version: 66.08
glider: 167
mission: 6
dive: 336
start: 11 11 110 22 27 8
data:
$ID,167
$MISSION,6
$DIVE,336
$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,-54547.562
$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,37
$R_STBD_OVSHOOT,134
$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
$GPS1,111110,221536,2120.267,12601.411,40,1.2,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.3
$GPS2,111110,222631,2120.078,12601.519,15,1.4,32,-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,327.0,2872,-22.0,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.76,-119.4,0.0,0.0,0,87,0.00,0.00,-65.30,0.000,2,0.000,0.000,104,834,3297,0,0,0,0,0,0
$GC,90,-0.76,-124.1,5.1,-10.8,9,115,9.68,1.92,-4.18,0.000,4,0.220,0.032,2558,2169,3539,0,0,0,0,0,0
$GC,181,-0.76,-124.1,34.9,-23.0,24,188,0.00,2.10,0.00,0.000,6,0.000,0.034,2558,790,3540,0,0,0,0,0,0
$GC,508,-0.76,-124.1,119.5,-21.3,85,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,791,3541,0,0,0,0,0,0
$GC,840,-0.76,-124.1,180.7,-16.8,146,849,0.00,0.88,0.00,0.000,4,0.000,0.041,2558,185,3542,0,0,0,0,0,0
$GC,1098,-0.76,-124.1,228.7,-17.8,192,1106,0.00,0.73,0.00,0.000,6,0.000,0.021,2554,823,3543,0,0,0,0,0,0
$GC,1440,-0.76,-124.1,280.7,-13.1,253,1446,0.00,0.93,0.00,0.000,4,0.000,0.041,2554,190,3544,0,0,0,0,0,0
$GC,1481,-0.76,-124.1,286.9,-14.4,260,1489,0.00,0.68,0.00,0.000,6,0.000,0.021,2549,794,3544,0,0,0,0,0,0
$GC,1823,-0.76,-124.1,332.2,-13.3,321,1829,0.00,0.88,0.00,0.000,4,0.000,0.041,2549,193,3543,0,0,0,0,0,0
$GC,2073,-0.76,-124.1,369.0,-13.5,366,2082,0.00,0.65,0.00,0.000,6,0.000,0.022,2547,771,3543,0,0,0,0,0,0
$GC,2419,-0.76,-124.1,413.0,-13.4,427,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,771,3543,0,0,0,0,0,0
$GC,2757,-0.76,-124.1,458.5,-12.0,488,2765,0.00,0.85,0.00,0.000,4,0.000,0.042,2547,192,3541,0,0,0,0,0,0
$GC,2878,-0.76,-124.1,473.8,-12.8,509,2885,0.00,0.65,0.00,0.000,6,0.000,0.023,2547,755,3540,0,0,0,0,0,0
$GC,3223,-0.78,-138.2,511.5,-10.2,561,3227,0.00,1.92,0.00,0.000,4,0.000,0.018,2547,2130,3538,0,0,0,0,0,0
$GC,3293,-0.82,-166.8,518.1,-9.3,567,3297,0.00,2.05,0.00,0.000,6,0.000,0.035,2547,764,3537,0,0,0,0,0,0
$GC,3624,-0.83,-176.2,552.7,-10.5,598,3627,0.00,1.92,0.00,0.000,4,0.000,0.018,2547,2130,3535,0,0,0,0,0,0
$GC,3659,-0.86,-200.9,556.2,-9.6,601,3663,0.00,2.03,0.00,0.000,6,0.000,0.035,2548,791,3535,0,0,0,0,0,0
$GC,3990,-0.86,-200.9,592.4,-11.4,632,3994,0.00,1.95,0.00,0.000,4,0.000,0.019,2547,2122,3532,0,0,0,0,0,0
$GC,4025,-0.87,-213.1,596.1,-10.4,635,4029,0.00,2.03,0.00,0.000,6,0.000,0.036,2547,785,3532,0,0,0,0,0,0
$GC,4360,-0.88,-220.0,632.5,-10.7,653,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,785,3529,0,0,0,0,0,0
$GC,4668,-0.89,-228.7,664.8,-10.3,668,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,785,3526,0,0,0,0,0,0
$GC,4978,-0.89,-228.7,696.9,-10.6,683,4981,0.00,1.90,0.00,0.000,4,0.000,0.019,2547,2124,3524,0,0,0,0,0,0
$GC,5014,-0.89,-228.7,700.5,-9.3,684,5018,0.00,2.03,0.00,0.000,6,0.000,0.037,2547,799,3524,0,0,0,0,0,0
$GC,5336,-0.89,-228.7,734.4,-10.5,700,5339,0.00,0.90,0.00,0.000,4,0.000,0.047,2547,193,3522,0,0,0,0,0,0
$GC,5393,-0.89,-228.7,740.6,-11.1,702,5396,0.00,0.73,0.00,0.000,6,0.000,0.024,2547,760,3521,0,0,0,0,0,0
$GC,5715,-0.89,-228.7,772.3,-9.5,718,5719,0.00,2.03,0.00,0.000,4,0.000,0.020,2547,2170,3519,0,0,0,0,0,0
$GC,5776,-0.89,-228.7,777.8,-8.8,720,5782,0.00,2.10,0.00,0.000,6,0.000,0.038,2547,801,3518,0,0,0,0,0,0
$GC,6094,-0.89,-228.7,807.7,-9.9,736,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,801,3516,0,0,0,0,0,0
$GC,6402,-0.89,-228.7,838.4,-10.0,751,6406,0.00,1.98,0.00,0.000,4,0.000,0.021,2547,2162,3513,0,0,0,0,0,0
$GC,6448,-0.89,-228.7,843.0,-9.2,753,6452,0.00,2.08,0.00,0.000,6,0.000,0.039,2547,814,3514,0,0,0,0,0,0
$GC,6778,-0.89,-228.7,875.6,-9.8,769,6781,0.00,0.93,0.00,0.000,4,0.000,0.048,2547,197,3512,0,0,0,0,0,0
$GC,6825,-0.89,-228.7,880.4,-10.4,771,6828,0.00,0.80,0.00,0.000,6,0.000,0.024,2547,806,3512,0,0,0,0,0,0
$GC,7160,-0.89,-228.7,910.1,-8.7,787,7164,0.00,0.93,0.00,0.000,4,0.000,0.048,2547,197,3510,0,0,0,0,0,0
$GC,7283,-0.89,-228.7,921.5,-9.0,792,7287,0.00,0.80,0.00,0.000,6,0.000,0.024,2547,801,3509,0,0,0,0,0,0
$GC,7607,-0.89,-228.7,948.2,-8.5,808,7611,0.00,1.95,0.00,0.000,4,0.000,0.021,2547,2167,3508,0,0,0,0,0,0
$GC,7662,-0.89,-228.7,952.8,-7.6,810,7666,0.00,2.08,0.00,0.000,6,0.000,0.039,2547,814,3508,0,0,0,0,0,0
$GC,7984,-0.89,-228.7,980.2,-8.7,826,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,814,3507,0,0,0,0,0,0
$STATE,8208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8208,begin apogee
$GC,8216,-0.14,0.0,1000.7,9.2,837,8324,0.70,0.00,100.00,1.419,4,0.129,0.000,2772,996,3029,0,0,0,0,0,0
$STATE,8325,end apogee,CONTROL_FINISHED_OK
$STATE,8325,begin climb
$GC,8327,0.89,228.7,1004.0,0.0,842,8533,0.93,2.12,197.70,1.366,4,0.050,0.021,3115,2390,2096,0,0,0,0,0,0
$GC,8664,0.89,228.7,957.9,20.0,857,8668,0.00,2.20,0.00,0.000,6,0.000,0.037,3125,996,2088,0,0,0,0,0,0
$GC,8980,0.89,228.7,891.2,20.8,872,8984,0.00,1.23,0.00,0.000,4,0.000,0.047,3131,197,2085,0,0,0,0,0,0
$GC,9186,0.89,228.7,842.1,23.5,881,9190,0.00,1.15,0.00,0.000,6,0.000,0.026,3131,1015,2083,0,0,0,0,0,0
$GC,9514,0.89,228.7,766.1,23.4,897,9518,0.00,2.03,0.00,0.000,4,0.000,0.027,3131,2391,2081,0,0,0,0,0,0
$GC,9644,0.89,228.7,737.5,21.9,902,9652,0.12,2.10,0.00,0.000,6,0.194,0.037,3109,1026,2080,0,0,0,0,0,0
$GC,9960,0.89,228.7,672.8,20.0,918,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1026,2080,0,0,0,0,0,0
$GC,10269,0.89,228.7,614.6,18.2,933,10273,0.00,2.00,0.00,0.000,4,0.000,0.026,3110,2397,2079,0,0,0,0,0,0
$GC,10354,0.89,228.7,600.1,16.7,936,10361,0.00,2.10,0.00,0.000,6,0.000,0.037,3119,1026,2078,0,0,0,0,0,0
$GC,10680,0.89,228.7,540.9,19.0,967,10684,0.00,2.00,0.00,0.000,4,0.000,0.026,3118,2391,2079,0,0,0,0,0,0
$GC,10783,0.89,228.7,523.2,18.0,976,10787,0.00,2.08,0.00,0.000,6,0.000,0.037,3127,1032,2078,0,0,0,0,0,0
$GC,11117,0.89,228.7,465.5,17.4,1024,11125,0.00,2.00,0.00,0.000,4,0.000,0.025,3127,2379,2079,0,0,0,0,0,0
$GC,11165,0.89,228.7,456.6,17.0,1032,11173,0.00,2.08,0.00,0.000,6,0.000,0.037,3134,1041,2078,0,0,0,0,0,0
$GC,11509,0.89,228.7,395.0,16.9,1093,11515,0.00,1.30,0.00,0.000,4,0.000,0.046,3141,187,2078,0,0,0,0,0,0
$GC,11572,0.89,228.7,382.8,19.3,1104,11580,0.08,1.20,0.00,0.000,6,0.171,0.024,3117,1045,2078,0,0,0,0,0,0
$GC,11916,0.89,228.7,328.3,13.7,1165,11923,0.00,1.95,0.00,0.000,4,0.000,0.024,3117,2394,2077,0,0,0,0,0,0
$GC,11937,0.89,228.7,325.1,13.9,1168,11945,0.00,2.08,0.00,0.000,6,0.000,0.036,3125,1046,2077,0,0,0,0,0,0
$GC,12280,0.89,228.7,276.3,15.5,1229,12287,0.00,1.30,0.00,0.000,4,0.000,0.045,3131,192,2077,0,0,0,0,0,0
$GC,12539,0.89,228.7,234.3,14.7,1275,12546,0.00,1.17,0.00,0.000,6,0.000,0.024,3131,1063,2076,0,0,0,0,0,0
$GC,12879,0.89,228.7,186.1,12.4,1336,12887,0.00,1.92,0.00,0.000,4,0.000,0.022,3131,2391,2077,0,0,0,0,0,0
$GC,12994,0.89,228.7,170.6,14.5,1355,13001,0.12,2.05,0.00,0.000,6,0.182,0.034,3108,1036,2077,0,0,0,0,0,0
$GC,13329,0.92,253.7,132.8,9.6,1416,13353,0.00,1.30,19.00,0.718,4,0.000,0.044,3114,194,1994,0,0,0,0,0,0
$GC,13596,0.92,253.7,103.3,11.8,1464,13604,0.00,1.17,0.00,0.000,6,0.000,0.022,3114,1071,1992,0,0,0,0,0,0
$GC,13922,0.99,309.9,75.7,7.6,1525,13973,0.00,1.33,45.60,0.675,4,0.000,0.040,3120,187,1765,0,0,0,0,0,0
$GC,14041,0.99,309.9,63.4,11.9,1544,14049,0.00,1.17,0.00,0.000,6,0.000,0.021,3120,1073,1762,0,0,0,0,0,0
$GC,14366,0.99,310.6,29.7,11.1,1605,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1074,1760,0,0,0,0,0,0
$STATE,14630,end climb,SURFACE_DEPTH_REACHED
$STATE,14630,begin surface coast
$FINISH,0.6,1.018560
$STATE,14663,end surface coast,CONTROL_FINISHED_OK
$STATE,14663,begin surface
$SM_CCo,14683,81.68,0.535,1,0,1398,400.08
$SM_GC,1.39,0.00,0.00,81.68,0.000,0.000,0.535,124,777,1398,-8.42,-0.34,400.08
$IRIDIUM_FIX,2106.38,12849.70,111110,222243
$TT8_MAMPS,0.028462
$HUMID,40.78
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.70
$XPDR_PINGS,1
$24V_AH,22.8,62.545
$10V_AH,10.1,58.480
$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,19.250,84.975,362.300,81.675,0.000,55.060,80.081,243.081,0.250,0.000,33.089,4093.333,6204.460,541.046,4057.935,524.226,0.000,1954.766,0.000,3701.677,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,48.195,1419.075,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.319,1475.293,2050.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96759,1660
$CAP_FILE_SIZE,165296,0
$CFSIZE,260165632,143241216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,154.6,1
$GPS,121110,023437,2120.514,12600.790,40,1.1,41,-2.9