version: 66.08
glider: 167
mission: 6
dive: 320
start: 11 8 110 22 40 7
data:
$ID,167
$MISSION,6
$DIVE,320
$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,-54527.434
$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,43
$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
$GPS1,081110,223000,2118.551,12601.775,36,1.4,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.2
$GPS2,081110,223944,2118.307,12601.736,15,1.6,15,-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,344.5,11655,-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,-228.7,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,2,0.000,0.000,112,773,3395,0,0,0,0,0,0
$GC,90,-0.72,-228.7,5.5,-10.7,9,116,9.50,2.08,-9.27,0.000,4,0.215,0.030,2569,2226,3965,0,0,0,0,0,0
$GC,176,-0.72,-228.7,36.8,-23.9,23,185,0.00,2.20,0.00,0.000,6,0.000,0.035,2569,791,3967,0,0,0,0,0,0
$GC,503,-0.72,-228.7,124.3,-21.1,84,510,0.00,0.88,0.00,0.000,4,0.000,0.042,2570,187,3967,0,0,0,0,0,0
$GC,574,-0.72,-228.7,140.5,-24.5,96,582,0.00,0.77,0.00,0.000,6,0.000,0.020,2565,879,3968,0,0,0,0,0,0
$GC,910,-0.72,-228.7,206.0,-17.5,157,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,880,3969,0,0,0,0,0,0
$GC,1240,-0.72,-228.7,259.7,-15.2,218,1248,0.00,1.00,0.00,0.000,4,0.000,0.040,2565,194,3969,0,0,0,0,0,0
$GC,1492,-0.72,-228.7,302.0,-16.2,263,1500,0.00,0.77,0.00,0.000,6,0.000,0.020,2561,883,3969,0,0,0,0,0,0
$GC,1826,-0.72,-228.7,353.8,-16.4,324,1834,0.00,1.02,0.00,0.000,4,0.000,0.040,2561,188,3968,0,0,0,0,0,0
$GC,1859,-0.72,-228.7,359.0,-16.3,329,1865,0.00,0.77,0.00,0.000,6,0.000,0.020,2560,876,3969,0,0,0,0,0,0
$GC,2192,-0.72,-228.7,407.1,-14.2,390,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,875,3969,0,0,0,0,0,0
$GC,2531,-0.72,-228.7,452.7,-13.4,451,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,876,3966,0,0,0,0,0,0
$GC,2865,-0.72,-228.7,492.9,-12.1,512,2875,0.00,1.02,0.00,0.000,4,0.000,0.042,2561,186,3964,0,0,0,0,0,0
$GC,2899,-0.72,-228.7,496.8,-11.5,517,2906,0.00,0.77,0.00,0.000,6,0.000,0.021,2561,836,3964,0,0,0,0,0,0
$GC,3226,-0.72,-228.7,532.2,-10.5,550,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,836,3961,0,0,0,0,0,0
$GC,3548,-0.72,-228.7,568.0,-11.6,580,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,836,3959,0,0,0,0,0,0
$GC,3876,-0.72,-228.7,605.7,-11.6,609,3879,0.00,1.83,0.00,0.000,4,0.000,0.019,2561,2123,3956,0,0,0,0,0,0
$GC,3968,-0.72,-228.7,614.9,-9.9,613,3972,0.00,2.03,0.00,0.000,6,0.000,0.036,2561,774,3956,0,0,0,0,0,0
$GC,4304,-0.72,-228.7,649.8,-10.4,629,4307,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2130,3952,0,0,0,0,0,0
$GC,4342,-0.72,-228.7,653.8,-8.8,630,4349,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,786,3953,0,0,0,0,0,0
$GC,4661,-0.72,-228.7,685.1,-10.3,646,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,786,3950,0,0,0,0,0,0
$GC,4968,-0.72,-228.7,717.5,-10.6,661,4972,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2122,3947,0,0,0,0,0,0
$GC,5040,-0.72,-228.7,724.3,-8.8,664,5044,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,795,3947,0,0,0,0,0,0
$GC,5370,-0.72,-228.7,758.3,-10.4,680,5374,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2129,3945,0,0,0,0,0,0
$GC,5409,-0.72,-228.7,762.4,-9.0,681,5416,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,789,3944,0,0,0,0,0,0
$GC,5727,-0.72,-228.7,793.5,-9.9,697,5731,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2122,3942,0,0,0,0,0,0
$GC,5778,-0.72,-228.7,798.4,-8.9,699,5782,0.00,2.00,0.00,0.000,6,0.000,0.038,2561,802,3941,0,0,0,0,0,0
$GC,6106,-0.72,-228.7,829.3,-9.3,715,6109,0.00,1.88,0.00,0.000,4,0.000,0.020,2561,2118,3940,0,0,0,0,0,0
$GC,6154,-0.72,-228.7,833.4,-8.6,717,6157,0.00,1.98,0.00,0.000,6,0.000,0.039,2561,816,3939,0,0,0,0,0,0
$GC,6487,-0.72,-228.7,864.5,-9.6,733,6491,0.00,1.88,0.00,0.000,4,0.000,0.021,2561,2128,3937,0,0,0,0,0,0
$GC,6527,-0.72,-228.7,868.0,-8.5,734,6534,0.00,2.03,0.00,0.000,6,0.000,0.039,2561,812,3937,0,0,0,0,0,0
$GC,6846,-0.72,-228.7,895.8,-8.4,750,6849,0.00,1.90,0.00,0.000,4,0.000,0.021,2561,2126,3935,0,0,0,0,0,0
$GC,6906,-0.72,-228.7,900.8,-7.3,752,6913,0.00,1.98,0.00,0.000,6,0.000,0.040,2561,829,3934,0,0,0,0,0,0
$GC,7225,-0.72,-228.7,926.4,-8.2,768,7229,0.10,1.88,0.00,0.000,4,0.162,0.021,2587,2124,3932,0,0,0,0,0,0
$GC,7271,-0.72,-228.7,929.3,-5.5,770,7274,0.00,1.98,0.00,0.000,6,0.000,0.039,2587,830,3932,0,0,0,0,0,0
$GC,7604,-0.72,-228.7,949.5,-6.1,786,7607,0.00,1.85,0.00,0.000,4,0.000,0.021,2587,2122,3931,0,0,0,0,0,0
$GC,7639,-0.72,-228.7,951.5,-5.4,787,7642,0.00,1.95,0.00,0.000,6,0.000,0.039,2587,844,3930,0,0,0,0,0,0
$GC,7961,-0.72,-228.7,970.4,-5.7,803,7965,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2120,3928,0,0,0,0,0,0
$GC,7993,-0.72,-228.7,972.2,-5.6,804,7997,0.00,1.98,0.00,0.000,6,0.000,0.039,2588,838,3928,0,0,0,0,0,0
$GC,8319,-0.72,-228.7,990.1,-5.7,820,8323,0.00,1.85,0.00,0.000,4,0.000,0.021,2587,2128,3927,0,0,0,0,0,0
$GC,8347,-0.72,-228.7,992.0,-5.4,821,8351,0.00,2.00,0.00,0.000,6,0.000,0.040,2587,853,3927,0,0,0,0,0,0
$STATE,8507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8507,begin apogee
$GC,8514,-0.14,0.0,1001.0,5.7,829,8706,0.52,0.00,186.50,1.417,4,0.105,0.000,2768,853,3029,0,0,0,0,0,0
$STATE,8707,end apogee,CONTROL_FINISHED_OK
$STATE,8707,begin climb
$GC,8711,0.72,228.7,1007.9,0.0,838,8924,0.82,2.35,199.98,1.353,4,0.048,0.021,3066,2342,2095,0,0,0,0,0,0
$GC,9182,0.72,228.7,943.0,16.9,859,9186,0.00,2.10,0.00,0.000,6,0.000,0.039,3073,1005,2086,0,0,0,0,0,0
$GC,9505,0.72,228.7,885.3,17.7,875,9509,0.00,1.25,0.00,0.000,4,0.000,0.048,3081,189,2086,0,0,0,0,0,0
$GC,9689,0.72,228.7,849.4,20.5,883,9693,0.00,1.05,0.00,0.000,6,0.000,0.027,3081,940,2086,0,0,0,0,0,0
$GC,10019,0.72,228.7,791.0,18.1,899,10023,0.00,2.03,0.00,0.000,4,0.000,0.027,3081,2326,2084,0,0,0,0,0,0
$GC,10120,0.72,228.7,773.6,16.2,903,10125,0.12,2.00,0.00,0.000,6,0.184,0.038,3058,1010,2084,0,0,0,0,0,0
$GC,10436,0.72,228.7,725.5,14.7,918,10440,0.00,1.92,0.00,0.000,4,0.000,0.024,3058,2324,2083,0,0,0,0,0,0
$GC,10516,0.72,228.7,714.3,14.3,921,10520,0.00,2.03,0.00,0.000,6,0.000,0.039,3065,1009,2083,0,0,0,0,0,0
$GC,10838,0.72,228.7,665.3,15.6,937,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1008,2083,0,0,0,0,0,0
$GC,11149,0.72,228.7,615.6,16.0,952,11153,0.00,1.90,0.00,0.000,4,0.000,0.024,3065,2320,2082,0,0,0,0,0,0
$GC,11173,0.72,228.7,611.6,15.4,953,11176,0.00,1.98,0.00,0.000,6,0.000,0.038,3073,1018,2080,0,0,0,0,0,0
$GC,11503,0.72,228.7,557.3,16.3,980,11507,0.00,1.92,0.00,0.000,4,0.000,0.025,3073,2329,2081,0,0,0,0,0,0
$GC,11596,0.72,228.7,543.0,15.4,988,11600,0.00,1.95,0.00,0.000,6,0.000,0.039,3076,1040,2081,0,0,0,0,0,0
$GC,11924,0.72,228.7,492.8,14.2,1022,11932,0.00,1.30,0.00,0.000,4,0.000,0.047,3082,192,2081,0,0,0,0,0,0
$GC,11961,0.72,228.7,487.0,14.7,1028,11969,0.00,1.10,0.00,0.000,6,0.000,0.027,3082,982,2081,0,0,0,0,0,0
$GC,12296,0.72,228.7,436.5,14.6,1089,12302,0.00,2.05,0.00,0.000,4,0.000,0.025,3082,2386,2081,0,0,0,0,0,0
$GC,12405,0.72,228.7,419.9,15.6,1109,12413,0.12,2.03,0.00,0.000,6,0.181,0.037,3058,1051,2080,0,0,0,0,0,0
$GC,12742,0.73,232.9,375.5,11.0,1170,12750,0.00,1.30,0.00,0.000,4,0.000,0.047,3062,194,2080,0,0,0,0,0,0
$GC,12787,0.73,232.9,369.6,11.9,1177,12794,0.00,1.23,0.00,0.000,6,0.000,0.025,3063,1071,2079,0,0,0,0,0,0
$GC,13117,0.73,232.9,330.3,11.9,1238,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1071,2080,0,0,0,0,0,0
$GC,13450,0.73,232.9,290.0,12.4,1299,13458,0.00,1.90,0.00,0.000,4,0.000,0.023,3063,2392,2080,0,0,0,0,0,0
$GC,13477,0.73,232.9,286.7,11.2,1303,13485,0.00,2.00,0.00,0.000,6,0.000,0.036,3070,1064,2080,0,0,0,0,0,0
$GC,13816,0.77,265.4,249.3,10.0,1364,13851,0.00,1.38,28.83,0.837,4,0.000,0.046,3076,189,1945,0,0,0,0,0,0
$GC,13929,0.77,265.4,236.1,11.7,1383,13936,0.00,1.23,0.00,0.000,6,0.000,0.021,3076,1093,1943,0,0,0,0,0,0
$GC,14263,0.78,274.8,194.1,10.8,1444,14277,0.00,1.42,9.07,0.707,4,0.000,0.044,3078,187,1908,0,0,0,0,0,0
$GC,14332,0.78,274.8,186.4,12.5,1455,14339,0.00,1.25,0.00,0.000,6,0.000,0.021,3079,1121,1907,0,0,0,0,0,0
$GC,14667,0.87,350.2,150.8,8.7,1516,14734,0.00,1.50,61.40,0.744,4,0.000,0.044,3082,187,1600,0,0,0,0,0,0
$GC,14826,0.87,351.5,132.7,11.1,1542,14834,0.00,1.20,0.00,0.000,6,0.000,0.021,3082,1093,1596,0,0,0,0,0,0
$GC,15154,0.95,418.8,100.9,8.9,1603,15214,0.12,1.45,55.40,0.685,4,0.091,0.042,3147,183,1320,0,0,0,0,0,0
$GC,15277,0.95,418.8,85.2,15.8,1622,15285,0.00,1.17,0.00,0.000,6,0.000,0.019,3147,1086,1316,0,0,0,0,0,0
$GC,15605,0.95,418.8,40.4,11.5,1683,15614,0.00,1.88,0.00,0.000,4,0.000,0.019,3147,2401,1315,0,0,0,0,0,0
$GC,15661,0.95,418.8,32.8,13.1,1692,15669,0.00,2.12,0.00,0.000,6,0.000,0.033,3155,1010,1315,0,0,0,0,0,0
$STATE,15845,end climb,SURFACE_DEPTH_REACHED
$STATE,15845,begin surface coast
$FINISH,0.7,1.022411
$STATE,15864,end surface coast,CONTROL_FINISHED_OK
$STATE,15864,begin surface
$SM_CCo,15942,0.00,0.000,0,0,1313,421.18
$SM_GC,1.47,7.75,0.00,0.00,0.034,0.000,0.000,101,766,1313,-8.38,-0.68,421.18
$IRIDIUM_FIX,2113.32,12559.43,081110,181801
$TT8_MAMPS,0.027713
$HUMID,40.78
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,22.7,59.676
$10V_AH,10.2,55.513
$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,19.075,108.250,541.175,0.000,0.000,62.762,30.844,218.198,0.000,0.000,16.129,4231.622,6998.484,610.463,4113.363,547.699,0.000,2155.910,0.000,3821.605,0.000,0.543,0.000
$DEVICE_MAMPS,214.965,50.490,1416.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.361,1518.336,1968.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333744
$DATA_FILE_SIZE,100101,1729
$CAP_FILE_SIZE,179822,0
$CFSIZE,260165632,144748544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,215.7,1
$GPS,091110,030707,2119.806,12600.398,40,1.1,41,-2.9