version: 66.08
glider: 167
mission: 6
dive: 318
start: 11 8 110 13 44 48
data:
$ID,167
$MISSION,6
$DIVE,318
$N_DIVES,330
$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,-54524.918
$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,37
$R_STBD_OVSHOOT,79
$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
$GPS1,081110,133400,2123.868,12600.922,37,1.0,43,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.3
$GPS2,081110,134425,2123.781,12600.953,10,1.0,15,-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,177.2,9051,-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,-228.7,0.0,0.0,0,85,0.00,0.00,-64.72,0.000,2,0.000,0.000,109,861,3335,0,0,0,0,0,0
$GC,88,-0.72,-228.7,5.8,-12.4,9,113,9.75,1.05,-10.10,0.000,4,0.223,0.068,2579,176,3964,0,0,0,0,0,0
$GC,354,-0.72,-228.7,95.7,-30.0,57,362,0.00,0.82,0.00,0.000,6,0.000,0.020,2575,891,3966,0,0,0,0,0,0
$GC,681,-0.72,-228.7,167.7,-15.5,118,689,0.00,1.02,0.00,0.000,4,0.000,0.039,2575,192,3968,0,0,0,0,0,0
$GC,896,-0.72,-228.7,209.5,-18.6,157,902,0.00,0.77,0.00,0.000,6,0.000,0.020,2574,895,3968,0,0,0,0,0,0
$GC,1229,-0.72,-228.7,262.3,-13.4,218,1237,0.00,1.05,0.00,0.000,4,0.000,0.040,2574,183,3969,0,0,0,0,0,0
$GC,1353,-0.72,-228.7,281.7,-15.7,240,1361,0.00,0.77,0.00,0.000,6,0.000,0.021,2571,876,3968,0,0,0,0,0,0
$GC,1689,-0.72,-228.7,332.3,-14.0,301,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,877,3969,0,0,0,0,0,0
$GC,2018,-0.72,-228.7,375.7,-12.7,362,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,877,3968,0,0,0,0,0,0
$GC,2349,-0.72,-228.7,415.5,-11.8,423,2357,0.00,1.00,0.00,0.000,4,0.000,0.041,2570,196,3967,0,0,0,0,0,0
$GC,2519,-0.72,-228.7,436.9,-12.8,454,2527,0.00,0.73,0.00,0.000,6,0.000,0.022,2570,821,3966,0,0,0,0,0,0
$GC,2855,-0.72,-228.7,476.4,-11.3,515,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,822,3964,0,0,0,0,0,0
$GC,3192,-0.72,-228.7,513.5,-10.5,565,3196,0.00,1.80,0.00,0.000,4,0.000,0.018,2563,2127,3962,0,0,0,0,0,0
$GC,3238,-0.72,-228.7,518.0,-9.2,569,3242,0.00,2.05,0.00,0.000,6,0.000,0.034,2563,748,3961,0,0,0,0,0,0
$GC,3564,-0.72,-228.7,553.5,-11.2,599,3568,0.00,1.98,0.00,0.000,4,0.000,0.018,2562,2142,3959,0,0,0,0,0,0
$GC,3614,-0.72,-228.7,558.6,-9.2,603,3622,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,765,3959,0,0,0,0,0,0
$GC,3940,-0.72,-228.7,594.3,-10.8,634,3943,0.00,1.92,0.00,0.000,4,0.000,0.018,2562,2121,3956,0,0,0,0,0,0
$GC,4001,-0.72,-228.7,600.2,-9.0,639,4009,0.00,2.05,0.00,0.000,6,0.000,0.035,2562,767,3956,0,0,0,0,0,0
$GC,4317,-0.72,-228.7,632.1,-10.0,655,4321,0.00,1.95,0.00,0.000,4,0.000,0.018,2562,2128,3953,0,0,0,0,0,0
$GC,4365,-0.72,-228.7,636.1,-7.9,657,4369,0.00,2.03,0.00,0.000,6,0.000,0.036,2562,780,3953,0,0,0,0,0,0
$GC,4700,-0.72,-228.7,667.9,-9.7,673,4704,0.00,1.92,0.00,0.000,4,0.000,0.019,2562,2124,3951,0,0,0,0,0,0
$GC,4752,-0.72,-228.7,672.7,-8.0,675,4756,0.00,2.05,0.00,0.000,6,0.000,0.037,2562,781,3950,0,0,0,0,0,0
$GC,5079,-0.72,-228.7,706.4,-10.5,691,5083,0.00,1.90,0.00,0.000,4,0.000,0.019,2562,2116,3948,0,0,0,0,0,0
$GC,5104,-0.72,-228.7,708.9,-10.3,692,5107,0.00,2.03,0.00,0.000,6,0.000,0.037,2562,790,3947,0,0,0,0,0,0
$GC,5439,-0.72,-228.7,744.0,-10.6,708,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,789,3944,0,0,0,0,0,0
$GC,5746,-0.72,-228.7,776.2,-10.3,723,5750,0.00,1.92,0.00,0.000,4,0.000,0.020,2561,2122,3942,0,0,0,0,0,0
$GC,5802,-0.72,-228.7,781.5,-8.4,725,5806,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,792,3941,0,0,0,0,0,0
$GC,6126,-0.72,-228.7,810.7,-8.6,741,6130,0.00,1.92,0.00,0.000,4,0.000,0.020,2562,2125,3939,0,0,0,0,0,0
$GC,6176,-0.72,-228.7,814.9,-7.2,743,6180,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,794,3939,0,0,0,0,0,0
$GC,6506,-0.72,-228.7,843.1,-9.1,759,6509,0.00,1.92,0.00,0.000,4,0.000,0.020,2562,2108,3937,0,0,0,0,0,0
$GC,6544,-0.72,-228.7,846.7,-7.9,760,6551,0.00,2.00,0.00,0.000,6,0.000,0.039,2561,795,3936,0,0,0,0,0,0
$GC,6861,-0.72,-228.7,877.9,-10.4,776,6865,0.00,1.90,0.00,0.000,4,0.000,0.020,2562,2113,3934,0,0,0,0,0,0
$GC,6926,-0.72,-228.7,884.1,-10.0,778,6932,0.00,1.98,0.00,0.000,6,0.000,0.039,2561,815,3934,0,0,0,0,0,0
$GC,7242,-0.72,-228.7,917.7,-10.5,794,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,815,3933,0,0,0,0,0,0
$GC,7553,-0.72,-228.7,948.8,-9.9,809,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,815,3930,0,0,0,0,0,0
$GC,7861,-0.72,-228.7,976.2,-8.3,824,7865,0.00,1.90,0.00,0.000,4,0.000,0.021,2562,2122,3928,0,0,0,0,0,0
$GC,7894,-0.72,-228.7,978.9,-7.8,825,7898,0.00,2.00,0.00,0.000,6,0.000,0.040,2562,812,3929,0,0,0,0,0,0
$STATE,8172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8172,begin apogee
$GC,8180,-0.14,0.0,1000.9,7.9,839,8372,0.62,0.00,185.40,1.413,4,0.114,0.000,2772,950,3029,0,0,0,0,0,0
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin climb
$GC,8377,0.72,228.7,1008.7,0.0,848,8584,0.80,2.25,199.05,1.351,4,0.047,0.021,3062,2391,2096,0,0,0,0,0,0
$GC,8775,0.72,228.7,955.8,17.9,865,8779,0.00,2.22,0.00,0.000,6,0.000,0.038,3070,1000,2088,0,0,0,0,0,0
$GC,9099,0.72,228.7,897.9,17.6,881,9103,0.00,1.25,0.00,0.000,4,0.000,0.047,3077,185,2086,0,0,0,0,0,0
$GC,9281,0.72,228.7,863.6,18.9,889,9285,0.00,1.15,0.00,0.000,6,0.000,0.027,3077,999,2086,0,0,0,0,0,0
$GC,9616,0.72,228.7,804.5,17.6,905,9620,0.00,2.03,0.00,0.000,4,0.000,0.024,3077,2380,2084,0,0,0,0,0,0
$GC,9730,0.72,228.7,785.0,16.6,910,9734,0.12,2.10,0.00,0.000,6,0.183,0.037,3055,1018,2083,0,0,0,0,0,0
$GC,10058,0.72,228.7,733.3,15.8,926,10062,0.00,2.00,0.00,0.000,4,0.000,0.025,3055,2385,2082,0,0,0,0,0,0
$GC,10091,0.72,228.7,727.7,15.5,927,10095,0.00,2.10,0.00,0.000,6,0.000,0.037,3062,1011,2083,0,0,0,0,0,0
$GC,10413,0.72,228.7,675.3,16.3,943,10417,0.00,2.03,0.00,0.000,4,0.000,0.024,3062,2393,2082,0,0,0,0,0,0
$GC,10476,0.72,228.7,665.2,15.2,945,10482,0.00,2.10,0.00,0.000,6,0.000,0.037,3069,1016,2082,0,0,0,0,0,0
$GC,10792,0.72,228.7,612.0,17.0,961,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1016,2081,0,0,0,0,0,0
$GC,11108,0.72,228.7,559.0,17.0,987,11111,0.00,2.00,0.00,0.000,4,0.000,0.024,3069,2391,2081,0,0,0,0,0,0
$GC,11155,0.72,228.7,551.3,16.6,991,11159,0.00,2.08,0.00,0.000,6,0.000,0.037,3078,1028,2080,0,0,0,0,0,0
$GC,11481,0.72,228.7,498.6,16.0,1021,11488,0.00,2.00,0.00,0.000,4,0.000,0.025,3079,2390,2080,0,0,0,0,0,0
$GC,11575,0.72,228.7,484.9,15.3,1037,11582,0.12,2.08,0.00,0.000,6,0.183,0.037,3054,1020,2080,0,0,0,0,0,0
$GC,11918,0.72,228.7,438.9,12.8,1098,11927,0.00,2.03,0.00,0.000,4,0.000,0.025,3054,2385,2080,0,0,0,0,0,0
$GC,11963,0.72,228.7,432.8,12.0,1105,11970,0.00,2.08,0.00,0.000,6,0.000,0.037,3062,1028,2080,0,0,0,0,0,0
$GC,12304,0.72,228.7,385.7,15.0,1166,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1028,2079,0,0,0,0,0,0
$GC,12650,0.72,228.7,341.8,12.4,1227,12657,0.00,1.27,0.00,0.000,4,0.000,0.046,3066,190,2079,0,0,0,0,0,0
$GC,12756,0.72,228.7,327.5,14.3,1245,12763,0.00,1.15,0.00,0.000,6,0.000,0.024,3066,1028,2079,0,0,0,0,0,0
$GC,13096,0.72,228.7,286.6,12.1,1306,13104,0.00,1.27,0.00,0.000,4,0.000,0.044,3072,189,2080,0,0,0,0,0,0
$GC,13141,0.72,228.7,281.0,12.5,1313,13148,0.00,1.12,0.00,0.000,6,0.000,0.024,3072,1025,2080,0,0,0,0,0,0
$GC,13481,0.72,228.7,240.1,11.4,1374,13489,0.00,1.25,0.00,0.000,4,0.000,0.044,3075,201,2080,0,0,0,0,0,0
$GC,13602,0.72,228.7,224.8,11.4,1395,13609,0.00,1.05,0.00,0.000,6,0.000,0.024,3076,986,2080,0,0,0,0,0,0
$GC,13943,0.76,258.0,189.3,10.2,1456,13972,0.00,2.08,22.83,0.767,4,0.000,0.021,3076,2376,1976,0,0,0,0,0,0
$GC,13998,0.79,289.2,183.7,10.1,1464,14033,0.00,2.17,27.02,0.760,6,0.000,0.036,3076,972,1848,0,0,0,0,0,0
$GC,14369,0.82,307.5,142.2,10.5,1529,14392,0.00,1.15,15.68,0.702,4,0.000,0.041,3082,186,1774,0,0,0,0,0,0
$GC,14479,0.84,326.3,130.8,10.5,1548,14503,0.00,1.02,16.77,0.692,6,0.000,0.022,3082,969,1697,0,0,0,0,0,0
$GC,14824,0.95,411.8,99.3,8.3,1611,14899,0.12,2.10,68.47,0.688,4,0.090,0.018,3145,2363,1348,0,0,0,0,0,0
$GC,14919,0.95,411.8,88.0,13.9,1624,14929,0.00,2.17,0.00,0.000,6,0.000,0.034,3153,971,1347,0,0,0,0,0,0
$GC,15251,0.95,411.8,38.1,14.9,1685,15259,0.00,2.00,0.00,0.000,4,0.000,0.018,3153,2353,1344,0,0,0,0,0,0
$GC,15299,0.95,411.8,30.6,15.5,1693,15308,0.08,2.12,0.00,0.000,6,0.153,0.034,3134,963,1344,0,0,0,0,0,0
$STATE,15526,end climb,SURFACE_DEPTH_REACHED
$STATE,15526,begin surface coast
$FINISH,0.6,0.999960
$STATE,15548,end surface coast,CONTROL_FINISHED_OK
$STATE,15549,begin surface
$SM_CCo,15628,0.00,0.000,0,0,1339,414.31
$SM_GC,1.45,7.72,0.00,0.00,0.037,0.000,0.000,120,780,1339,-8.37,-0.28,414.31
$IRIDIUM_FIX,2115.63,12559.43,081110,131315
$TT8_MAMPS,0.028462
$HUMID,41.49
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,22.8,59.313
$10V_AH,10.2,55.138
$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,19.350,104.325,535.225,0.000,0.000,51.551,91.591,215.542,0.000,0.000,16.015,4236.400,6711.026,595.534,4160.917,526.689,0.000,2114.855,0.000,3819.553,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,71.910,1412.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1186.588,1540.230,2024.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333736
$DATA_FILE_SIZE,100216,1739
$CAP_FILE_SIZE,176703,0
$CFSIZE,260165632,144936960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062, 95.4,1
$GPS,081110,180631,2121.387,12601.812,38,1.6,38,-2.9