version: 66.08
glider: 167
mission: 6
dive: 333
start: 11 11 110 10 35 50
data:
$ID,167
$MISSION,6
$DIVE,333
$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,-54543.785
$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,42
$R_STBD_OVSHOOT,85
$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
$GPS1,111110,102436,2122.168,12601.290,34,1.1,35,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.8
$GPS2,111110,103526,2122.066,12601.241,15,1.3,15,-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,173.0,865,-28.0,-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,-0.87,-73.8,0.0,0.0,0,86,0.00,0.00,-64.93,0.000,2,0.000,0.000,112,779,3306,0,0,0,0,0,0
$GC,89,-0.87,-73.8,5.3,-11.2,9,106,9.55,0.85,-0.43,0.000,4,0.223,0.063,2532,168,3333,0,0,0,0,0,0
$GC,348,-0.87,-73.8,88.2,-31.3,56,356,0.00,0.82,0.00,0.000,6,0.000,0.020,2529,867,3334,0,0,0,0,0,0
$GC,678,-0.87,-73.8,156.3,-18.0,117,684,0.00,1.00,0.00,0.000,4,0.000,0.040,2529,189,3337,0,0,0,0,0,0
$GC,861,-0.87,-73.8,192.3,-18.5,150,869,0.00,0.77,0.00,0.000,6,0.000,0.020,2524,865,3337,0,0,0,0,0,0
$GC,1199,-0.87,-73.8,247.1,-16.8,211,1207,0.00,1.85,0.00,0.000,4,0.000,0.017,2518,2205,3338,0,0,0,0,0,0
$GC,1432,-0.87,-73.8,279.1,-12.4,253,1439,0.00,2.12,0.00,0.000,6,0.000,0.031,2518,761,3338,0,0,0,0,0,0
$GC,1765,-0.87,-73.8,327.1,-14.8,314,1773,0.00,0.82,0.00,0.000,4,0.000,0.041,2518,189,3338,0,0,0,0,0,0
$GC,2019,-0.87,-73.8,363.5,-14.8,360,2027,0.00,0.73,0.00,0.000,6,0.000,0.021,2513,803,3338,0,0,0,0,0,0
$GC,2353,-0.87,-73.8,408.2,-13.6,421,2360,0.00,0.90,0.00,0.000,4,0.000,0.041,2513,190,3337,0,0,0,0,0,0
$GC,2605,-0.87,-73.8,444.4,-14.0,467,2613,0.08,0.65,0.00,0.000,6,0.167,0.023,2533,740,3336,0,0,0,0,0,0
$GC,2939,-0.87,-77.1,483.2,-10.8,528,2947,0.00,0.80,0.00,0.000,4,0.000,0.044,2533,196,3333,0,0,0,0,0,0
$GC,3048,-0.87,-77.1,496.7,-12.6,547,3056,0.00,0.65,0.00,0.000,6,0.000,0.023,2533,742,3333,0,0,0,0,0,0
$GC,3382,-0.88,-80.3,535.4,-10.8,580,3386,0.00,2.00,0.00,0.000,4,0.000,0.018,2531,2145,3330,0,0,0,0,0,0
$GC,3431,-0.90,-99.3,539.8,-9.2,584,3435,0.00,2.12,0.00,0.000,6,0.000,0.034,2532,741,3330,0,0,0,0,0,0
$GC,3761,-0.91,-109.2,573.8,-10.1,615,3765,0.00,2.00,0.00,0.000,4,0.000,0.017,2527,2141,3327,0,0,0,0,0,0
$GC,3824,-0.93,-125.7,579.9,-9.4,620,3831,0.00,2.12,0.00,0.000,6,0.000,0.034,2528,745,3327,0,0,0,0,0,0
$GC,4155,-0.93,-125.7,616.3,-11.2,645,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,745,3325,0,0,0,0,0,0
$GC,4467,-0.93,-128.3,650.3,-10.9,660,4471,0.00,0.80,0.00,0.000,4,0.000,0.046,2528,199,3322,0,0,0,0,0,0
$GC,4500,-0.94,-130.0,654.5,-10.9,661,4504,0.00,0.65,0.00,0.000,6,0.000,0.024,2524,716,3322,0,0,0,0,0,0
$GC,4823,-0.94,-131.9,689.5,-10.9,677,4826,0.00,0.77,0.00,0.000,4,0.000,0.046,2524,198,3320,0,0,0,0,0,0
$GC,4870,-0.94,-131.9,694.8,-11.5,679,4874,0.00,0.65,0.00,0.000,6,0.000,0.024,2521,718,3320,0,0,0,0,0,0
$GC,5204,-0.95,-140.3,730.5,-10.3,695,5207,0.00,2.03,0.00,0.000,4,0.000,0.019,2521,2130,3317,0,0,0,0,0,0
$GC,5282,-0.98,-162.9,737.7,-8.8,698,5286,0.00,2.12,0.00,0.000,6,0.000,0.037,2522,751,3316,0,0,0,0,0,0
$GC,5605,-1.00,-183.7,767.2,-9.0,714,5609,0.00,0.82,0.00,0.000,4,0.000,0.047,2521,195,3314,0,0,0,0,0,0
$GC,5765,-1.03,-207.5,781.9,-8.7,721,5769,0.00,0.68,0.00,0.000,6,0.000,0.024,2519,724,3313,0,0,0,0,0,0
$GC,6101,-1.06,-228.7,808.9,-8.2,737,6103,0.12,0.00,0.00,0.000,6,0.096,0.000,2467,725,3312,0,0,0,0,0,0
$GC,6408,-1.06,-228.7,841.8,-10.8,752,6412,0.00,0.80,0.00,0.000,4,0.000,0.047,2467,192,3309,0,0,0,0,0,0
$GC,6615,-1.06,-228.7,867.4,-12.0,761,6619,0.00,0.68,0.00,0.000,6,0.000,0.024,2466,718,3308,0,0,0,0,0,0
$GC,6943,-1.06,-228.7,904.9,-11.9,777,6947,0.00,0.80,0.00,0.000,4,0.000,0.048,2466,189,3306,0,0,0,0,0,0
$GC,7168,-1.06,-228.7,933.8,-12.9,787,7172,0.00,0.65,0.00,0.000,6,0.000,0.025,2465,703,3305,0,0,0,0,0,0
$GC,7501,-1.06,-228.7,974.1,-12.3,803,7505,0.00,0.77,0.00,0.000,4,0.000,0.049,2465,192,3304,0,0,0,0,0,0
$STATE,7702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7702,begin apogee
$GC,7709,-0.14,0.0,1000.7,13.0,812,7773,1.02,0.00,58.45,1.419,4,0.164,0.000,2765,1005,3029,0,0,0,0,0,0
$STATE,7773,end apogee,CONTROL_FINISHED_OK
$STATE,7774,begin climb
$GC,7778,1.06,228.7,1003.1,0.0,815,7983,1.10,2.08,196.98,1.379,4,0.053,0.021,3173,2397,2096,0,0,0,0,0,0
$GC,8179,1.06,228.7,931.6,23.5,832,8186,0.00,2.15,0.00,0.000,6,0.000,0.036,3182,1000,2087,0,0,0,0,0,0
$GC,8498,1.06,228.7,851.1,25.9,848,8501,0.00,1.23,0.00,0.000,4,0.000,0.045,3189,195,2085,0,0,0,0,0,0
$GC,8679,1.06,228.7,801.2,28.8,856,8683,0.00,1.12,0.00,0.000,6,0.000,0.027,3189,994,2083,0,0,0,0,0,0
$GC,9014,1.06,228.7,716.7,24.7,872,9018,0.00,2.05,0.00,0.000,4,0.000,0.026,3189,2381,2082,0,0,0,0,0,0
$GC,9120,1.06,228.7,691.9,22.2,876,9128,0.12,2.08,0.00,0.000,6,0.205,0.036,3167,1015,2081,0,0,0,0,0,0
$GC,9437,1.06,228.7,623.2,22.5,892,9441,0.00,2.00,0.00,0.000,4,0.000,0.026,3167,2390,2081,0,0,0,0,0,0
$GC,9539,1.06,228.7,601.3,21.1,896,9543,0.00,2.05,0.00,0.000,6,0.000,0.036,3175,1038,2080,0,0,0,0,0,0
$GC,9869,1.06,228.7,528.0,21.6,927,9873,0.00,1.98,0.00,0.000,4,0.000,0.025,3175,2395,2079,0,0,0,0,0,0
$GC,9984,1.06,228.7,505.1,19.2,937,9988,0.00,2.05,0.00,0.000,6,0.000,0.036,3184,1054,2078,0,0,0,0,0,0
$GC,10317,1.06,228.7,435.6,20.2,995,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1054,2077,0,0,0,0,0,0
$GC,10648,1.06,228.7,367.6,19.2,1056,10656,0.00,1.98,0.00,0.000,4,0.000,0.024,3184,2391,2077,0,0,0,0,0,0
$GC,10750,1.06,228.7,347.8,18.3,1074,10759,0.08,2.03,0.00,0.000,6,0.183,0.035,3169,1073,2077,0,0,0,0,0,0
$GC,11090,1.06,228.7,288.0,17.4,1135,11098,0.00,1.33,0.00,0.000,4,0.000,0.044,3175,193,2076,0,0,0,0,0,0
$GC,11277,1.06,228.7,254.1,17.6,1169,11283,0.00,1.20,0.00,0.000,6,0.000,0.023,3175,1077,2076,0,0,0,0,0,0
$GC,11610,1.06,228.7,202.6,16.3,1230,11618,0.00,1.35,0.00,0.000,4,0.000,0.041,3181,187,2076,0,0,0,0,0,0
$GC,11632,1.06,228.7,198.7,17.9,1233,11639,0.00,1.20,0.00,0.000,6,0.000,0.022,3181,1073,2077,0,0,0,0,0,0
$GC,11965,1.06,228.7,149.9,15.0,1294,11973,0.00,1.92,0.00,0.000,4,0.000,0.021,3181,2405,2077,0,0,0,0,0,0
$GC,12018,1.06,228.7,142.6,13.1,1303,12026,0.00,2.10,0.00,0.000,6,0.000,0.034,3190,1030,2077,0,0,0,0,0,0
$GC,12349,1.07,239.0,104.8,10.1,1364,12365,0.00,1.27,7.10,0.610,4,0.000,0.042,3197,189,2053,0,0,0,0,0,0
$GC,12515,1.09,253.6,86.7,9.6,1394,12532,0.00,1.12,13.38,0.657,6,0.000,0.022,3196,1039,1995,0,0,0,0,0,0
$GC,12855,1.09,253.6,48.2,13.3,1456,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1039,1993,0,0,0,0,0,0
$GC,13182,1.09,253.6,8.0,12.5,1517,13190,0.00,1.25,0.00,0.000,4,0.000,0.040,3202,198,1994,0,0,0,0,0,0
$STATE,13227,end climb,SURFACE_DEPTH_REACHED
$STATE,13227,begin surface coast
$FINISH,0.5,1.012190
$STATE,13252,end surface coast,CONTROL_FINISHED_OK
$STATE,13252,begin surface
$SM_CCo,13272,119.47,0.566,1,0,1397,400.08
$SM_GC,1.50,0.00,0.00,119.47,0.000,0.000,0.566,110,812,1397,-8.48,0.65,400.08
$IRIDIUM_FIX,2115.63,12559.43,111110,101047
$TT8_MAMPS,0.028462
$HUMID,39.36
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.50
$XPDR_PINGS,1
$24V_AH,22.9,62.100
$10V_AH,10.1,57.950
$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,20.250,69.825,275.900,119.475,0.000,57.391,71.133,258.326,0.250,0.000,16.452,3797.377,5326.626,510.187,3887.074,507.606,0.000,1843.759,0.000,3534.419,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,63.495,1419.075,566.100,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.292,1366.632,1887.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90209,1529
$CAP_FILE_SIZE,154291,0
$CFSIZE,260165632,143527936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,238.9,1
$GPS,111110,142024,2120.701,12601.269,39,1.6,39,-2.9