version: 66.08
glider: 167
mission: 6
dive: 330
start: 11 10 110 20 31 29
data:
$ID,167
$MISSION,6
$DIVE,330
$N_DIVES,342
$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,-54540.012
$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,38
$R_STBD_OVSHOOT,124
$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
$GPS1,101110,202055,2121.975,12602.354,41,1.0,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.8
$GPS2,101110,203107,2121.865,12602.437,11,1.1,11,-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,216.8,5891,-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,-228.7,0.0,0.0,0,94,0.00,0.00,-73.95,0.000,2,0.000,0.000,112,779,3334,0,0,0,0,0,0
$GC,97,-0.72,-228.7,5.5,-11.8,10,122,9.73,0.90,-10.38,0.000,4,0.223,0.073,2577,185,3964,0,0,0,0,0,0
$GC,361,-0.72,-228.7,93.6,-27.6,58,369,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,850,3965,0,0,0,0,0,0
$GC,691,-0.72,-228.7,167.0,-19.1,119,698,0.00,0.98,0.00,0.000,4,0.000,0.041,2572,187,3966,0,0,0,0,0,0
$GC,945,-0.72,-228.7,216.4,-16.7,165,952,0.00,0.70,0.00,0.000,6,0.000,0.021,2568,800,3967,0,0,0,0,0,0
$GC,1277,-0.72,-228.7,272.1,-15.6,226,1285,0.00,0.90,0.00,0.000,4,0.000,0.040,2568,184,3968,0,0,0,0,0,0
$GC,1532,-0.72,-228.7,313.8,-13.8,272,1540,0.00,0.65,0.00,0.000,6,0.000,0.022,2564,760,3967,0,0,0,0,0,0
$GC,1869,-0.72,-228.7,363.2,-14.7,333,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,759,3967,0,0,0,0,0,0
$GC,2199,-0.72,-228.7,408.7,-13.2,394,2207,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2119,3967,0,0,0,0,0,0
$GC,2254,-0.72,-228.7,415.3,-11.6,403,2262,0.00,2.03,0.00,0.000,6,0.000,0.032,2561,759,3966,0,0,0,0,0,0
$GC,2591,-0.72,-228.7,462.1,-14.0,464,2598,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2124,3964,0,0,0,0,0,0
$GC,2623,-0.72,-228.7,466.1,-12.7,469,2630,0.00,2.03,0.00,0.000,6,0.000,0.033,2561,771,3964,0,0,0,0,0,0
$GC,2957,-0.72,-228.7,507.5,-11.6,524,2960,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2132,3962,0,0,0,0,0,0
$GC,2982,-0.72,-228.7,510.2,-11.4,526,2985,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,766,3962,0,0,0,0,0,0
$GC,3314,-0.72,-228.7,547.7,-11.5,557,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,766,3959,0,0,0,0,0,0
$GC,3634,-0.72,-228.7,585.2,-12.0,587,3638,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2118,3958,0,0,0,0,0,0
$GC,3695,-0.72,-228.7,592.1,-9.9,592,3702,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,768,3957,0,0,0,0,0,0
$GC,4026,-0.72,-228.7,628.2,-11.2,612,4030,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2118,3955,0,0,0,0,0,0
$GC,4095,-0.72,-228.7,635.2,-9.1,615,4098,0.00,2.03,0.00,0.000,6,0.000,0.035,2561,781,3954,0,0,0,0,0,0
$GC,4428,-0.72,-228.7,670.1,-10.0,631,4432,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2126,3951,0,0,0,0,0,0
$GC,4524,-0.72,-228.7,678.3,-7.8,635,4528,0.00,2.03,0.00,0.000,6,0.000,0.036,2561,794,3950,0,0,0,0,0,0
$GC,4851,-0.72,-228.7,710.4,-10.1,651,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,794,3948,0,0,0,0,0,0
$GC,5164,-0.72,-228.7,744.4,-11.1,666,5167,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2116,3946,0,0,0,0,0,0
$GC,5211,-0.72,-228.7,749.5,-10.0,668,5215,0.00,2.00,0.00,0.000,6,0.000,0.037,2561,804,3945,0,0,0,0,0,0
$GC,5545,-0.72,-228.7,782.7,-9.0,684,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,804,3943,0,0,0,0,0,0
$GC,5855,-0.72,-228.7,808.6,-7.9,699,5859,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2123,3941,0,0,0,0,0,0
$GC,5916,-0.72,-228.7,812.8,-5.8,701,5922,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,801,3941,0,0,0,0,0,0
$GC,6234,-0.72,-228.7,836.8,-7.8,717,6237,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2119,3938,0,0,0,0,0,0
$GC,6261,-0.72,-228.7,839.0,-6.8,718,6265,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,814,3938,0,0,0,0,0,0
$GC,6589,-0.72,-228.7,865.5,-8.7,734,6593,0.00,1.88,0.00,0.000,4,0.000,0.020,2561,2113,3935,0,0,0,0,0,0
$GC,6638,-0.72,-228.7,869.1,-7.6,736,6642,0.00,1.98,0.00,0.000,6,0.000,0.038,2561,824,3936,0,0,0,0,0,0
$GC,6972,-0.72,-228.7,899.5,-9.1,752,6975,0.00,1.88,0.00,0.000,4,0.000,0.020,2560,2121,3934,0,0,0,0,0,0
$GC,6999,-0.72,-228.7,902.0,-8.6,753,7003,0.00,2.00,0.00,0.000,6,0.000,0.038,2560,832,3933,0,0,0,0,0,0
$GC,7329,-0.72,-228.7,930.5,-8.7,769,7332,0.00,1.85,0.00,0.000,4,0.000,0.021,2560,2112,3932,0,0,0,0,0,0
$GC,7407,-0.72,-228.7,936.5,-7.0,772,7411,0.00,2.00,0.00,0.000,6,0.000,0.039,2560,829,3931,0,0,0,0,0,0
$GC,7730,-0.72,-228.7,961.8,-8.0,788,7734,0.00,1.85,0.00,0.000,4,0.000,0.021,2561,2111,3929,0,0,0,0,0,0
$GC,7764,-0.72,-228.7,964.6,-7.2,789,7767,0.00,1.98,0.00,0.000,6,0.000,0.039,2561,831,3929,0,0,0,0,0,0
$GC,8086,-0.72,-228.7,990.8,-8.3,805,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,831,3928,0,0,0,0,0,0
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8207,begin apogee
$GC,8214,-0.14,0.0,1001.0,8.3,811,8409,0.62,0.00,186.35,1.410,4,0.112,0.000,2771,947,3029,0,0,0,0,0,0
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8414,0.72,228.7,1009.7,0.0,820,8627,0.80,2.15,199.73,1.353,4,0.044,0.020,3064,2328,2095,0,0,0,0,0,0
$GC,8835,0.72,228.7,956.1,16.7,839,8839,0.00,2.08,0.00,0.000,6,0.000,0.037,3075,992,2088,0,0,0,0,0,0
$GC,9158,0.72,228.7,897.6,18.6,855,9162,0.00,1.92,0.00,0.000,4,0.000,0.022,3074,2320,2086,0,0,0,0,0,0
$GC,9416,0.72,228.7,851.1,18.1,866,9420,0.00,2.05,0.00,0.000,6,0.000,0.037,3083,985,2085,0,0,0,0,0,0
$GC,9742,0.72,228.7,788.9,19.6,882,9745,0.00,1.92,0.00,0.000,4,0.000,0.023,3084,2317,2085,0,0,0,0,0,0
$GC,9834,0.72,228.7,771.4,18.0,886,9838,0.15,2.00,0.00,0.000,6,0.184,0.037,3054,997,2084,0,0,0,0,0,0
$GC,10164,0.72,228.7,717.9,16.0,902,10168,0.00,1.90,0.00,0.000,4,0.000,0.023,3053,2313,2083,0,0,0,0,0,0
$GC,10191,0.72,228.7,712.9,14.7,903,10196,0.00,2.03,0.00,0.000,6,0.000,0.038,3061,996,2083,0,0,0,0,0,0
$GC,10519,0.72,228.7,662.2,15.2,919,10523,0.00,1.95,0.00,0.000,4,0.000,0.024,3061,2320,2083,0,0,0,0,0,0
$GC,10559,0.72,228.7,656.3,14.6,920,10566,0.00,2.00,0.00,0.000,6,0.000,0.037,3069,1011,2083,0,0,0,0,0,0
$GC,10877,0.72,228.7,606.0,16.5,936,10880,0.00,1.88,0.00,0.000,4,0.000,0.024,3069,2314,2082,0,0,0,0,0,0
$GC,10971,0.72,228.7,590.8,15.2,942,10979,0.00,2.00,0.00,0.000,6,0.000,0.038,3076,1010,2082,0,0,0,0,0,0
$GC,11297,0.72,228.7,537.2,15.8,973,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1010,2082,0,0,0,0,0,0
$GC,11619,0.72,228.7,488.8,15.1,1009,11626,0.00,1.25,0.00,0.000,4,0.000,0.047,3082,189,2081,0,0,0,0,0,0
$GC,11680,0.72,228.7,479.5,16.0,1019,11686,0.00,1.05,0.00,0.000,6,0.000,0.026,3082,950,2081,0,0,0,0,0,0
$GC,12011,0.72,228.7,429.4,14.8,1080,12019,0.00,2.12,0.00,0.000,4,0.000,0.025,3082,2386,2081,0,0,0,0,0,0
$GC,12118,0.72,228.7,414.3,14.4,1099,12126,0.12,2.08,0.00,0.000,6,0.181,0.037,3058,1030,2081,0,0,0,0,0,0
$GC,12457,0.72,228.7,367.4,14.4,1160,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1029,2081,0,0,0,0,0,0
$GC,12792,0.76,260.9,327.0,10.1,1221,12826,0.00,1.33,25.27,0.915,4,0.000,0.047,3063,190,1964,0,0,0,0,0,0
$GC,12871,0.76,260.9,317.2,13.1,1234,12880,0.00,1.17,0.00,0.000,6,0.000,0.024,3064,1045,1962,0,0,0,0,0,0
$GC,13206,0.76,260.9,275.5,12.7,1295,13215,0.00,1.90,0.00,0.000,4,0.000,0.022,3064,2377,1960,0,0,0,0,0,0
$GC,13267,0.76,260.9,267.9,11.9,1305,13274,0.00,2.08,0.00,0.000,6,0.000,0.037,3066,1021,1960,0,0,0,0,0,0
$GC,13601,0.79,286.6,231.3,10.3,1366,13628,0.00,0.00,22.55,0.812,6,0.000,0.000,3066,1021,1859,0,0,0,0,0,0
$GC,13955,0.80,290.1,192.9,11.0,1430,13964,0.00,0.00,4.07,0.536,6,0.000,0.000,3066,1021,1845,0,0,0,0,0,0
$GC,14296,0.82,306.1,156.6,10.6,1491,14316,0.00,0.00,14.70,0.720,6,0.000,0.000,3066,1021,1781,0,0,0,0,0,0
$GC,14639,0.89,365.5,122.9,9.2,1554,14692,0.12,0.00,48.80,0.716,6,0.089,0.000,3125,1022,1538,0,0,0,0,0,0
$GC,15012,0.90,374.5,75.6,10.8,1621,15028,0.00,0.00,8.27,0.588,6,0.000,0.000,3125,1021,1501,0,0,0,0,0,0
$GC,15349,0.96,419.5,34.5,9.6,1683,15393,0.00,1.23,37.17,0.629,4,0.000,0.040,3130,186,1318,0,0,0,0,0,0
$GC,15423,0.97,431.6,26.9,10.7,1694,15439,0.00,1.15,11.20,0.568,6,0.000,0.019,3130,1078,1268,0,0,0,0,0,0
$STATE,15610,end climb,SURFACE_DEPTH_REACHED
$STATE,15610,begin surface coast
$FINISH,0.5,1.021538
$STATE,15638,end surface coast,CONTROL_FINISHED_OK
$STATE,15638,begin surface
$SM_CCo,15716,0.00,0.000,0,0,1262,433.45
$SM_GC,1.47,7.72,0.00,0.00,0.035,0.000,0.000,122,778,1262,-8.37,-0.34,433.45
$IRIDIUM_FIX,2115.63,12602.66,101110,202009
$TT8_MAMPS,0.028462
$HUMID,41.45
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,22.7,61.585
$10V_AH,10.1,57.393
$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,19.275,95.475,558.125,0.000,0.000,64.644,60.666,217.545,0.000,0.000,12.032,4230.130,6768.510,601.910,4167.047,534.464,0.000,2130.349,0.000,3840.007,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,130.815,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.076,1527.881,2017.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,100122,1733
$CAP_FILE_SIZE,175204,0
$CFSIZE,260165632,143790080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,143.4,1
$GPS,111110,005437,2119.139,12602.158,34,1.5,35,-2.9