version: 66.08
glider: 167
mission: 6
dive: 331
start: 11 11 110 1 5 48
data:
$ID,167
$MISSION,6
$DIVE,331
$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,-54541.27
$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,40
$R_STBD_OVSHOOT,98
$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
$GPS1,111110,005437,2119.139,12602.158,34,1.5,35,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.9
$GPS2,111110,010526,2118.942,12602.103,16,1.9,16,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,338.0,5162,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,100,0.00,0.00,-78.10,0.000,2,0.000,0.000,112,775,3602,0,0,0,0,0,0
$GC,102,-0.72,-228.7,6.6,-13.5,11,127,9.65,2.03,-5.57,0.000,4,0.220,0.030,2569,2185,3962,0,0,0,0,0,0
$GC,182,-0.72,-228.7,40.1,-26.0,24,190,0.00,2.12,0.00,0.000,6,0.000,0.034,2569,795,3964,0,0,0,0,0,0
$GC,508,-0.72,-228.7,127.3,-20.8,85,517,0.00,0.88,0.00,0.000,4,0.000,0.042,2569,192,3964,0,0,0,0,0,0
$GC,692,-0.72,-228.7,167.9,-21.9,118,700,0.00,0.75,0.00,0.000,6,0.000,0.021,2564,853,3965,0,0,0,0,0,0
$GC,1029,-0.72,-228.7,231.5,-18.4,179,1035,0.00,0.98,0.00,0.000,4,0.000,0.041,2565,188,3965,0,0,0,0,0,0
$GC,1107,-0.72,-228.7,246.3,-17.6,193,1115,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,834,3965,0,0,0,0,0,0
$GC,1443,-0.72,-228.7,300.0,-14.5,254,1450,0.00,1.80,0.00,0.000,4,0.000,0.017,2560,2114,3966,0,0,0,0,0,0
$GC,1464,-0.72,-228.7,302.7,-13.3,257,1472,0.00,2.03,0.00,0.000,6,0.000,0.033,2561,754,3965,0,0,0,0,0,0
$GC,1800,-0.72,-228.7,351.4,-15.3,318,1808,0.00,0.80,0.00,0.000,4,0.000,0.042,2561,196,3965,0,0,0,0,0,0
$GC,1845,-0.72,-228.7,357.8,-14.7,325,1852,0.00,0.60,0.00,0.000,6,0.000,0.023,2560,738,3965,0,0,0,0,0,0
$GC,2177,-0.72,-228.7,405.2,-14.7,386,2185,0.00,1.95,0.00,0.000,4,0.000,0.018,2557,2112,3964,0,0,0,0,0,0
$GC,2242,-0.72,-228.7,413.0,-10.6,397,2250,0.12,2.00,0.00,0.000,6,0.139,0.033,2593,756,3965,0,0,0,0,0,0
$GC,2579,-0.72,-228.7,448.5,-10.9,458,2587,0.00,1.92,0.00,0.000,4,0.000,0.018,2590,2106,3962,0,0,0,0,0,0
$GC,2622,-0.72,-228.7,452.9,-9.4,465,2630,0.00,2.00,0.00,0.000,6,0.000,0.034,2590,773,3962,0,0,0,0,0,0
$GC,2956,-0.72,-228.7,488.2,-10.6,526,2964,0.00,1.90,0.00,0.000,4,0.000,0.018,2590,2098,3960,0,0,0,0,0,0
$GC,3027,-0.72,-228.7,494.7,-8.3,538,3035,0.00,1.98,0.00,0.000,6,0.000,0.034,2590,800,3959,0,0,0,0,0,0
$GC,3361,-0.72,-228.7,526.7,-9.1,574,3365,0.00,1.83,0.00,0.000,4,0.000,0.018,2590,2105,3957,0,0,0,0,0,0
$GC,3424,-0.72,-228.7,531.6,-7.1,579,3430,0.00,1.98,0.00,0.000,6,0.000,0.035,2589,797,3956,0,0,0,0,0,0
$GC,3751,-0.72,-228.7,557.6,-7.8,610,3755,0.00,1.83,0.00,0.000,4,0.000,0.018,2591,2104,3954,0,0,0,0,0,0
$GC,3821,-0.72,-228.7,562.5,-6.6,616,3825,0.00,1.92,0.00,0.000,6,0.000,0.035,2590,814,3954,0,0,0,0,0,0
$GC,4153,-0.72,-228.7,589.8,-8.4,647,4156,0.00,1.85,0.00,0.000,4,0.000,0.018,2590,2112,3951,0,0,0,0,0,0
$GC,4190,-0.72,-228.7,592.6,-7.8,650,4194,0.00,1.95,0.00,0.000,6,0.000,0.036,2590,824,3951,0,0,0,0,0,0
$GC,4525,-0.72,-228.7,621.4,-8.6,670,4529,0.00,1.80,0.00,0.000,4,0.000,0.018,2590,2100,3949,0,0,0,0,0,0
$GC,4572,-0.72,-228.7,625.3,-7.8,672,4575,0.00,1.92,0.00,0.000,6,0.000,0.037,2590,832,3948,0,0,0,0,0,0
$GC,4907,-0.72,-228.7,656.4,-9.8,688,4910,0.00,1.80,0.00,0.000,4,0.000,0.019,2590,2106,3946,0,0,0,0,0,0
$GC,4968,-0.72,-228.7,662.3,-9.0,690,4974,0.00,1.92,0.00,0.000,6,0.000,0.037,2590,844,3945,0,0,0,0,0,0
$GC,5286,-0.72,-228.7,691.4,-8.9,706,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,844,3943,0,0,0,0,0,0
$GC,5593,-0.72,-228.7,715.5,-7.3,721,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,844,3941,0,0,0,0,0,0
$GC,5904,-0.72,-228.7,737.8,-7.2,736,5908,0.00,1.80,0.00,0.000,4,0.000,0.020,2590,2109,3939,0,0,0,0,0,0
$GC,5956,-0.72,-228.7,741.4,-6.7,738,5959,0.00,1.95,0.00,0.000,6,0.000,0.039,2590,838,3939,0,0,0,0,0,0
$GC,6284,-0.72,-228.7,765.0,-7.1,754,6287,0.00,1.80,0.00,0.000,4,0.000,0.020,2590,2104,3937,0,0,0,0,0,0
$GC,6347,-0.72,-228.7,769.2,-6.7,756,6353,0.00,1.92,0.00,0.000,6,0.000,0.039,2590,852,3937,0,0,0,0,0,0
$GC,6665,-0.72,-228.7,790.1,-6.7,772,6668,0.00,1.00,0.00,0.000,4,0.000,0.049,2590,189,3935,0,0,0,0,0,0
$GC,6712,-0.72,-228.7,793.4,-7.2,774,6715,0.00,0.77,0.00,0.000,6,0.000,0.024,2590,780,3934,0,0,0,0,0,0
$GC,7049,-0.72,-228.7,815.6,-6.8,790,7052,0.00,1.98,0.00,0.000,4,0.000,0.021,2590,2160,3932,0,0,0,0,0,0
$GC,7127,-0.72,-228.7,821.0,-6.7,793,7131,0.00,2.03,0.00,0.000,6,0.000,0.038,2590,865,3932,0,0,0,0,0,0
$GC,7450,-0.72,-228.7,843.3,-7.1,809,7454,0.00,1.88,0.00,0.000,4,0.000,0.021,2590,2173,3931,0,0,0,0,0,0
$GC,7483,-0.72,-228.7,845.9,-6.7,810,7487,0.00,2.03,0.00,0.000,6,0.000,0.039,2590,860,3930,0,0,0,0,0,0
$GC,7806,-0.72,-228.7,869.6,-7.7,826,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,860,3928,0,0,0,0,0,0
$GC,8116,-0.72,-228.7,893.3,-7.8,841,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,860,3927,0,0,0,0,0,0
$GC,8424,-0.72,-228.7,917.2,-7.7,856,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,860,3926,0,0,0,0,0,0
$GC,8733,-0.72,-228.7,939.8,-7.1,871,8737,0.00,1.90,0.00,0.000,4,0.000,0.021,2590,2165,3924,0,0,0,0,0,0
$GC,8768,-0.72,-228.7,942.0,-6.3,872,8771,0.00,2.00,0.00,0.000,6,0.000,0.039,2590,871,3924,0,0,0,0,0,0
$GC,9090,-0.72,-228.7,964.5,-7.2,888,9094,0.00,1.88,0.00,0.000,4,0.000,0.021,2590,2174,3923,0,0,0,0,0,0
$GC,9123,-0.72,-228.7,966.9,-6.6,889,9127,0.00,2.03,0.00,0.000,6,0.000,0.040,2590,865,3923,0,0,0,0,0,0
$GC,9447,-0.72,-228.7,987.9,-6.5,905,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,865,3922,0,0,0,0,0,0
$STATE,9649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9649,begin apogee
$GC,9655,-0.14,0.0,1000.3,5.8,915,9849,0.52,0.00,186.35,1.421,4,0.104,0.000,2771,1000,3028,0,0,0,0,0,0
$STATE,9850,end apogee,CONTROL_FINISHED_OK
$STATE,9850,begin climb
$GC,9853,0.72,228.7,1006.9,0.0,924,10067,0.75,1.35,201.05,1.357,4,0.047,0.050,3060,203,2094,0,0,0,0,0,0
$GC,10244,0.72,228.7,949.2,19.9,941,10252,0.00,1.12,0.00,0.000,6,0.000,0.028,3059,972,2086,0,0,0,0,0,0
$GC,10560,0.72,228.7,893.1,17.4,957,10564,0.00,1.20,0.00,0.000,4,0.000,0.047,3064,200,2084,0,0,0,0,0,0
$GC,10749,0.72,228.7,858.3,18.2,965,10753,0.00,1.15,0.00,0.000,6,0.000,0.028,3064,1009,2083,0,0,0,0,0,0
$GC,11071,0.72,228.7,805.0,16.7,981,11075,0.00,2.03,0.00,0.000,4,0.000,0.026,3063,2402,2082,0,0,0,0,0,0
$GC,11187,0.72,228.7,787.3,15.3,986,11191,0.00,2.12,0.00,0.000,6,0.000,0.037,3073,1019,2081,0,0,0,0,0,0
$GC,11514,0.72,228.7,732.4,16.7,1002,11518,0.00,2.03,0.00,0.000,4,0.000,0.026,3073,2386,2081,0,0,0,0,0,0
$GC,11570,0.72,228.7,723.1,15.6,1004,11574,0.00,2.10,0.00,0.000,6,0.000,0.038,3082,1044,2080,0,0,0,0,0,0
$GC,11893,0.72,228.7,667.5,17.6,1020,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1044,2080,0,0,0,0,0,0
$GC,12201,0.72,228.7,613.6,17.5,1035,12204,0.00,1.98,0.00,0.000,4,0.000,0.026,3082,2397,2079,0,0,0,0,0,0
$GC,12293,0.72,228.7,598.3,16.2,1039,12298,0.12,2.08,0.00,0.000,6,0.181,0.037,3059,1031,2079,0,0,0,0,0,0
$GC,12619,0.72,228.7,548.6,15.0,1069,12622,0.00,2.00,0.00,0.000,4,0.000,0.024,3059,2388,2079,0,0,0,0,0,0
$GC,12711,0.72,228.7,535.7,14.1,1077,12715,0.00,2.05,0.00,0.000,6,0.000,0.038,3064,1054,2078,0,0,0,0,0,0
$GC,13038,0.72,228.7,490.1,14.4,1114,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1054,2079,0,0,0,0,0,0
$GC,13372,0.72,228.7,446.0,13.2,1175,13379,0.00,1.98,0.00,0.000,4,0.000,0.025,3064,2400,2079,0,0,0,0,0,0
$GC,13387,0.72,228.7,443.7,13.1,1177,13395,0.00,2.03,0.00,0.000,6,0.000,0.037,3072,1063,2079,0,0,0,0,0,0
$GC,13723,0.72,228.7,399.3,12.6,1238,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1063,2079,0,0,0,0,0,0
$GC,14054,0.72,228.7,357.9,13.0,1299,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1063,2078,0,0,0,0,0,0
$GC,14390,0.72,228.7,315.9,12.5,1360,14398,0.00,1.98,0.00,0.000,4,0.000,0.024,3072,2401,2078,0,0,0,0,0,0
$GC,14444,0.72,228.7,309.1,11.7,1369,14452,0.00,2.03,0.00,0.000,6,0.000,0.036,3079,1062,2079,0,0,0,0,0,0
$GC,14774,0.72,228.7,267.6,11.4,1430,14782,0.00,1.98,0.00,0.000,4,0.000,0.023,3079,2406,2079,0,0,0,0,0,0
$GC,14822,0.72,228.7,261.6,11.4,1438,14830,0.08,2.05,0.00,0.000,6,0.151,0.036,3061,1076,2079,0,0,0,0,0,0
$GC,15162,0.77,271.1,227.0,9.7,1499,15202,0.00,1.33,33.70,0.822,4,0.000,0.044,3066,192,1923,0,0,0,0,0,0
$GC,15273,0.77,271.1,214.7,11.7,1517,15281,0.00,1.25,0.00,0.000,6,0.000,0.021,3066,1123,1920,0,0,0,0,0,0
$GC,15609,0.81,298.8,181.6,10.2,1578,15637,0.00,0.00,23.73,0.763,6,0.000,0.000,3066,1123,1809,0,0,0,0,0,0
$GC,15965,0.85,331.1,147.0,10.1,1642,15996,0.00,1.48,27.38,0.731,4,0.000,0.044,3069,192,1679,0,0,0,0,0,0
$GC,16140,0.92,390.5,131.4,9.2,1673,16200,0.10,1.23,49.00,0.719,6,0.051,0.020,3128,1105,1434,0,0,0,0,0,0
$GC,16524,0.92,390.5,83.1,14.4,1741,16532,0.00,1.40,0.00,0.000,4,0.000,0.043,3131,187,1429,0,0,0,0,0,0
$GC,16571,0.92,390.5,75.4,15.8,1749,16580,0.00,1.17,0.00,0.000,6,0.000,0.020,3131,1095,1429,0,0,0,0,0,0
$GC,16902,0.92,390.5,27.8,12.3,1810,16910,0.00,1.38,0.00,0.000,4,0.000,0.041,3135,186,1429,0,0,0,0,0,0
$GC,16931,0.92,390.5,23.9,12.5,1814,16940,0.00,1.17,0.00,0.000,6,0.000,0.019,3135,1115,1429,0,0,0,0,0,0
$STATE,17099,end climb,SURFACE_DEPTH_REACHED
$STATE,17100,begin surface coast
$FINISH,0.6,1.008454
$STATE,17123,end surface coast,CONTROL_FINISHED_OK
$STATE,17123,begin surface
$SM_CCo,17141,10.80,0.066,0,0,1398,400.08
$SM_GC,1.51,0.00,0.00,10.80,0.000,0.000,0.066,114,773,1398,-8.46,-0.48,400.08
$IRIDIUM_FIX,2113.32,12601.30,111110,000046
$TT8_MAMPS,0.028462
$HUMID,42.00
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,22.6,61.785
$10V_AH,10.2,57.590
$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,19.100,112.425,521.200,10.800,0.000,55.879,82.285,239.946,0.000,0.000,17.411,4520.591,7681.673,625.873,4363.394,588.373,0.000,2251.332,0.000,4014.477,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,71.910,1421.370,65.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1263.772,1610.781,2044.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,106874,1849
$CAP_FILE_SIZE,191535,0
$CFSIZE,260165632,143667200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,226.6,1
$GPS,111110,055300,2120.594,12600.138,39,1.2,40,-2.9