version: 66.08
glider: 167
mission: 6
dive: 316
start: 11 8 110 4 38 17
data:
$ID,167
$MISSION,6
$DIVE,316
$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,-54522.402
$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,109
$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
$GPS1,081110,042737,2120.961,12600.106,40,1.1,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.9
$GPS2,081110,043755,2120.844,12559.989,11,1.7,16,-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,26.4,7227,-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,-228.7,0.0,0.0,0,92,0.00,0.00,-71.35,0.000,2,0.000,0.000,112,775,3344,0,0,0,0,0,0
$GC,94,-0.72,-228.7,5.6,-12.5,10,119,9.65,2.05,-10.20,0.000,4,0.220,0.031,2571,2184,3964,0,0,0,0,0,0
$GC,170,-0.72,-228.7,33.0,-22.8,22,178,0.00,2.12,0.00,0.000,6,0.000,0.034,2571,795,3965,0,0,0,0,0,0
$GC,495,-0.72,-228.7,121.7,-22.8,83,503,0.00,0.88,0.00,0.000,4,0.000,0.041,2571,189,3965,0,0,0,0,0,0
$GC,603,-0.72,-228.7,146.4,-18.8,102,611,0.00,0.75,0.00,0.000,6,0.000,0.020,2566,850,3965,0,0,0,0,0,0
$GC,940,-0.72,-228.7,208.6,-18.0,163,947,0.00,0.98,0.00,0.000,4,0.000,0.041,2566,186,3967,0,0,0,0,0,0
$GC,1193,-0.72,-228.7,253.7,-17.3,209,1199,0.00,0.73,0.00,0.000,6,0.000,0.021,2562,830,3967,0,0,0,0,0,0
$GC,1521,-0.72,-228.7,305.8,-14.2,270,1529,0.00,0.93,0.00,0.000,4,0.000,0.041,2561,195,3967,0,0,0,0,0,0
$GC,1632,-0.72,-228.7,322.9,-16.0,289,1639,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,768,3967,0,0,0,0,0,0
$GC,1962,-0.72,-228.7,371.2,-15.6,350,1970,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2115,3967,0,0,0,0,0,0
$GC,1994,-0.72,-228.7,375.6,-12.9,355,2002,0.00,2.00,0.00,0.000,6,0.000,0.033,2561,758,3967,0,0,0,0,0,0
$GC,2327,-0.72,-228.7,417.2,-12.5,416,2335,0.00,0.82,0.00,0.000,4,0.000,0.043,2561,189,3966,0,0,0,0,0,0
$GC,2392,-0.72,-228.7,425.5,-13.2,427,2399,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,740,3965,0,0,0,0,0,0
$GC,2725,-0.72,-228.7,466.8,-13.2,488,2733,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2129,3963,0,0,0,0,0,0
$GC,2805,-0.72,-228.7,475.7,-10.7,502,2813,0.00,2.05,0.00,0.000,6,0.000,0.034,2560,779,3962,0,0,0,0,0,0
$GC,3141,-0.72,-228.7,517.6,-12.4,551,3145,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2136,3960,0,0,0,0,0,0
$GC,3201,-0.72,-228.7,523.8,-9.6,556,3205,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,776,3960,0,0,0,0,0,0
$GC,3526,-0.72,-228.7,561.0,-11.0,586,3530,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2132,3957,0,0,0,0,0,0
$GC,3566,-0.72,-228.7,564.9,-9.2,589,3573,0.00,2.05,0.00,0.000,6,0.000,0.035,2560,772,3957,0,0,0,0,0,0
$GC,3892,-0.72,-228.7,600.5,-11.2,620,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,771,3954,0,0,0,0,0,0
$GC,4203,-0.72,-228.7,634.5,-10.8,635,4207,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2135,3951,0,0,0,0,0,0
$GC,4249,-0.72,-228.7,639.0,-8.3,637,4253,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,772,3951,0,0,0,0,0,0
$GC,4576,-0.72,-228.7,671.9,-9.9,653,4580,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2119,3948,0,0,0,0,0,0
$GC,4647,-0.72,-228.7,678.0,-8.4,656,4651,0.00,2.00,0.00,0.000,6,0.000,0.037,2560,791,3948,0,0,0,0,0,0
$GC,4981,-0.72,-228.7,713.3,-10.9,672,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,791,3945,0,0,0,0,0,0
$GC,5290,-0.72,-228.7,747.7,-11.2,687,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,791,3943,0,0,0,0,0,0
$GC,5601,-0.72,-228.7,780.4,-10.1,702,5605,0.10,1.95,0.00,0.000,4,0.167,0.019,2587,2122,3941,0,0,0,0,0,0
$GC,5669,-0.72,-228.7,785.6,-7.0,705,5673,0.00,2.03,0.00,0.000,6,0.000,0.038,2586,798,3941,0,0,0,0,0,0
$GC,5998,-0.72,-228.7,809.7,-7.5,721,6002,0.00,1.90,0.00,0.000,4,0.000,0.019,2586,2134,3938,0,0,0,0,0,0
$GC,6044,-0.72,-228.7,813.1,-6.8,723,6048,0.00,2.03,0.00,0.000,6,0.000,0.038,2587,802,3938,0,0,0,0,0,0
$GC,6374,-0.72,-228.7,838.1,-8.0,739,6377,0.00,1.90,0.00,0.000,4,0.000,0.019,2587,2123,3935,0,0,0,0,0,0
$GC,6422,-0.72,-228.7,841.7,-7.5,741,6425,0.00,2.00,0.00,0.000,6,0.000,0.038,2586,808,3935,0,0,0,0,0,0
$GC,6755,-0.72,-228.7,868.9,-8.1,757,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,808,3933,0,0,0,0,0,0
$GC,7066,-0.72,-228.7,894.8,-8.3,772,7070,0.00,1.88,0.00,0.000,4,0.000,0.020,2587,2124,3931,0,0,0,0,0,0
$GC,7128,-0.72,-228.7,899.8,-7.3,774,7134,0.00,2.03,0.00,0.000,6,0.000,0.039,2587,808,3930,0,0,0,0,0,0
$GC,7444,-0.72,-228.7,924.8,-7.7,790,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,808,3929,0,0,0,0,0,0
$GC,7756,-0.72,-228.7,948.2,-7.7,805,7759,0.00,1.90,0.00,0.000,4,0.000,0.020,2587,2124,3927,0,0,0,0,0,0
$GC,7811,-0.72,-228.7,952.6,-7.1,807,7815,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,814,3927,0,0,0,0,0,0
$GC,8135,-0.72,-228.7,978.1,-8.3,823,8139,0.00,1.92,0.00,0.000,4,0.000,0.021,2586,2126,3926,0,0,0,0,0,0
$GC,8168,-0.72,-228.7,981.0,-7.9,824,8171,0.00,2.00,0.00,0.000,6,0.000,0.040,2586,818,3925,0,0,0,0,0,0
$STATE,8405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8405,begin apogee
$GC,8411,-0.14,0.0,1000.7,8.1,836,8601,0.52,0.00,185.10,1.411,4,0.102,0.000,2770,958,3029,0,0,0,0,0,0
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8605,0.72,228.7,1010.7,0.0,844,8811,0.77,1.30,199.43,1.351,4,0.050,0.050,3061,193,2096,0,0,0,0,0,0
$GC,9070,0.72,228.7,940.2,21.1,864,9074,0.00,1.12,0.00,0.000,6,0.000,0.028,3061,971,2086,0,0,0,0,0,0
$GC,9398,0.72,228.7,878.2,18.7,880,9401,0.00,1.20,0.00,0.000,4,0.000,0.047,3066,190,2084,0,0,0,0,0,0
$GC,9563,0.72,228.7,847.0,18.9,887,9567,0.00,1.17,0.00,0.000,6,0.000,0.026,3066,1019,2084,0,0,0,0,0,0
$GC,9891,0.72,228.7,791.3,16.7,903,9895,0.00,2.00,0.00,0.000,4,0.000,0.025,3066,2395,2083,0,0,0,0,0,0
$GC,9993,0.72,228.7,775.1,16.0,907,9997,0.00,2.12,0.00,0.000,6,0.000,0.036,3075,1014,2081,0,0,0,0,0,0
$GC,10309,0.72,228.7,722.0,16.4,922,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1014,2081,0,0,0,0,0,0
$GC,10618,0.72,228.7,670.4,16.6,937,10622,0.00,2.00,0.00,0.000,4,0.000,0.024,3075,2381,2080,0,0,0,0,0,0
$GC,10653,0.72,228.7,664.6,16.0,938,10657,0.00,2.08,0.00,0.000,6,0.000,0.037,3084,1021,2080,0,0,0,0,0,0
$GC,10969,0.72,228.7,609.6,17.2,953,10972,0.00,2.00,0.00,0.000,4,0.000,0.025,3084,2386,2080,0,0,0,0,0,0
$GC,11073,0.72,228.7,592.9,16.7,959,11077,0.15,2.05,0.00,0.000,6,0.179,0.037,3054,1035,2080,0,0,0,0,0,0
$GC,11398,0.72,228.7,544.2,14.1,989,11402,0.00,1.27,0.00,0.000,4,0.000,0.047,3059,199,2079,0,0,0,0,0,0
$GC,11449,0.72,228.7,536.5,15.0,993,11455,0.00,1.20,0.00,0.000,6,0.000,0.027,3059,1055,2079,0,0,0,0,0,0
$GC,11777,0.72,228.7,489.9,13.8,1030,11786,0.00,1.98,0.00,0.000,4,0.000,0.025,3060,2392,2079,0,0,0,0,0,0
$GC,11828,0.72,228.7,483.3,14.0,1038,11836,0.00,2.08,0.00,0.000,6,0.000,0.037,3066,1051,2079,0,0,0,0,0,0
$GC,12173,0.72,228.7,437.8,12.1,1099,12180,0.00,1.95,0.00,0.000,4,0.000,0.024,3066,2397,2079,0,0,0,0,0,0
$GC,12222,0.72,228.7,431.3,12.9,1107,12229,0.00,2.08,0.00,0.000,6,0.000,0.037,3075,1039,2078,0,0,0,0,0,0
$GC,12563,0.72,228.7,383.6,14.1,1168,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1039,2079,0,0,0,0,0,0
$GC,12903,0.72,228.7,336.7,13.4,1229,12910,0.00,1.30,0.00,0.000,4,0.000,0.045,3082,185,2078,0,0,0,0,0,0
$GC,12933,0.72,228.7,331.9,14.5,1234,12941,0.00,1.17,0.00,0.000,6,0.000,0.024,3082,1045,2079,0,0,0,0,0,0
$GC,13276,0.72,228.7,287.5,11.7,1295,13283,0.00,1.30,0.00,0.000,4,0.000,0.044,3088,194,2078,0,0,0,0,0,0
$GC,13370,0.72,228.7,274.8,13.4,1311,13377,0.10,1.12,0.00,0.000,6,0.153,0.024,3056,1014,2078,0,0,0,0,0,0
$GC,13713,0.75,249.0,238.1,10.5,1372,13735,0.00,1.23,15.57,0.803,4,0.000,0.042,3061,189,2014,0,0,0,0,0,0
$GC,13788,0.75,249.0,229.7,11.4,1384,13796,0.00,1.12,0.00,0.000,6,0.000,0.023,3061,1020,2013,0,0,0,0,0,0
$GC,14136,0.80,289.6,193.0,9.8,1445,14176,0.00,0.00,34.42,0.784,6,0.000,0.000,3062,1020,1847,0,0,0,0,0,0
$GC,14510,0.83,318.2,156.7,10.2,1511,14538,0.00,1.30,24.10,0.733,4,0.000,0.044,3063,191,1731,0,0,0,0,0,0
$GC,14782,0.88,356.3,128.2,9.9,1560,14820,0.08,1.08,31.42,0.708,6,0.057,0.022,3116,1010,1575,0,0,0,0,0,0
$GC,15137,1.01,460.3,88.8,7.7,1625,15227,0.00,0.00,83.20,0.677,6,0.000,0.000,3115,1010,1151,0,0,0,0,0,0
$GC,15546,1.01,460.3,45.4,11.1,1697,15556,0.00,1.23,0.00,0.000,4,0.000,0.042,3119,195,1147,0,0,0,0,0,0
$GC,15587,1.01,460.3,40.7,11.8,1703,15595,0.00,1.02,0.00,0.000,6,0.000,0.020,3119,998,1147,0,0,0,0,0,0
$STATE,15906,end climb,SURFACE_DEPTH_REACHED
$STATE,15906,begin surface coast
$FINISH,0.6,1.022521
$STATE,15933,end surface coast,CONTROL_FINISHED_OK
$STATE,15933,begin surface
$SM_CCo,16011,0.00,0.000,0,0,1145,462.15
$SM_GC,1.29,7.68,0.00,0.00,0.036,0.000,0.000,122,773,1145,-8.35,-0.48,462.15
$IRIDIUM_FIX,2113.32,12559.43,081110,040448
$TT8_MAMPS,0.028462
$HUMID,39.84
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.7,58.952
$10V_AH,10.2,54.763
$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,19.050,97.725,573.250,0.000,0.000,59.605,65.789,222.559,0.000,0.000,17.005,4279.986,6936.384,613.175,4229.833,543.169,0.000,2176.347,0.000,3900.979,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,71.145,1410.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1205.901,1563.423,2080.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,103580,1767
$CAP_FILE_SIZE,178124,0
$CFSIZE,260165632,145125376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,204.8,1
$GPS,081110,090625,2122.607,12600.688,39,1.2,40,-2.9