version: 66.08
glider: 167
mission: 6
dive: 334
start: 11 11 110 14 31 29
data:
$ID,167
$MISSION,6
$DIVE,334
$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,-54545.047
$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,119
$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
$GPS1,111110,142024,2120.701,12601.269,39,1.6,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.7
$GPS2,111110,143104,2120.587,12601.223,10,99.0,29,-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,15.6,1877,-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,-73.8,0.0,0.0,0,92,0.00,0.00,-65.95,0.000,6,0.000,0.000,110,813,3333,0,0,0,0,0,0
$GC,95,-0.87,-73.8,7.1,-15.0,10,111,9.48,1.90,0.00,0.000,4,0.220,0.012,2523,2196,3334,0,0,0,0,0,0
$GC,155,-0.87,-73.8,31.7,-28.1,20,164,0.00,2.15,0.00,0.000,6,0.000,0.033,2523,789,3336,0,0,0,0,0,0
$GC,481,-0.87,-73.8,116.8,-20.7,81,489,0.00,0.88,0.00,0.000,4,0.000,0.040,2523,184,3337,0,0,0,0,0,0
$GC,734,-0.87,-73.8,168.6,-18.2,127,740,0.00,0.75,0.00,0.000,6,0.000,0.021,2519,830,3338,0,0,0,0,0,0
$GC,1075,-0.87,-73.8,227.2,-16.8,188,1084,0.00,0.95,0.00,0.000,4,0.000,0.040,2519,181,3339,0,0,0,0,0,0
$GC,1335,-0.87,-73.8,270.9,-17.3,234,1343,0.00,0.68,0.00,0.000,6,0.000,0.021,2514,770,3339,0,0,0,0,0,0
$GC,1678,-0.87,-73.8,322.3,-15.2,295,1685,0.00,0.85,0.00,0.000,4,0.000,0.041,2514,187,3339,0,0,0,0,0,0
$GC,1935,-0.87,-73.8,361.8,-15.5,341,1942,0.08,0.65,0.00,0.000,6,0.167,0.022,2534,749,3339,0,0,0,0,0,0
$GC,2278,-0.87,-74.1,404.9,-11.1,402,2285,0.00,0.82,0.00,0.000,4,0.000,0.042,2534,186,3338,0,0,0,0,0,0
$GC,2537,-0.87,-74.1,438.6,-13.0,448,2545,0.00,0.65,0.00,0.000,6,0.000,0.023,2532,746,3337,0,0,0,0,0,0
$GC,2880,-0.87,-74.1,479.0,-11.3,509,2887,0.00,0.80,0.00,0.000,4,0.000,0.043,2532,197,3336,0,0,0,0,0,0
$GC,3140,-0.88,-82.1,508.2,-10.3,549,3143,0.00,0.62,0.00,0.000,6,0.000,0.024,2531,731,3333,0,0,0,0,0,0
$GC,3473,-0.89,-90.8,541.3,-10.2,580,3477,0.00,0.80,0.00,0.000,4,0.000,0.044,2531,188,3331,0,0,0,0,0,0
$GC,3730,-0.89,-90.8,572.3,-11.9,603,3734,0.00,0.65,0.00,0.000,6,0.000,0.024,2529,724,3329,0,0,0,0,0,0
$GC,4061,-0.90,-103.6,606.4,-9.8,631,4065,0.00,0.77,0.00,0.000,4,0.000,0.044,2528,196,3327,0,0,0,0,0,0
$GC,4242,-0.91,-106.9,625.3,-10.8,639,4246,0.00,0.65,0.00,0.000,6,0.000,0.024,2526,722,3326,0,0,0,0,0,0
$GC,4577,-0.93,-128.7,655.7,-8.9,655,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,722,3324,0,0,0,0,0,0
$GC,4885,-0.96,-146.0,684.5,-9.4,670,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,722,3321,0,0,0,0,0,0
$GC,5196,-0.98,-164.0,713.4,-9.3,685,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,722,3320,0,0,0,0,0,0
$GC,5503,-1.00,-184.1,742.5,-9.1,700,5507,0.00,2.00,0.00,0.000,4,0.000,0.020,2520,2121,3317,0,0,0,0,0,0
$GC,5559,-1.04,-214.4,747.5,-8.1,702,5563,0.00,2.10,0.00,0.000,6,0.000,0.037,2520,745,3317,0,0,0,0,0,0
$GC,5882,-1.06,-228.7,777.5,-9.4,718,5886,0.12,0.82,0.00,0.000,4,0.096,0.048,2467,197,3315,0,0,0,0,0,0
$GC,6123,-1.06,-228.7,808.0,-13.1,728,6130,0.00,0.62,0.00,0.000,6,0.000,0.025,2466,693,3313,0,0,0,0,0,0
$GC,6440,-1.06,-228.7,846.3,-11.9,744,6444,0.00,0.75,0.00,0.000,4,0.000,0.047,2466,192,3311,0,0,0,0,0,0
$GC,6496,-1.06,-228.7,853.6,-12.7,746,6500,0.00,0.65,0.00,0.000,6,0.000,0.025,2464,705,3311,0,0,0,0,0,0
$GC,6820,-1.06,-228.7,890.4,-11.5,762,6824,0.00,2.05,0.00,0.000,4,0.000,0.021,2463,2113,3309,0,0,0,0,0,0
$GC,6883,-1.06,-228.7,896.9,-9.6,764,6891,0.00,2.10,0.00,0.000,6,0.000,0.037,2463,754,3308,0,0,0,0,0,0
$GC,7199,-1.06,-228.7,929.7,-10.1,780,7203,0.00,0.82,0.00,0.000,4,0.000,0.048,2462,197,3306,0,0,0,0,0,0
$GC,7353,-1.06,-228.7,946.1,-10.7,786,7360,0.00,0.65,0.00,0.000,6,0.000,0.026,2459,698,3306,0,0,0,0,0,0
$GC,7670,-1.06,-228.7,977.8,-10.4,802,7673,0.00,0.75,0.00,0.000,4,0.000,0.048,2459,198,3305,0,0,0,0,0,0
$STATE,7880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7880,begin apogee
$GC,7887,-0.14,0.0,1000.6,11.0,811,7950,1.08,0.00,58.60,1.416,4,0.162,0.000,2769,969,3030,0,0,0,0,0,0
$STATE,7950,end apogee,CONTROL_FINISHED_OK
$STATE,7950,begin climb
$GC,7955,1.06,228.7,1001.1,0.0,814,8160,1.08,2.15,196.90,1.373,4,0.050,0.021,3171,2406,2096,0,0,0,0,0,0
$GC,8315,1.06,228.7,934.8,24.6,831,8319,0.00,2.17,0.00,0.000,6,0.000,0.035,3182,994,2087,0,0,0,0,0,0
$GC,8631,1.06,228.7,854.4,25.0,846,8634,0.00,1.20,0.00,0.000,4,0.000,0.044,3187,198,2084,0,0,0,0,0,0
$GC,8881,1.06,228.7,789.8,25.9,857,8885,0.00,1.12,0.00,0.000,6,0.000,0.026,3187,996,2081,0,0,0,0,0,0
$GC,9216,1.06,228.7,707.1,24.4,873,9220,0.00,2.03,0.00,0.000,4,0.000,0.026,3187,2394,2080,0,0,0,0,0,0
$GC,9333,1.06,228.7,678.1,24.8,878,9338,0.12,2.08,0.00,0.000,6,0.203,0.036,3167,1019,2080,0,0,0,0,0,0
$GC,9661,1.06,228.7,605.7,22.0,894,9664,0.00,2.03,0.00,0.000,4,0.000,0.027,3167,2393,2078,0,0,0,0,0,0
$GC,9689,1.06,228.7,599.5,21.3,895,9693,0.00,2.08,0.00,0.000,6,0.000,0.037,3175,1024,2079,0,0,0,0,0,0
$GC,10020,1.06,228.7,527.3,22.0,926,10024,0.00,1.25,0.00,0.000,4,0.000,0.044,3181,192,2078,0,0,0,0,0,0
$GC,10057,1.06,228.7,519.5,22.8,929,10061,0.00,1.15,0.00,0.000,6,0.000,0.025,3181,1019,2078,0,0,0,0,0,0
$GC,10392,1.06,228.7,447.6,20.2,982,10400,0.00,2.00,0.00,0.000,4,0.000,0.026,3181,2379,2077,0,0,0,0,0,0
$GC,10453,1.06,228.7,435.5,17.9,992,10461,0.00,2.10,0.00,0.000,6,0.000,0.037,3190,1014,2076,0,0,0,0,0,0
$GC,10797,1.06,228.7,367.3,20.2,1053,10804,0.00,1.98,0.00,0.000,4,0.000,0.024,3190,2387,2076,0,0,0,0,0,0
$GC,10845,1.06,228.7,357.3,19.3,1061,10852,0.15,2.08,0.00,0.000,6,0.199,0.035,3162,1008,2075,0,0,0,0,0,0
$GC,11187,1.06,228.7,295.9,16.1,1122,11197,0.00,2.03,0.00,0.000,4,0.000,0.023,3162,2385,2076,0,0,0,0,0,0
$GC,11244,1.06,228.7,286.6,16.0,1131,11251,0.00,2.03,0.00,0.000,6,0.000,0.035,3170,1034,2075,0,0,0,0,0,0
$GC,11585,1.06,228.7,229.0,17.7,1192,11594,0.00,1.25,0.00,0.000,4,0.000,0.043,3177,194,2075,0,0,0,0,0,0
$GC,11621,1.06,228.7,223.3,17.3,1197,11627,0.00,1.17,0.00,0.000,6,0.000,0.023,3177,1057,2075,0,0,0,0,0,0
$GC,11961,1.06,228.7,168.9,16.0,1258,11969,0.00,1.30,0.00,0.000,4,0.000,0.043,3183,193,2076,0,0,0,0,0,0
$GC,12179,1.06,228.7,134.3,11.8,1297,12187,0.00,1.12,0.00,0.000,6,0.000,0.022,3183,1039,2076,0,0,0,0,0,0
$GC,12510,1.11,269.8,104.0,7.0,1358,12547,0.00,1.25,30.80,0.704,4,0.000,0.040,3189,192,1929,0,0,0,0,0,0
$GC,12787,1.11,269.8,72.2,12.1,1408,12795,0.00,1.05,0.00,0.000,6,0.000,0.022,3189,995,1926,0,0,0,0,0,0
$GC,13114,1.11,275.0,34.4,10.6,1469,13129,0.00,1.98,6.07,0.520,4,0.000,0.020,3188,2359,1906,0,0,0,0,0,0
$GC,13149,1.11,275.0,30.2,12.3,1474,13158,0.00,2.10,0.00,0.000,6,0.000,0.031,3198,971,1906,0,0,0,0,0,0
$STATE,13342,end climb,SURFACE_DEPTH_REACHED
$STATE,13342,begin surface coast
$FINISH,0.5,1.009537
$STATE,13361,end surface coast,CONTROL_FINISHED_OK
$STATE,13361,begin surface
$SM_CCo,13380,101.47,0.555,1,0,1398,400.08
$SM_GC,1.50,0.00,0.00,101.47,0.000,0.000,0.555,100,780,1398,-8.51,-0.28,400.08
$IRIDIUM_FIX,2113.32,12642.47,111110,141418
$TT8_MAMPS,0.028462
$HUMID,40.90
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,22.9,62.241
$10V_AH,10.1,58.121
$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,20.025,69.875,292.375,101.475,0.000,47.207,87.648,229.857,0.000,0.000,31.669,3745.995,5513.169,505.404,3849.330,499.176,0.000,1844.024,0.000,3500.861,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,55.080,1416.015,555.390,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.576,1346.214,1857.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,86770,1513
$CAP_FILE_SIZE,153561,0
$CFSIZE,260165632,143441920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041, 71.6,1
$GPS,111110,181736,2121.893,12601.360,42,1.2,42,-2.9