version: 66.08
glider: 167
mission: 6
dive: 310
start: 11 7 110 1 34 53
data:
$ID,167
$MISSION,6
$DIVE,310
$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,-54514.855
$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,39
$R_STBD_OVSHOOT,125
$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
$GPS1,071110,012406,2119.486,12600.911,38,0.9,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.5
$GPS2,071110,013431,2119.384,12600.859,10,1.4,15,-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,10.4,9642,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,87,0.00,0.00,-65.57,0.000,2,0.000,0.000,113,790,3317,0,0,0,0,0,0
$GC,90,-0.72,-228.7,5.5,-12.2,9,115,9.68,2.00,-10.70,0.000,4,0.220,0.031,2572,2165,3964,0,0,0,0,0,0
$GC,252,-0.72,-228.7,51.6,-20.7,37,259,0.00,2.10,0.00,0.000,6,0.000,0.034,2571,789,3966,0,0,0,0,0,0
$GC,577,-0.72,-228.7,139.5,-21.3,98,584,0.00,0.88,0.00,0.000,4,0.000,0.041,2571,185,3966,0,0,0,0,0,0
$GC,798,-0.72,-228.7,187.0,-21.4,138,806,0.00,0.75,0.00,0.000,6,0.000,0.020,2567,861,3967,0,0,0,0,0,0
$GC,1131,-0.72,-228.7,245.4,-16.0,199,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,862,3968,0,0,0,0,0,0
$GC,1464,-0.72,-228.7,298.2,-15.1,260,1472,0.00,0.98,0.00,0.000,4,0.000,0.041,2566,193,3968,0,0,0,0,0,0
$GC,1596,-0.72,-228.7,320.5,-17.1,284,1604,0.00,0.73,0.00,0.000,6,0.000,0.021,2562,838,3968,0,0,0,0,0,0
$GC,1934,-0.72,-228.7,371.7,-14.1,345,1941,0.00,1.80,0.00,0.000,4,0.000,0.017,2561,2117,3968,0,0,0,0,0,0
$GC,1965,-0.72,-228.7,375.7,-13.3,350,1972,0.00,2.00,0.00,0.000,6,0.000,0.033,2561,792,3968,0,0,0,0,0,0
$GC,2302,-0.72,-228.7,420.4,-13.0,411,2309,0.00,0.88,0.00,0.000,4,0.000,0.042,2561,190,3966,0,0,0,0,0,0
$GC,2364,-0.72,-228.7,429.3,-13.3,422,2372,0.00,0.68,0.00,0.000,6,0.000,0.021,2560,784,3966,0,0,0,0,0,0
$GC,2701,-0.72,-228.7,470.0,-12.9,483,2708,0.00,1.85,0.00,0.000,4,0.000,0.018,2560,2120,3964,0,0,0,0,0,0
$GC,2792,-0.72,-228.7,479.9,-10.4,499,2800,0.00,1.95,0.00,0.000,6,0.000,0.033,2561,802,3963,0,0,0,0,0,0
$GC,3121,-0.72,-228.7,522.4,-13.0,544,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,801,3962,0,0,0,0,0,0
$GC,3445,-0.72,-228.7,563.4,-12.8,574,3449,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2118,3958,0,0,0,0,0,0
$GC,3483,-0.72,-228.7,568.8,-10.9,577,3490,0.00,1.95,0.00,0.000,6,0.000,0.034,2560,810,3958,0,0,0,0,0,0
$GC,3809,-0.72,-228.7,608.1,-12.5,605,3813,0.00,1.88,0.00,0.000,4,0.000,0.018,2560,2108,3956,0,0,0,0,0,0
$GC,3844,-0.72,-228.7,612.1,-10.4,606,3847,0.00,1.92,0.00,0.000,6,0.000,0.036,2560,822,3955,0,0,0,0,0,0
$GC,4167,-0.72,-228.7,647.6,-10.6,622,4171,0.00,1.85,0.00,0.000,4,0.000,0.019,2560,2115,3953,0,0,0,0,0,0
$GC,4207,-0.72,-228.7,651.6,-8.9,623,4215,0.00,1.92,0.00,0.000,6,0.000,0.037,2560,829,3952,0,0,0,0,0,0
$GC,4525,-0.72,-228.7,683.1,-10.0,639,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,829,3950,0,0,0,0,0,0
$GC,4833,-0.72,-228.7,714.5,-10.3,654,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,829,3947,0,0,0,0,0,0
$GC,5144,-0.72,-228.7,746.8,-10.4,669,5147,0.00,1.83,0.00,0.000,4,0.000,0.020,2560,2113,3944,0,0,0,0,0,0
$GC,5172,-0.72,-228.7,749.9,-9.7,670,5175,0.00,1.95,0.00,0.000,6,0.000,0.037,2560,825,3945,0,0,0,0,0,0
$GC,5499,-0.72,-228.7,784.7,-11.1,686,5503,0.00,1.83,0.00,0.000,4,0.000,0.020,2560,2112,3942,0,0,0,0,0,0
$GC,5534,-0.72,-228.7,788.5,-10.6,687,5538,0.10,1.92,0.00,0.000,6,0.149,0.038,2587,842,3942,0,0,0,0,0,0
$GC,5850,-0.72,-228.7,819.4,-9.9,702,5854,0.00,1.83,0.00,0.000,4,0.000,0.020,2587,2122,3940,0,0,0,0,0,0
$GC,5889,-0.72,-228.7,823.0,-9.0,703,5897,0.00,1.95,0.00,0.000,6,0.000,0.038,2587,850,3939,0,0,0,0,0,0
$GC,6207,-0.72,-228.7,850.5,-8.5,719,6211,0.00,1.80,0.00,0.000,4,0.000,0.021,2587,2113,3937,0,0,0,0,0,0
$GC,6240,-0.72,-228.7,853.5,-7.9,720,6243,0.00,1.92,0.00,0.000,6,0.000,0.039,2587,846,3937,0,0,0,0,0,0
$GC,6562,-0.72,-228.7,879.3,-8.0,736,6566,0.00,1.80,0.00,0.000,4,0.000,0.020,2587,2112,3934,0,0,0,0,0,0
$GC,6603,-0.72,-228.7,882.3,-6.9,737,6610,0.00,1.90,0.00,0.000,6,0.000,0.039,2587,865,3933,0,0,0,0,0,0
$GC,6919,-0.72,-228.7,905.7,-7.3,753,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,865,3933,0,0,0,0,0,0
$GC,7231,-0.72,-228.7,926.7,-6.6,768,7234,0.00,1.77,0.00,0.000,4,0.000,0.021,2587,2111,3930,0,0,0,0,0,0
$GC,7286,-0.72,-228.7,930.2,-6.3,770,7290,0.00,1.95,0.00,0.000,6,0.000,0.040,2587,866,3929,0,0,0,0,0,0
$GC,7609,-0.72,-228.7,951.6,-6.9,786,7612,0.00,1.77,0.00,0.000,4,0.000,0.021,2587,2111,3928,0,0,0,0,0,0
$GC,7651,-0.72,-228.7,954.3,-6.1,787,7659,0.00,1.90,0.00,0.000,6,0.000,0.040,2587,869,3928,0,0,0,0,0,0
$GC,7967,-0.72,-228.7,976.2,-6.9,803,7971,0.00,1.77,0.00,0.000,4,0.000,0.021,2587,2109,3927,0,0,0,0,0,0
$GC,7994,-0.72,-228.7,978.2,-7.0,804,7998,0.00,1.90,0.00,0.000,6,0.000,0.041,2587,866,3926,0,0,0,0,0,0
$STATE,8298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8299,begin apogee
$GC,8306,-0.14,0.0,1000.2,7.5,819,8498,0.52,0.00,185.40,1.416,4,0.106,0.000,2771,866,3028,0,0,0,0,0,0
$STATE,8498,end apogee,CONTROL_FINISHED_OK
$STATE,8499,begin climb
$GC,8503,0.72,228.7,1010.4,0.0,828,8709,0.77,1.10,199.25,1.356,4,0.049,0.051,3053,206,2096,0,0,0,0,0,0
$GC,8953,0.72,228.7,947.9,18.2,847,8959,0.00,1.02,0.00,0.000,6,0.000,0.028,3054,919,2086,0,0,0,0,0,0
$GC,9269,0.72,228.7,893.6,17.1,863,9273,0.00,1.10,0.00,0.000,4,0.000,0.047,3058,199,2083,0,0,0,0,0,0
$GC,9408,0.72,228.7,867.8,19.2,869,9411,0.00,1.05,0.00,0.000,6,0.000,0.028,3058,944,2083,0,0,0,0,0,0
$GC,9738,0.72,228.7,811.2,17.1,885,9741,0.00,2.00,0.00,0.000,4,0.000,0.024,3058,2309,2082,0,0,0,0,0,0
$GC,9843,0.72,228.7,793.3,16.7,889,9850,0.00,2.00,0.00,0.000,6,0.000,0.038,3065,996,2081,0,0,0,0,0,0
$GC,10160,0.72,228.7,738.3,17.5,905,10164,0.00,1.92,0.00,0.000,4,0.000,0.024,3065,2325,2080,0,0,0,0,0,0
$GC,10200,0.72,228.7,731.2,17.2,906,10207,0.00,1.95,0.00,0.000,6,0.000,0.037,3072,1035,2080,0,0,0,0,0,0
$GC,10516,0.72,228.7,675.9,17.3,922,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1035,2079,0,0,0,0,0,0
$GC,10826,0.72,228.7,625.8,16.0,937,10830,0.00,1.88,0.00,0.000,4,0.000,0.024,3072,2312,2079,0,0,0,0,0,0
$GC,10945,0.72,228.7,608.0,14.5,942,10949,0.00,1.92,0.00,0.000,6,0.000,0.037,3078,1044,2079,0,0,0,0,0,0
$GC,11271,0.72,228.7,556.1,16.6,970,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1044,2079,0,0,0,0,0,0
$GC,11589,0.72,228.7,503.4,16.7,1000,11593,0.00,1.85,0.00,0.000,4,0.000,0.026,3078,2316,2079,0,0,0,0,0,0
$GC,11645,0.72,228.7,494.1,16.0,1008,11654,0.00,1.95,0.00,0.000,6,0.000,0.040,3078,1065,2078,0,0,0,0,0,0
$GC,11990,0.72,228.7,443.7,13.4,1069,11997,0.00,1.83,0.00,0.000,4,0.000,0.025,3078,2315,2078,0,0,0,0,0,0
$GC,12010,0.72,228.7,440.6,14.9,1072,12019,0.00,1.95,0.00,0.000,6,0.000,0.039,3078,1066,2078,0,0,0,0,0,0
$GC,12352,0.72,228.7,391.7,15.0,1133,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1066,2078,0,0,0,0,0,0
$GC,12690,0.72,228.7,344.9,13.5,1194,12698,0.00,1.85,0.00,0.000,4,0.000,0.024,3078,2322,2078,0,0,0,0,0,0
$GC,12716,0.72,228.7,341.6,12.4,1198,12724,0.00,1.98,0.00,0.000,6,0.000,0.039,3078,1052,2078,0,0,0,0,0,0
$GC,13056,0.72,228.7,298.3,12.7,1259,13063,0.00,1.80,0.00,0.000,4,0.000,0.023,3078,2318,2078,0,0,0,0,0,0
$GC,13071,0.72,228.7,296.1,13.2,1261,13078,0.00,1.95,0.00,0.000,6,0.000,0.038,3078,1062,2078,0,0,0,0,0,0
$GC,13412,0.72,228.7,254.8,11.4,1322,13420,0.00,1.33,0.00,0.000,4,0.000,0.047,3078,188,2078,0,0,0,0,0,0
$GC,13514,0.72,228.7,241.6,13.0,1340,13523,0.00,1.10,0.00,0.000,6,0.000,0.024,3078,1010,2078,0,0,0,0,0,0
$GC,13861,0.73,235.9,205.4,10.9,1401,13876,0.00,2.00,4.82,0.597,4,0.000,0.021,3078,2371,2067,0,0,0,0,0,0
$GC,13896,0.78,273.2,201.6,9.9,1406,13933,0.00,2.03,32.08,0.789,6,0.000,0.037,3078,1057,1914,0,0,0,0,0,0
$GC,14266,0.79,283.3,165.6,10.8,1471,14281,0.00,1.35,9.75,0.688,4,0.000,0.045,3079,190,1873,0,0,0,0,0,0
$GC,14530,0.79,283.3,136.4,12.0,1518,14538,0.00,1.12,0.00,0.000,6,0.000,0.021,3079,1060,1871,0,0,0,0,0,0
$GC,14857,0.91,382.0,105.2,7.9,1579,14947,0.10,1.98,79.10,0.698,4,0.103,0.018,3130,2375,1469,0,0,0,0,0,0
$GC,14978,0.93,396.6,93.5,10.6,1596,15002,0.00,2.10,12.93,0.623,6,0.000,0.034,3130,1034,1412,0,0,0,0,0,0
$GC,15326,0.93,396.6,53.9,12.5,1659,15334,0.00,1.27,0.00,0.000,4,0.000,0.042,3137,184,1408,0,0,0,0,0,0
$GC,15363,0.93,396.6,48.4,13.7,1665,15371,0.00,1.12,0.00,0.000,6,0.000,0.019,3137,1072,1407,0,0,0,0,0,0
$GC,15690,0.93,396.6,5.9,11.9,1726,15697,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1073,1407,0,0,0,0,0,0
$STATE,15714,end climb,SURFACE_DEPTH_REACHED
$STATE,15714,begin surface coast
$FINISH,0.5,1.008741
$STATE,15736,end surface coast,CONTROL_FINISHED_OK
$STATE,15736,begin surface
$SM_CCo,15754,1.38,0.072,0,0,1398,400.08
$SM_GC,2.61,0.00,0.00,1.38,0.000,0.000,0.072,100,783,1398,-8.51,-0.20,400.08
$IRIDIUM_FIX,2111.01,12601.30,071110,010110
$TT8_MAMPS,0.028462
$HUMID,41.14
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.7,57.781
$10V_AH,10.1,53.645
$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,19.000,104.725,523.325,1.375,0.000,54.286,84.437,214.726,0.000,0.000,16.543,4206.824,6864.060,611.187,4152.805,525.353,0.000,2133.987,0.000,3806.817,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,51.255,1416.015,71.910,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1182.966,1530.257,2037.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333728
$DATA_FILE_SIZE,100254,1734
$CAP_FILE_SIZE,176129,0
$CFSIZE,260165632,145686528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,212.8,1
$GPS,071110,055854,2121.522,12601.076,26,1.3,43,-2.9