0.000,6,0.000,0.036,2561,768,3589,0,0,0,0,0,0
$GC,4447,-0.85,-228.7,641.9,-10.4,669,4451,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2098,3587,0,0,0,0,0,0
$GC,4532,-0.85,-228.7,649.6,-8.8,672,4539,0.00,2.00,0.00,0.000,6,0.000,0.037,2560,781,3587,0,0,0,0,0,0
$GC,4848,-0.85,-228.7,683.0,-10.9,688,4852,0.00,0.88,0.00,0.000,4,0.000,0.046,2560,189,3584,0,0,0,0,0,0
$GC,4920,-0.85,-228.7,691.7,-11.5,691,4924,0.00,0.65,0.00,0.000,6,0.000,0.024,2560,713,3584,0,0,0,0,0,0
$GC,5250,-0.85,-228.7,728.2,-11.0,707,5254,0.00,1.98,0.00,0.000,4,0.000,0.019,2561,2099,3581,0,0,0,0,0,0
$GC,5328,-0.85,-228.7,735.9,-8.5,710,5332,0.00,2.03,0.00,0.000,6,0.000,0.037,2560,783,3580,0,0,0,0,0,0
$GC,5652,-0.85,-228.7,764.4,-8.2,726,5656,0.00,0.88,0.00,0.000,4,0.000,0.047,2560,193,3578,0,0,0,0,0,0
$GC,5725,-0.85,-228.7,771.1,-8.9,729,5728,0.00,0.65,0.00,0.000,6,0.000,0.025,2560,708,3577,0,0,0,0,0,0
$GC,6054,-0.85,-228.7,797.3,-7.8,745,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,708,3575,0,0,0,0,0,0
$GC,6363,-0.85,-228.7,822.5,-8.5,760,6367,0.00,2.00,0.00,0.000,4,0.000,0.020,2560,2094,3573,0,0,0,0,0,0
$GC,6413,-0.85,-228.7,826.7,-7.4,762,6417,0.00,2.05,0.00,0.000,6,0.000,0.038,2560,779,3572,0,0,0,0,0,0
$GC,6743,-0.85,-228.7,854.6,-8.4,778,6747,0.00,1.90,0.00,0.000,4,0.000,0.020,2560,2109,3571,0,0,0,0,0,0
$GC,6799,-0.85,-228.7,859.3,-7.2,780,6802,0.00,2.05,0.00,0.000,6,0.000,0.039,2560,778,3571,0,0,0,0,0,0
$GC,7121,-0.85,-228.7,885.0,-8.1,796,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,778,3568,0,0,0,0,0,0
$GC,7432,-0.85,-228.7,909.8,-8.0,811,7436,0.00,1.92,0.00,0.000,4,0.000,0.021,2560,2093,3566,0,0,0,0,0,0
$GC,7470,-0.85,-228.7,912.9,-7.4,812,7477,0.00,2.03,0.00,0.000,6,0.000,0.039,2560,781,3566,0,0,0,0,0,0
$GC,7786,-0.85,-228.7,937.9,-8.1,828,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,781,3565,0,0,0,0,0,0
$GC,8098,-0.85,-228.7,963.5,-8.6,843,8101,0.00,1.90,0.00,0.000,4,0.000,0.021,2560,2106,3564,0,0,0,0,0,0
$GC,8144,-0.85,-228.7,967.4,-8.5,845,8147,0.00,2.05,0.00,0.000,6,0.000,0.040,2560,780,3563,0,0,0,0,0,0
$GC,8479,-0.85,-228.7,998.7,-9.7,861,8483,0.00,1.92,0.00,0.000,4,0.000,0.021,2560,2107,3562,0,0,0,0,0,0
$STATE,8487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8487,begin apogee
$GC,8495,-0.14,0.0,1000.0,9.5,861,8613,0.65,0.00,111.07,1.421,4,0.119,0.000,2773,995,3029,0,0,0,0,0,0
$STATE,8614,end apogee,CONTROL_FINISHED_OK
$STATE,8614,begin climb
$GC,8617,0.85,228.7,1004.6,0.0,866,8822,0.85,0.00,197.70,1.364,6,0.051,0.000,3098,994,2096,0,0,0,0,0,0
$GC,9140,0.85,228.7,921.1,20.2,891,9143,0.00,1.92,0.00,0.000,4,0.000,0.026,3098,2298,2086,0,0,0,0,0,0
$GC,9308,0.85,228.7,888.1,19.5,898,9312,0.00,2.00,0.00,0.000,6,0.000,0.038,3106,1008,2084,0,0,0,0,0,0
$GC,9633,0.85,228.7,818.7,22.0,914,9637,0.00,1.88,0.00,0.000,4,0.000,0.024,3106,2302,2083,0,0,0,0,0,0
$GC,9694,0.85,228.7,804.2,21.1,916,9703,0.00,2.00,0.00,0.000,6,0.000,0.037,3115,1002,2083,0,0,0,0,0,0
$GC,10012,0.85,228.7,735.1,21.5,932,10016,0.00,1.23,0.00,0.000,4,0.000,0.048,3121,193,2081,0,0,0,0,0,0
$GC,10040,0.85,228.7,728.3,22.1,933,10043,0.00,1.02,0.00,0.000,6,0.000,0.027,3121,929,2082,0,0,0,0,0,0
$GC,10367,0.85,228.7,658.8,21.0,949,10371,0.00,2.03,0.00,0.000,4,0.000,0.025,3121,2322,2081,0,0,0,0,0,0
$GC,10551,0.85,228.7,621.4,20.1,957,10556,0.08,1.98,0.00,0.000,6,0.170,0.037,3098,1042,2081,0,0,0,0,0,0
$GC,10873,0.85,228.7,565.3,17.5,981,10877,0.00,1.83,0.00,0.000,4,0.000,0.025,3098,2306,2080,0,0,0,0,0,0
$GC,10970,0.85,228.7,548.7,16.8,989,10977,0.00,1.95,0.00,0.000,6,0.000,0.037,3104,1033,2080,0,0,0,0,0,0
$GC,11300,0.85,228.7,489.4,17.7,1025,11307,0.00,1.27,0.00,0.000,4,0.000,0.046,3110,193,2080,0,0,0,0,0,0
$GC,11338,0.85,228.7,482.5,18.6,1031,11344,0.00,1.05,0.00,0.000,6,0.000,0.026,3111,959,2079,0,0,0,0,0,0
$GC,11678,0.85,228.7,420.6,17.1,1092,11686,0.00,2.10,0.00,0.000,4,0.000,0.024,3111,2380,2079,0,0,0,0,0,0
$GC,11726,0.85,228.7,412.5,15.7,1100,11735,0.00,2.08,0.00,0.000,6,0.000,0.037,3120,1038,2079,0,0,0,0,0,0
$GC,12072,0.85,228.7,357.8,15.0,1161,12079,0.00,1.98,0.00,0.000,4,0.000,0.024,3120,2390,2079,0,0,0,0,0,0
$GC,12102,0.85,228.7,352.9,14.8,1166,12112,0.10,2.10,0.00,0.000,6,0.163,0.036,3098,1028,2078,0,0,0,0,0,0
$GC,12449,0.85,228.7,304.3,13.8,1227,12456,0.00,1.27,0.00,0.000,4,0.000,0.045,3104,187,2079,0,0,0,0,0,0
$GC,12499,0.85,228.7,296.8,14.8,1235,12506,0.00,1.15,0.00,0.000,6,0.000,0.024,3102,1025,2078,0,0,0,0,0,0
$GC,12840,0.85,228.7,246.4,14.3,1296,12850,0.00,1.98,0.00,0.000,4,0.000,0.022,3103,2384,2078,0,0,0,0,0,0
$GC,13008,0.85,228.7,225.5,12.3,1325,13015,0.00,2.00,0.00,0.000,6,0.000,0.035,3112,1051,2078,0,0,0,0,0,0
$GC,13348,0.85,228.7,184.2,11.2,1386,13357,0.00,1.27,0.00,0.000,4,0.000,0.044,3118,199,2079,0,0,0,0,0,0
$GC,13554,0.85,228.7,158.5,11.9,1422,13563,0.00,1.10,0.00,0.000,6,0.000,0.023,3118,1020,2079,0,0,0,0,0,0
$GC,13890,0.95,308.9,130.4,6.8,1483,13963,0.00,2.03,62.40,0.723,4,0.000,0.020,3118,2379,1768,0,0,0,0,0,0
$GC,14017,0.99,339.8,119.7,9.5,1502,14047,0.00,2.10,25.88,0.686,6,0.000,0.033,3127,1025,1642,0,0,0,0,0,0
$GC,14370,0.99,347.3,84.0,10.7,1566,14386,0.00,1.30,6.70,0.555,4,0.000,0.043,3132,184,1612,0,0,0,0,0,0
$GC,14462,0.99,347.3,72.6,12.9,1582,14470,0.00,1.12,0.00,0.000,6,0.000,0.021,3132,1047,1612,0,0,0,0,0,0
$GC,14788,0.99,347.3,34.1,11.5,1643,14795,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1047,1611,0,0,0,0,0,0
$STATE,15054,end climb,SURFACE_DEPTH_REACHED
$STATE,15055,begin surface coast
$FINISH,0.5,1.010580
$STATE,15077,end surface coast,CONTROL_FINISHED_OK
$STATE,15077,begin surface
$SM_CCo,15095,47.28,0.474,1,0,1397,400.08
$SM_GC,1.57,0.00,0.00,47.28,0.000,0.000,0.474,120,789,1397,-8.45,-0.03,400.08
$IRIDIUM_FIX,2113.32,12559.43,061110,212125
$TT8_MAMPS,0.028462
$HUMID,39.40
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,22.8,57.586
$10V_AH,10.1,53.456
$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,18.950,98.575,403.750,47.275,0.000,55.955,96.134,216.013,0.000,0.000,16.263,4173.924,6381.133,560.763,4123.438,537.164,0.000,2036.698,0.000,3785.111,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,71.910,1420.605,474.300,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.701,1511.452,2050.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,96924,1697
$CAP_FILE_SIZE,172474,0
$CFSIZE,260165632,145788928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,213.5,1
$GPS,071110,012406,2119.486,12600.911,38,0.9,39,-2.9