version: 66.08
glider: 167
mission: 6
dive: 335
start: 11 11 110 18 28 37
data:
$ID,167
$MISSION,6
$DIVE,335
$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,-54546.305
$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,44
$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
$GPS1,111110,181736,2121.893,12601.360,42,1.2,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.1
$GPS2,111110,182813,2121.778,12601.413,15,1.8,32,-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,235.9,494,-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,-65.18,0.000,2,0.000,0.000,99,781,3312,0,0,0,0,0,0
$GC,89,-0.87,-73.8,5.5,-11.4,9,106,9.60,1.98,-0.30,0.000,4,0.222,0.027,2523,2216,3333,0,0,0,0,0,0
$GC,321,-0.87,-73.8,65.3,-23.6,51,330,0.00,2.17,0.00,0.000,6,0.000,0.034,2523,789,3335,0,0,0,0,0,0
$GC,647,-0.87,-73.8,144.9,-18.9,112,655,0.00,0.88,0.00,0.000,4,0.000,0.041,2523,184,3337,0,0,0,0,0,0
$GC,898,-0.87,-73.8,193.8,-18.4,158,907,0.00,0.75,0.00,0.000,6,0.000,0.021,2518,845,3338,0,0,0,0,0,0
$GC,1234,-0.87,-73.8,246.7,-15.2,219,1241,0.00,0.95,0.00,0.000,4,0.000,0.039,2518,191,3338,0,0,0,0,0,0
$GC,1486,-0.87,-73.8,289.8,-16.4,265,1493,0.00,0.70,0.00,0.000,6,0.000,0.021,2513,807,3339,0,0,0,0,0,0
$GC,1818,-0.87,-73.8,337.9,-13.7,326,1826,0.00,0.90,0.00,0.000,4,0.000,0.040,2513,190,3339,0,0,0,0,0,0
$GC,2071,-0.87,-73.8,375.9,-14.4,372,2079,0.08,0.60,0.00,0.000,6,0.164,0.022,2533,723,3338,0,0,0,0,0,0
$GC,2406,-0.87,-73.8,417.1,-13.2,433,2413,0.00,0.77,0.00,0.000,4,0.000,0.042,2532,190,3337,0,0,0,0,0,0
$GC,2658,-0.87,-73.8,448.8,-12.1,479,2665,0.00,0.62,0.00,0.000,6,0.000,0.023,2531,740,3336,0,0,0,0,0,0
$GC,2994,-0.88,-82.1,485.3,-10.3,540,3001,0.00,0.80,0.00,0.000,4,0.000,0.042,2531,192,3334,0,0,0,0,0,0
$GC,3252,-0.88,-82.1,517.0,-12.4,574,3255,0.00,0.62,0.00,0.000,6,0.000,0.023,2530,722,3332,0,0,0,0,0,0
$GC,3583,-0.88,-82.1,556.7,-11.8,605,3586,0.00,2.00,0.00,0.000,4,0.000,0.017,2520,2133,3330,0,0,0,0,0,0
$GC,3644,-0.88,-85.1,563.5,-10.8,610,3650,0.00,2.12,0.00,0.000,6,0.000,0.034,2520,736,3330,0,0,0,0,0,0
$GC,3969,-0.88,-85.1,599.9,-11.3,641,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,736,3328,0,0,0,0,0,0
$GC,4289,-0.89,-89.2,634.5,-10.7,657,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,736,3325,0,0,0,0,0,0
$GC,4601,-0.89,-93.2,667.2,-10.7,672,4604,0.00,1.98,0.00,0.000,4,0.000,0.018,2520,2122,3323,0,0,0,0,0,0
$GC,4656,-0.90,-102.7,673.3,-10.2,674,4660,0.00,2.12,0.00,0.000,6,0.000,0.037,2520,727,3323,0,0,0,0,0,0
$GC,4978,-0.90,-103.8,707.7,-11.0,690,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,727,3321,0,0,0,0,0,0
$GC,5289,-0.91,-107.4,740.2,-10.8,705,5293,0.00,0.77,0.00,0.000,4,0.000,0.047,2519,199,3318,0,0,0,0,0,0
$GC,5476,-0.91,-110.6,760.9,-10.8,713,5479,0.00,0.62,0.00,0.000,6,0.000,0.025,2520,696,3317,0,0,0,0,0,0
$GC,5805,-0.94,-131.4,791.6,-9.0,729,5808,0.00,2.03,0.00,0.000,4,0.000,0.019,2520,2109,3314,0,0,0,0,0,0
$GC,5855,-0.97,-160.9,795.9,-8.1,731,5859,0.00,2.12,0.00,0.000,6,0.000,0.038,2520,731,3315,0,0,0,0,0,0
$GC,6177,-1.01,-188.2,822.4,-8.4,747,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,732,3313,0,0,0,0,0,0
$GC,6488,-1.03,-204.0,850.1,-9.5,762,6492,0.00,2.03,0.00,0.000,4,0.000,0.020,2519,2123,3311,0,0,0,0,0,0
$GC,6535,-1.06,-228.7,854.3,-8.2,764,6539,0.12,2.15,0.00,0.000,6,0.094,0.039,2467,733,3310,0,0,0,0,0,0
$GC,6865,-1.06,-228.7,893.1,-12.1,780,6869,0.00,0.80,0.00,0.000,4,0.000,0.048,2467,195,3307,0,0,0,0,0,0
$GC,7071,-1.06,-228.7,919.3,-11.4,789,7075,0.00,0.62,0.00,0.000,6,0.000,0.025,2465,671,3306,0,0,0,0,0,0
$GC,7399,-1.06,-228.7,956.8,-11.3,805,7403,0.00,0.73,0.00,0.000,4,0.000,0.049,2465,190,3305,0,0,0,0,0,0
$GC,7544,-1.06,-228.7,974.4,-12.3,811,7548,0.00,0.60,0.00,0.000,6,0.000,0.026,2462,657,3305,0,0,0,0,0,0
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7781,begin apogee
$GC,7789,-0.14,0.0,1001.4,10.9,823,7854,1.02,0.00,58.55,1.416,4,0.160,0.000,2764,953,3029,0,0,0,0,0,0
$STATE,7855,end apogee,CONTROL_FINISHED_OK
$STATE,7855,begin climb
$GC,7857,1.06,228.7,1003.3,0.0,826,8061,1.05,0.00,196.82,1.375,6,0.057,0.000,3164,953,2095,0,0,0,0,0,0
$GC,8379,1.06,228.7,898.7,24.2,851,8383,0.00,2.10,0.00,0.000,4,0.000,0.026,3165,2377,2085,0,0,0,0,0,0
$GC,8542,1.06,228.7,861.9,22.2,858,8546,0.00,2.08,0.00,0.000,6,0.000,0.035,3173,1024,2082,0,0,0,0,0,0
$GC,8858,1.06,228.7,786.4,23.9,873,8862,0.00,1.98,0.00,0.000,4,0.000,0.027,3173,2376,2082,0,0,0,0,0,0
$GC,8965,1.06,228.7,761.8,22.5,877,8972,0.00,2.05,0.00,0.000,6,0.000,0.035,3182,1033,2081,0,0,0,0,0,0
$GC,9281,1.06,228.7,686.6,23.7,893,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1032,2080,0,0,0,0,0,0
$GC,9593,1.06,228.7,613.5,23.0,908,9597,0.00,1.95,0.00,0.000,4,0.000,0.025,3183,2374,2079,0,0,0,0,0,0
$GC,9729,1.06,228.7,584.0,21.7,917,9733,0.00,2.03,0.00,0.000,6,0.000,0.036,3190,1040,2078,0,0,0,0,0,0
$GC,10064,1.06,228.7,512.8,22.2,948,10068,0.00,1.95,0.00,0.000,4,0.000,0.025,3190,2373,2078,0,0,0,0,0,0
$GC,10139,1.06,228.7,497.0,19.6,955,10148,0.15,2.03,0.00,0.000,6,0.203,0.035,3162,1037,2078,0,0,0,0,0,0
$GC,10471,1.06,228.7,433.8,19.2,1016,10480,0.00,1.98,0.00,0.000,4,0.000,0.025,3161,2370,2077,0,0,0,0,0,0
$GC,10543,1.06,228.7,419.4,17.9,1028,10551,0.00,2.03,0.00,0.000,6,0.000,0.036,3170,1055,2077,0,0,0,0,0,0
$GC,10877,1.06,228.7,357.0,18.4,1089,10884,0.00,1.92,0.00,0.000,4,0.000,0.024,3170,2382,2077,0,0,0,0,0,0
$GC,10948,1.06,228.7,344.7,16.0,1101,10955,0.00,2.03,0.00,0.000,6,0.000,0.035,3179,1049,2077,0,0,0,0,0,0
$GC,11281,1.06,228.7,285.1,18.5,1162,11289,0.00,1.30,0.00,0.000,4,0.000,0.044,3186,190,2076,0,0,0,0,0,0
$GC,11476,1.06,228.7,247.3,20.1,1197,11482,0.00,1.15,0.00,0.000,6,0.000,0.023,3185,1044,2076,0,0,0,0,0,0
$GC,11805,1.06,228.7,195.7,15.6,1258,11813,0.00,1.92,0.00,0.000,4,0.000,0.022,3186,2367,2076,0,0,0,0,0,0
$GC,11897,1.06,228.7,182.2,15.6,1274,11906,0.08,2.03,0.00,0.000,6,0.171,0.034,3171,1045,2076,0,0,0,0,0,0
$GC,12231,1.06,228.7,135.7,13.3,1335,12240,0.00,1.27,0.00,0.000,4,0.000,0.044,3176,191,2076,0,0,0,0,0,0
$GC,12478,1.11,273.1,106.7,6.6,1380,12517,0.00,1.12,33.72,0.711,6,0.000,0.022,3176,1040,1914,0,0,0,0,0,0
$GC,12839,1.12,279.7,71.5,10.4,1445,12854,0.00,1.95,6.70,0.563,4,0.000,0.021,3176,2372,1888,0,0,0,0,0,0
$GC,12970,1.12,279.7,57.0,12.0,1468,12978,0.00,2.03,0.00,0.000,6,0.000,0.033,3183,1044,1887,0,0,0,0,0,0
$GC,13300,1.12,279.7,14.8,12.8,1529,13307,0.00,1.27,0.00,0.000,4,0.000,0.042,3190,185,1887,0,0,0,0,0,0
$STATE,13386,end climb,SURFACE_DEPTH_REACHED
$STATE,13386,begin surface coast
$FINISH,0.6,1.022531
$STATE,13412,end surface coast,CONTROL_FINISHED_OK
$STATE,13412,begin surface
$SM_CCo,13430,105.07,0.558,1,0,1397,400.08
$SM_GC,1.50,0.00,0.00,105.07,0.000,0.000,0.558,104,834,1397,-8.50,1.24,400.08
$IRIDIUM_FIX,2113.32,12559.43,111110,181829
$TT8_MAMPS,0.028462
$HUMID,40.03
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.50
$XPDR_PINGS,1
$24V_AH,22.9,62.385
$10V_AH,10.2,58.295
$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,20.025,71.725,295.800,105.075,0.000,49.655,64.185,248.870,0.250,0.000,32.944,3819.481,5517.952,501.990,3829.964,493.912,0.000,1813.714,0.000,3484.548,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,48.960,1416.015,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.988,1384.329,1915.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90203,1549
$CAP_FILE_SIZE,151479,0
$CFSIZE,260165632,143351808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,110.0,1
$GPS,111110,221536,2120.267,12601.411,40,1.2,40,-2.9