version: 66.08
glider: 167
mission: 6
dive: 321
start: 11 9 110 3 17 53
data:
$ID,167
$MISSION,6
$DIVE,321
$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,-54528.691
$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,78
$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
$GPS1,091110,030707,2119.806,12600.398,40,1.1,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.2
$GPS2,091110,031731,2119.631,12600.214,12,1.3,17,-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,21.1,9323,-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,-228.7,0.0,0.0,0,95,0.00,0.00,-74.55,0.000,2,0.000,0.000,100,766,3589,0,0,0,0,0,0
$GC,97,-0.72,-228.7,6.9,-14.1,10,122,9.75,0.82,-5.65,0.000,4,0.220,0.070,2581,196,3963,0,0,0,0,0,0
$GC,187,-0.72,-228.7,47.6,-31.7,25,195,0.00,0.80,0.00,0.000,6,0.000,0.019,2578,897,3964,0,0,0,0,0,0
$GC,512,-0.72,-228.7,129.7,-20.9,86,520,0.00,1.02,0.00,0.000,4,0.000,0.041,2578,200,3964,0,0,0,0,0,0
$GC,573,-0.72,-228.7,142.4,-20.4,96,582,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,882,3965,0,0,0,0,0,0
$GC,917,-0.72,-228.7,205.9,-16.5,157,924,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,200,3966,0,0,0,0,0,0
$GC,956,-0.72,-228.7,212.4,-17.3,163,962,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,886,3966,0,0,0,0,0,0
$GC,1295,-0.72,-228.7,265.0,-15.8,224,1304,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,204,3966,0,0,0,0,0,0
$GC,1472,-0.72,-228.7,293.1,-16.3,255,1479,0.00,0.73,0.00,0.000,6,0.000,0.020,2570,853,3966,0,0,0,0,0,0
$GC,1813,-0.72,-228.7,338.8,-12.4,316,1822,0.00,1.90,0.00,0.000,4,0.000,0.017,2562,2205,3966,0,0,0,0,0,0
$GC,1851,-0.72,-228.7,343.2,-11.6,322,1859,0.00,2.17,0.00,0.000,6,0.000,0.033,2564,760,3966,0,0,0,0,0,0
$GC,2194,-0.72,-228.7,389.5,-14.5,383,2200,0.00,0.82,0.00,0.000,4,0.000,0.043,2562,189,3966,0,0,0,0,0,0
$GC,2298,-0.72,-228.7,403.3,-14.1,401,2305,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,823,3965,0,0,0,0,0,0
$GC,2637,-0.72,-228.7,446.7,-12.2,462,2644,0.00,0.93,0.00,0.000,4,0.000,0.041,2561,195,3963,0,0,0,0,0,0
$GC,2663,-0.72,-228.7,450.3,-13.1,466,2670,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,722,3963,0,0,0,0,0,0
$GC,3005,-0.72,-228.7,491.1,-11.9,527,3012,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2110,3960,0,0,0,0,0,0
$GC,3130,-0.72,-228.7,502.9,-8.6,547,3134,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,737,3960,0,0,0,0,0,0
$GC,3461,-0.72,-228.7,539.0,-11.3,578,3464,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2119,3957,0,0,0,0,0,0
$GC,3496,-0.72,-228.7,542.6,-10.2,581,3500,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,749,3957,0,0,0,0,0,0
$GC,3822,-0.72,-228.7,579.0,-11.3,611,3825,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2112,3955,0,0,0,0,0,0
$GC,3924,-0.72,-228.7,589.3,-9.7,620,3928,0.00,2.00,0.00,0.000,6,0.000,0.035,2561,772,3954,0,0,0,0,0,0
$GC,4251,-0.72,-228.7,625.1,-10.8,640,4254,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2118,3951,0,0,0,0,0,0
$GC,4297,-0.72,-228.7,629.9,-9.2,642,4301,0.00,2.03,0.00,0.000,6,0.000,0.036,2561,768,3951,0,0,0,0,0,0
$GC,4628,-0.72,-228.7,663.7,-10.1,658,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,768,3949,0,0,0,0,0,0
$GC,4934,-0.72,-228.7,693.4,-9.4,673,4938,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2109,3946,0,0,0,0,0,0
$GC,5029,-0.72,-228.7,701.1,-7.0,677,5033,0.00,2.00,0.00,0.000,6,0.000,0.037,2561,783,3946,0,0,0,0,0,0
$GC,5359,-0.72,-228.7,732.6,-10.5,693,5363,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2107,3943,0,0,0,0,0,0
$GC,5415,-0.72,-228.7,738.4,-9.6,695,5419,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,799,3942,0,0,0,0,0,0
$GC,5738,-0.72,-228.7,774.6,-11.6,711,5742,0.00,1.88,0.00,0.000,4,0.000,0.020,2560,2115,3939,0,0,0,0,0,0
$GC,5777,-0.72,-228.7,779.2,-10.3,712,5785,0.00,2.03,0.00,0.000,6,0.000,0.038,2561,794,3940,0,0,0,0,0,0
$GC,6094,-0.72,-228.7,813.7,-10.9,728,6097,0.00,1.90,0.00,0.000,4,0.000,0.020,2560,2110,3938,0,0,0,0,0,0
$GC,6157,-0.72,-228.7,819.9,-9.1,730,6164,0.00,1.98,0.00,0.000,6,0.000,0.038,2561,806,3937,0,0,0,0,0,0
$GC,6473,-0.72,-228.7,851.5,-9.5,746,6477,0.00,1.85,0.00,0.000,4,0.000,0.020,2561,2106,3935,0,0,0,0,0,0
$GC,6501,-0.72,-228.7,854.1,-9.0,747,6504,0.00,1.98,0.00,0.000,6,0.000,0.039,2561,807,3936,0,0,0,0,0,0
$GC,6830,-0.72,-228.7,883.9,-9.0,763,6834,0.00,1.90,0.00,0.000,4,0.000,0.021,2561,2105,3933,0,0,0,0,0,0
$GC,6899,-0.72,-228.7,889.8,-7.9,766,6902,0.00,1.95,0.00,0.000,6,0.000,0.039,2561,822,3933,0,0,0,0,0,0
$GC,7234,-0.72,-228.7,920.7,-9.6,782,7238,0.00,1.88,0.00,0.000,4,0.000,0.021,2561,2102,3931,0,0,0,0,0,0
$GC,7295,-0.72,-228.7,926.4,-8.9,784,7302,0.00,1.92,0.00,0.000,6,0.000,0.039,2561,835,3930,0,0,0,0,0,0
$GC,7613,-0.72,-228.7,956.6,-9.6,800,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,835,3929,0,0,0,0,0,0
$GC,7922,-0.72,-228.7,986.5,-9.7,815,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,835,3927,0,0,0,0,0,0
$STATE,8083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8083,begin apogee
$GC,8088,-0.14,0.0,1001.3,8.9,823,8280,0.62,0.00,185.40,1.411,4,0.113,0.000,2771,834,3028,0,0,0,0,0,0
$STATE,8281,end apogee,CONTROL_FINISHED_OK
$STATE,8281,begin climb
$GC,8284,0.72,228.7,1009.9,0.0,832,8490,0.77,1.08,199.12,1.349,4,0.051,0.051,3052,196,2097,0,0,0,0,0,0
$GC,8712,0.72,228.7,948.2,19.5,851,8715,0.00,1.02,0.00,0.000,6,0.000,0.028,3052,914,2088,0,0,0,0,0,0
$GC,9033,0.72,228.7,890.8,17.8,867,9037,0.00,1.10,0.00,0.000,4,0.000,0.047,3054,194,2085,0,0,0,0,0,0
$GC,9179,0.72,228.7,864.4,17.8,873,9182,0.00,1.02,0.00,0.000,6,0.000,0.028,3054,926,2085,0,0,0,0,0,0
$GC,9503,0.72,228.7,812.0,16.5,889,9507,0.00,2.00,0.00,0.000,4,0.000,0.025,3054,2306,2083,0,0,0,0,0,0
$GC,9655,0.72,228.7,788.2,15.5,895,9662,0.00,1.95,0.00,0.000,6,0.000,0.038,3061,1020,2082,0,0,0,0,0,0
$GC,9973,0.72,228.7,738.1,15.3,911,9976,0.00,1.90,0.00,0.000,4,0.000,0.025,3060,2313,2081,0,0,0,0,0,0
$GC,10019,0.72,228.7,730.9,14.7,913,10023,0.00,1.95,0.00,0.000,6,0.000,0.038,3068,1025,2081,0,0,0,0,0,0
$GC,10354,0.72,228.7,680.7,15.0,929,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1025,2081,0,0,0,0,0,0
$GC,10661,0.72,228.7,634.7,14.4,944,10664,0.00,1.85,0.00,0.000,4,0.000,0.024,3068,2318,2080,0,0,0,0,0,0
$GC,10688,0.72,228.7,630.3,15.4,945,10692,0.00,1.98,0.00,0.000,6,0.000,0.037,3076,1040,2080,0,0,0,0,0,0
$GC,11010,0.72,228.7,580.1,15.7,966,11014,0.00,1.83,0.00,0.000,4,0.000,0.025,3077,2309,2080,0,0,0,0,0,0
$GC,11060,0.72,228.7,571.7,15.7,970,11068,0.08,1.95,0.00,0.000,6,0.163,0.038,3060,1051,2080,0,0,0,0,0,0
$GC,11388,0.72,228.7,523.9,15.0,1001,11391,0.00,1.30,0.00,0.000,4,0.000,0.047,3065,193,2080,0,0,0,0,0,0
$GC,11415,0.72,228.7,519.3,14.9,1003,11422,0.00,1.08,0.00,0.000,6,0.000,0.026,3065,973,2080,0,0,0,0,0,0
$GC,11749,0.72,228.7,473.7,13.5,1051,11756,0.00,2.05,0.00,0.000,4,0.000,0.025,3065,2391,2079,0,0,0,0,0,0
$GC,11876,0.72,228.7,456.9,13.2,1073,11882,0.00,2.03,0.00,0.000,6,0.000,0.037,3074,1061,2079,0,0,0,0,0,0
$GC,12214,0.72,228.7,408.1,14.1,1134,12222,0.00,1.33,0.00,0.000,4,0.000,0.046,3081,190,2079,0,0,0,0,0,0
$GC,12293,0.72,228.7,396.1,16.6,1147,12299,0.00,1.20,0.00,0.000,6,0.000,0.025,3081,1051,2079,0,0,0,0,0,0
$GC,12632,0.72,228.7,347.8,12.3,1208,12641,0.00,1.30,0.00,0.000,4,0.000,0.044,3087,194,2079,0,0,0,0,0,0
$GC,12780,0.72,228.7,325.4,15.5,1234,12789,0.10,1.17,0.00,0.000,6,0.161,0.024,3056,1042,2079,0,0,0,0,0,0
$GC,13124,0.75,250.5,285.6,10.4,1295,13146,0.00,2.03,17.08,0.856,4,0.000,0.023,3056,2386,2007,0,0,0,0,0,0
$GC,13193,0.75,250.5,277.9,11.2,1306,13201,0.00,2.10,0.00,0.000,6,0.000,0.036,3060,1035,2005,0,0,0,0,0,0
$GC,13536,0.76,260.3,237.0,10.8,1367,13551,0.00,1.33,9.65,0.759,4,0.000,0.045,3067,179,1966,0,0,0,0,0,0
$GC,13631,0.76,260.3,225.5,11.7,1383,13637,0.00,1.17,0.00,0.000,6,0.000,0.023,3067,1043,1964,0,0,0,0,0,0
$GC,13970,0.77,266.9,187.8,10.9,1444,13986,0.00,1.95,7.10,0.672,4,0.000,0.020,3067,2379,1939,0,0,0,0,0,0
$GC,14042,0.77,272.3,179.8,10.9,1456,14054,0.00,2.03,6.15,0.634,6,0.000,0.034,3074,1056,1919,0,0,0,0,0,0
$GC,14391,0.80,291.8,143.0,10.5,1517,14414,0.00,1.35,17.77,0.718,4,0.000,0.044,3081,186,1838,0,0,0,0,0,0
$GC,14564,0.80,291.8,123.5,11.7,1548,14573,0.00,1.12,0.00,0.000,6,0.000,0.021,3080,1044,1837,0,0,0,0,0,0
$GC,14890,0.93,398.3,96.9,7.6,1609,14981,0.12,1.38,85.32,0.689,4,0.092,0.042,3142,181,1404,0,0,0,0,0,0
$GC,15099,0.93,398.3,68.5,15.8,1642,15107,0.00,1.10,0.00,0.000,6,0.000,0.021,3142,1024,1400,0,0,0,0,0,0
$GC,15428,0.93,398.3,26.1,13.0,1703,15436,0.00,1.90,0.00,0.000,4,0.000,0.017,3142,2373,1399,0,0,0,0,0,0
$GC,15486,0.93,398.3,19.7,11.8,1713,15494,0.00,2.08,0.00,0.000,6,0.000,0.031,3146,1003,1397,0,0,0,0,0,0
$STATE,15604,end climb,SURFACE_DEPTH_REACHED
$STATE,15604,begin surface coast
$FINISH,0.6,1.022577
$STATE,15625,end surface coast,CONTROL_FINISHED_OK
$STATE,15625,begin surface
$SM_CCo,15703,0.00,0.000,0,0,1394,400.82
$SM_GC,1.45,7.70,0.00,0.00,0.032,0.000,0.000,120,786,1394,-8.37,-0.11,400.82
$IRIDIUM_FIX,2111.01,12601.30,091110,030330
$TT8_MAMPS,0.028462
$HUMID,41.14
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,22.7,59.872
$10V_AH,10.1,55.703
$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,19.150,107.875,527.600,0.000,0.000,69.115,60.654,222.130,0.000,0.000,17.885,4231.032,6745.272,600.330,4186.679,537.045,0.000,2147.716,0.000,3843.593,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,69.615,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1186.235,1536.506,2032.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333780
$DATA_FILE_SIZE,100143,1738
$CAP_FILE_SIZE,179218,0
$CFSIZE,260165632,144654336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,265.4,1
$GPS,091110,074055,2121.735,12600.424,41,1.3,42,-2.9