version: 66.08
glider: 167
mission: 6
dive: 261
start: 10 29 110 0 1 38
data:
$ID,167
$MISSION,6
$DIVE,261
$N_DIVES,270
$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,-54451.605
$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,99
$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
$GPS1,281010,235030,2120.892,12602.163,41,1.1,41,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.3
$GPS2,291010,000116,2120.734,12602.271,12,99.0,31,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$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,321.3,7358,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.72,-228.7,0.0,0.0,0,88,0.00,0.00,-65.62,0.000,2,0.000,0.000,106,791,3380,0,0,0,0,0,0
$GC,91,-0.72,-228.7,6.3,-13.8,9,116,9.48,1.98,-8.95,0.000,4,0.214,0.028,2568,2206,3962,0,0,0,0,0,0
$GC,150,-0.72,-228.7,34.7,-33.6,18,159,0.00,2.17,0.00,0.000,6,0.000,0.032,2568,783,3964,0,0,0,0,0,0
$GC,475,-0.72,-228.7,136.3,-30.2,79,483,0.00,0.85,0.00,0.000,4,0.000,0.040,2569,191,3965,0,0,0,0,0,0
$GC,736,-0.72,-228.7,202.3,-21.6,125,743,0.00,0.75,0.00,0.000,6,0.000,0.020,2564,868,3966,0,0,0,0,0,0
$GC,1076,-0.72,-228.7,266.6,-18.1,186,1085,0.00,1.00,0.00,0.000,4,0.000,0.039,2564,186,3966,0,0,0,0,0,0
$GC,1243,-0.72,-228.7,296.1,-16.9,215,1250,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,876,3967,0,0,0,0,0,0
$GC,1584,-0.72,-228.7,351.4,-15.6,276,1591,0.00,1.00,0.00,0.000,4,0.000,0.040,2561,192,3966,0,0,0,0,0,0
$GC,1654,-0.72,-228.7,362.1,-16.4,287,1660,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,860,3966,0,0,0,0,0,0
$GC,1994,-0.72,-228.7,414.2,-14.0,348,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,860,3966,0,0,0,0,0,0
$GC,2337,-0.72,-228.7,459.5,-12.8,409,2344,0.00,1.83,0.00,0.000,4,0.000,0.017,2560,2181,3964,0,0,0,0,0,0
$GC,2423,-0.72,-228.7,469.8,-10.8,424,2431,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,759,3963,0,0,0,0,0,0
$GC,2760,-0.72,-228.7,517.3,-14.5,474,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,759,3961,0,0,0,0,0,0
$GC,3081,-0.72,-228.7,560.5,-12.6,504,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,759,3959,0,0,0,0,0,0
$GC,3400,-0.72,-228.7,598.3,-11.3,534,3404,0.00,2.03,0.00,0.000,4,0.000,0.017,2560,2187,3956,0,0,0,0,0,0
$GC,3456,-0.72,-228.7,604.2,-9.1,537,3459,0.00,2.15,0.00,0.000,6,0.000,0.034,2560,762,3956,0,0,0,0,0,0
$GC,3773,-0.72,-228.7,638.8,-11.3,552,3777,0.00,2.03,0.00,0.000,4,0.000,0.018,2560,2171,3953,0,0,0,0,0,0
$GC,3806,-0.72,-228.7,642.5,-9.7,553,3810,0.00,2.15,0.00,0.000,6,0.000,0.035,2560,764,3953,0,0,0,0,0,0
$GC,4125,-0.72,-228.7,678.6,-12.0,568,4128,0.00,2.00,0.00,0.000,4,0.000,0.018,2560,2168,3950,0,0,0,0,0,0
$GC,4176,-0.72,-228.7,684.4,-9.8,570,4180,0.00,2.10,0.00,0.000,6,0.000,0.036,2560,782,3949,0,0,0,0,0,0
$GC,4498,-0.72,-228.7,720.9,-11.0,586,4503,0.10,2.00,0.00,0.000,4,0.161,0.018,2586,2174,3947,0,0,0,0,0,0
$GC,4572,-0.72,-228.7,727.1,-8.1,589,4576,0.00,2.12,0.00,0.000,6,0.000,0.037,2586,778,3946,0,0,0,0,0,0
$GC,4894,-0.72,-228.7,753.0,-8.1,605,4898,0.00,2.03,0.00,0.000,4,0.000,0.018,2587,2201,3943,0,0,0,0,0,0
$GC,4954,-0.72,-228.7,757.6,-7.1,607,4961,0.00,2.15,0.00,0.000,6,0.000,0.037,2587,793,3943,0,0,0,0,0,0
$GC,5273,-0.72,-228.7,783.5,-8.7,623,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,794,3940,0,0,0,0,0,0
$GC,5580,-0.72,-228.7,810.1,-8.6,638,5583,0.00,1.95,0.00,0.000,4,0.000,0.018,2587,2161,3938,0,0,0,0,0,0
$GC,5665,-0.72,-228.7,816.9,-8.9,641,5672,0.00,2.12,0.00,0.000,6,0.000,0.037,2586,788,3938,0,0,0,0,0,0
$GC,5982,-0.72,-228.7,843.5,-8.3,657,5986,0.00,1.98,0.00,0.000,4,0.000,0.018,2587,2172,3935,0,0,0,0,0,0
$GC,6032,-0.72,-228.7,847.8,-8.3,659,6036,0.00,2.12,0.00,0.000,6,0.000,0.037,2587,797,3935,0,0,0,0,0,0
$GC,6356,-0.72,-228.7,873.5,-8.4,675,6360,0.00,2.00,0.00,0.000,4,0.000,0.018,2587,2171,3933,0,0,0,0,0,0
$GC,6417,-0.72,-228.7,878.3,-7.6,677,6424,0.00,2.10,0.00,0.000,6,0.000,0.038,2587,805,3932,0,0,0,0,0,0
$GC,6735,-0.72,-228.7,904.3,-8.4,693,6739,0.00,1.95,0.00,0.000,4,0.000,0.018,2587,2174,3929,0,0,0,0,0,0
$GC,6791,-0.72,-228.7,909.1,-7.6,695,6795,0.00,2.10,0.00,0.000,6,0.000,0.039,2587,809,3930,0,0,0,0,0,0
$GC,7113,-0.72,-228.7,936.4,-8.5,711,7117,0.00,1.98,0.00,0.000,4,0.000,0.019,2587,2177,3928,0,0,0,0,0,0
$GC,7171,-0.72,-228.7,940.9,-7.5,713,7175,0.00,2.10,0.00,0.000,6,0.000,0.039,2587,820,3928,0,0,0,0,0,0
$GC,7487,-0.72,-228.7,965.9,-7.8,728,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,819,3926,0,0,0,0,0,0
$GC,7797,-0.72,-228.7,988.5,-7.0,743,7801,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2170,3924,0,0,0,0,0,0
$GC,7881,-0.72,-228.7,994.2,-6.4,746,7889,0.00,2.08,0.00,0.000,6,0.000,0.040,2587,828,3924,0,0,0,0,0,0
$STATE,7968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7968,begin apogee
$GC,7975,-0.14,0.0,1000.1,6.8,751,8167,0.52,0.00,181.90,1.413,4,0.106,0.000,2768,1000,3027,0,0,0,0,0,0
$STATE,8168,end apogee,CONTROL_FINISHED_OK
$STATE,8168,begin climb
$GC,8170,0.72,228.7,1007.8,0.0,760,8375,0.80,2.15,196.55,1.350,4,0.048,0.020,3059,2386,2094,0,0,0,0,0,0
$GC,8567,0.72,228.7,956.7,16.7,778,8571,0.00,2.17,0.00,0.000,6,0.000,0.037,3068,1002,2087,0,0,0,0,0,0
$GC,8895,0.72,228.7,899.2,17.1,794,8898,0.00,1.25,0.00,0.000,4,0.000,0.047,3074,185,2085,0,0,0,0,0,0
$GC,9090,0.72,228.7,862.1,19.3,802,9097,0.00,1.12,0.00,0.000,6,0.000,0.022,3074,1013,2085,0,0,0,0,0,0
$GC,9407,0.72,228.7,806.2,17.4,818,9410,0.00,1.95,0.00,0.000,4,0.000,0.022,3074,2368,2083,0,0,0,0,0,0
$GC,9502,0.72,228.7,789.8,16.7,822,9506,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1005,2083,0,0,0,0,0,0
$GC,9826,0.72,228.7,727.9,19.9,838,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1005,2082,0,0,0,0,0,0
$GC,10133,0.72,228.7,669.0,18.6,853,10137,0.00,2.00,0.00,0.000,4,0.000,0.021,3083,2375,2082,0,0,0,0,0,0
$GC,10196,0.72,228.7,657.8,17.0,855,10204,0.12,2.08,0.00,0.000,6,0.187,0.036,3059,1022,2081,0,0,0,0,0,0
$GC,10512,0.72,228.7,609.9,15.2,871,10516,0.00,1.95,0.00,0.000,4,0.000,0.022,3059,2373,2081,0,0,0,0,0,0
$GC,10597,0.72,228.7,597.6,13.8,875,10605,0.00,2.05,0.00,0.000,6,0.000,0.037,3063,1034,2081,0,0,0,0,0,0
$GC,10922,0.72,228.7,545.0,16.2,906,10926,0.00,1.95,0.00,0.000,4,0.000,0.022,3062,2376,2080,0,0,0,0,0,0
$GC,11001,0.72,228.7,532.3,15.3,913,11005,0.00,2.03,0.00,0.000,6,0.000,0.037,3070,1052,2079,0,0,0,0,0,0
$GC,11329,0.72,228.7,481.2,15.5,954,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1051,2079,0,0,0,0,0,0
$GC,11664,0.72,228.7,433.0,15.0,1015,11671,0.00,1.92,0.00,0.000,4,0.000,0.021,3070,2381,2079,0,0,0,0,0,0
$GC,11724,0.72,228.7,424.6,12.8,1025,11731,0.00,2.03,0.00,0.000,6,0.000,0.036,3079,1055,2079,0,0,0,0,0,0
$GC,12055,0.72,228.7,373.6,16.3,1086,12063,0.00,1.92,0.00,0.000,4,0.000,0.022,3078,2367,2079,0,0,0,0,0,0
$GC,12113,0.72,228.7,364.5,14.9,1096,12122,0.08,2.00,0.00,0.000,6,0.152,0.036,3061,1070,2079,0,0,0,0,0,0
$GC,12451,0.72,228.7,317.4,13.1,1157,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1070,2079,0,0,0,0,0,0
$GC,12785,0.72,228.7,277.3,11.7,1218,12793,0.00,1.90,0.00,0.000,4,0.000,0.021,3062,2375,2079,0,0,0,0,0,0
$GC,12897,0.76,260.7,264.6,10.1,1238,12932,0.00,2.03,24.27,0.847,6,0.000,0.036,3066,1057,1965,0,0,0,0,0,0
$GC,13259,0.76,260.7,220.0,13.8,1303,13267,0.00,1.90,0.00,0.000,4,0.000,0.019,3067,2377,1962,0,0,0,0,0,0
$GC,13366,0.76,260.7,206.4,12.6,1322,13374,0.00,2.00,0.00,0.000,6,0.000,0.035,3074,1076,1963,0,0,0,0,0,0
$GC,13702,0.83,320.7,168.8,9.2,1383,13757,0.00,1.40,49.00,0.760,4,0.000,0.044,3081,190,1720,0,0,0,0,0,0
$GC,13915,0.83,320.7,145.4,12.2,1420,13923,0.00,1.23,0.00,0.000,6,0.000,0.020,3081,1120,1716,0,0,0,0,0,0
$GC,14245,0.90,378.1,113.1,9.2,1481,14297,0.00,1.48,45.65,0.699,4,0.000,0.043,3083,191,1486,0,0,0,0,0,0
$GC,14396,1.01,467.9,100.2,8.2,1506,14474,0.15,1.23,71.85,0.679,6,0.050,0.019,3163,1109,1121,0,0,0,0,0,0
$GC,14796,1.01,467.9,40.1,15.2,1576,14804,0.00,1.83,0.00,0.000,4,0.000,0.018,3163,2381,1116,0,0,0,0,0,0
$GC,14817,1.01,467.9,36.2,16.3,1579,14826,0.00,2.00,0.00,0.000,6,0.000,0.032,3170,1073,1115,0,0,0,0,0,0
$STATE,15010,end climb,SURFACE_DEPTH_REACHED
$STATE,15010,begin surface coast
$FINISH,0.7,1.021941
$STATE,15028,end surface coast,CONTROL_FINISHED_OK
$STATE,15028,begin surface
$SM_CCo,15107,0.00,0.000,0,0,1114,469.75
$SM_GC,1.49,7.85,0.00,0.00,0.037,0.000,0.000,117,783,1114,-8.36,-0.20,469.75
$IRIDIUM_FIX,2113.32,12559.43,281010,232338
$TT8_MAMPS,0.028462
$HUMID,39.99
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,28.20
$XPDR_PINGS,0
$24V_AH,23.0,48.816
$10V_AH,10.2,44.645
$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,19.100,106.575,569.225,0.000,0.000,59.839,67.320,237.833,0.000,0.000,33.729,3938.359,6711.255,615.425,3945.598,519.461,0.000,2089.446,0.000,3588.592,0.000,0.543,0.000
$DEVICE_MAMPS,214.200,51.255,1412.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.932,1414.717,1829.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333888
$DATA_FILE_SIZE,93459,1618
$CAP_FILE_SIZE,169712,0
$CFSIZE,260165632,150343680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,159.1,1
$GPS,291010,041437,2121.917,12600.809,35,1.0,35,-2.9