version: 66.08
glider: 167
mission: 6
dive: 267
start: 10 30 110 2 41 40
data:
$ID,167
$MISSION,6
$DIVE,267
$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,-54459.156
$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,81
$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
$GPS1,301010,023001,2122.349,12601.076,38,1.1,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.4
$GPS2,301010,024107,2122.262,12601.003,15,1.3,32,-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,355.1,4307,-18.4,-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,-0.72,-170.2,0.0,0.0,0,86,0.00,0.00,-64.53,0.000,2,0.000,0.000,108,883,3218,0,0,0,0,0,0
$GC,89,-0.72,-170.2,5.4,-11.7,9,114,9.38,1.92,-8.38,0.000,4,0.210,0.031,2572,2267,3727,0,0,0,0,0,0
$GC,127,-0.72,-170.2,23.4,-45.1,14,135,0.00,2.28,0.00,0.000,6,0.000,0.034,2572,782,3727,0,0,0,0,0,0
$GC,454,-0.72,-170.2,124.7,-26.4,75,463,0.00,0.85,0.00,0.000,4,0.000,0.042,2572,192,3728,0,0,0,0,0,0
$GC,655,-0.72,-170.2,173.5,-20.8,111,662,0.00,0.80,0.00,0.000,6,0.000,0.019,2567,904,3730,0,0,0,0,0,0
$GC,990,-0.72,-170.2,232.3,-18.6,172,998,0.00,1.05,0.00,0.000,4,0.000,0.040,2567,190,3731,0,0,0,0,0,0
$GC,1129,-0.72,-170.2,257.3,-17.3,197,1135,0.00,0.75,0.00,0.000,6,0.000,0.020,2563,865,3732,0,0,0,0,0,0
$GC,1461,-0.72,-170.2,310.8,-15.5,258,1469,0.00,1.00,0.00,0.000,4,0.000,0.040,2562,183,3731,0,0,0,0,0,0
$GC,1614,-0.72,-170.2,333.6,-15.7,285,1620,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,860,3731,0,0,0,0,0,0
$GC,1943,-0.72,-170.2,380.6,-14.0,346,1951,0.00,0.98,0.00,0.000,4,0.000,0.041,2561,193,3729,0,0,0,0,0,0
$GC,2152,-0.72,-170.2,411.1,-13.7,384,2160,0.00,0.70,0.00,0.000,6,0.000,0.021,2560,810,3727,0,0,0,0,0,0
$GC,2487,-0.72,-170.2,455.0,-13.0,445,2493,0.00,1.80,0.00,0.000,4,0.000,0.017,2560,2124,3726,0,0,0,0,0,0
$GC,2530,-0.74,-183.0,459.7,-10.6,452,2540,0.00,2.12,0.00,0.000,6,0.000,0.034,2560,726,3726,0,0,0,0,0,0
$GC,2864,-0.74,-183.0,501.8,-12.6,512,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,726,3723,0,0,0,0,0,0
$GC,3187,-0.74,-183.0,542.2,-12.0,542,3190,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2115,3720,0,0,0,0,0,0
$GC,3281,-0.76,-200.4,552.8,-10.4,550,3288,0.00,2.10,0.00,0.000,6,0.000,0.035,2560,730,3720,0,0,0,0,0,0
$GC,3607,-0.76,-200.4,589.8,-11.4,581,3611,0.00,0.77,0.00,0.000,4,0.000,0.045,2560,197,3718,0,0,0,0,0,0
$GC,3656,-0.76,-200.4,596.0,-12.3,585,3663,0.00,0.60,0.00,0.000,6,0.000,0.024,2560,702,3717,0,0,0,0,0,0
$GC,3986,-0.78,-215.4,631.1,-10.5,603,3989,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2103,3714,0,0,0,0,0,0
$GC,4064,-0.79,-228.7,638.1,-7.8,606,4067,0.00,2.05,0.00,0.000,6,0.000,0.036,2560,742,3713,0,0,0,0,0,0
$GC,4388,-0.79,-228.7,670.4,-10.5,622,4391,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2110,3711,0,0,0,0,0,0
$GC,4445,-0.79,-228.7,676.3,-9.3,624,4449,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,752,3710,0,0,0,0,0,0
$GC,4762,-0.79,-228.7,710.8,-11.0,639,4765,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2115,3708,0,0,0,0,0,0
$GC,4836,-0.79,-228.7,718.0,-8.9,642,4840,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,758,3707,0,0,0,0,0,0
$GC,5159,-0.79,-228.7,749.5,-9.2,658,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,758,3705,0,0,0,0,0,0
$GC,5468,-0.79,-228.7,777.5,-8.8,673,5472,0.00,0.85,0.00,0.000,4,0.000,0.048,2559,189,3702,0,0,0,0,0,0
$GC,5530,-0.79,-228.7,783.6,-9.7,675,5537,0.00,0.65,0.00,0.000,6,0.000,0.024,2560,708,3701,0,0,0,0,0,0
$GC,5846,-0.79,-228.7,811.2,-8.9,691,5850,0.00,1.98,0.00,0.000,4,0.000,0.019,2560,2100,3698,0,0,0,0,0,0
$GC,5909,-0.79,-228.7,816.4,-8.1,693,5916,0.00,2.08,0.00,0.000,6,0.000,0.038,2560,758,3698,0,0,0,0,0,0
$GC,6225,-0.79,-228.7,844.5,-9.0,709,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,757,3696,0,0,0,0,0,0
$GC,6536,-0.79,-228.7,871.5,-8.9,724,6540,0.00,1.92,0.00,0.000,4,0.000,0.019,2560,2111,3694,0,0,0,0,0,0
$GC,6586,-0.79,-228.7,876.0,-8.1,726,6590,0.00,2.05,0.00,0.000,6,0.000,0.038,2560,765,3693,0,0,0,0,0,0
$GC,6914,-0.79,-228.7,906.3,-9.5,742,6918,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2117,3691,0,0,0,0,0,0
$GC,6972,-0.79,-228.7,911.3,-8.3,744,6976,0.00,2.05,0.00,0.000,6,0.000,0.039,2560,775,3691,0,0,0,0,0,0
$GC,7288,-0.79,-228.7,941.5,-9.7,759,7291,0.00,0.88,0.00,0.000,4,0.000,0.050,2560,190,3689,0,0,0,0,0,0
$GC,7327,-0.79,-228.7,945.7,-10.5,760,7333,0.00,0.68,0.00,0.000,6,0.000,0.025,2560,716,3689,0,0,0,0,0,0
$GC,7645,-0.79,-228.7,975.5,-9.2,776,7649,0.00,2.00,0.00,0.000,4,0.000,0.019,2559,2101,3687,0,0,0,0,0,0
$GC,7746,-0.79,-228.7,983.9,-8.1,780,7750,0.00,2.08,0.00,0.000,6,0.000,0.040,2560,758,3686,0,0,0,0,0,0
$STATE,7941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7941,begin apogee
$GC,7949,-0.14,0.0,1000.5,8.5,790,8088,0.65,0.00,134.10,1.418,4,0.123,0.000,2772,944,3028,0,0,0,0,0,0
$STATE,8088,end apogee,CONTROL_FINISHED_OK
$STATE,8089,begin climb
$GC,8091,0.79,228.7,1004.6,0.0,796,8291,0.82,0.00,194.60,1.359,6,0.053,0.000,3082,943,2096,0,0,0,0,0,0
$GC,8604,0.79,228.7,921.2,19.4,820,8608,0.00,2.03,0.00,0.000,4,0.000,0.024,3082,2314,2085,0,0,0,0,0,0
$GC,8799,0.79,228.7,885.5,17.5,828,8806,0.00,2.03,0.00,0.000,6,0.000,0.037,3090,1021,2083,0,0,0,0,0,0
$GC,9118,0.79,228.7,826.2,18.3,844,9121,0.00,1.90,0.00,0.000,4,0.000,0.024,3090,2317,2082,0,0,0,0,0,0
$GC,9209,0.79,228.7,809.3,17.9,848,9213,0.00,1.95,0.00,0.000,6,0.000,0.037,3099,1031,2082,0,0,0,0,0,0
$GC,9542,0.79,228.7,747.3,18.8,864,9546,0.00,1.88,0.00,0.000,4,0.000,0.021,3099,2313,2081,0,0,0,0,0,0
$GC,9599,0.79,228.7,736.6,17.3,866,9603,0.00,1.95,0.00,0.000,6,0.000,0.037,3105,1025,2081,0,0,0,0,0,0
$GC,9921,0.79,228.7,672.4,19.9,882,9925,0.00,1.88,0.00,0.000,4,0.000,0.024,3104,2313,2080,0,0,0,0,0,0
$GC,10053,0.79,228.7,647.1,19.2,887,10061,0.12,1.90,0.00,0.000,6,0.190,0.036,3082,1053,2080,0,0,0,0,0,0
$GC,10371,0.79,228.7,587.5,18.2,906,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1053,2080,0,0,0,0,0,0
$GC,10694,0.79,228.7,530.3,17.3,936,10698,0.00,1.83,0.00,0.000,4,0.000,0.023,3082,2315,2079,0,0,0,0,0,0
$GC,10741,0.79,228.7,521.8,16.5,940,10744,0.00,1.88,0.00,0.000,6,0.000,0.037,3088,1072,2079,0,0,0,0,0,0
$GC,11071,0.79,228.7,469.4,15.9,988,11079,0.00,1.35,0.00,0.000,4,0.000,0.047,3095,190,2078,0,0,0,0,0,0
$GC,11097,0.79,228.7,465.0,16.3,992,11105,0.00,1.10,0.00,0.000,6,0.000,0.024,3096,992,2079,0,0,0,0,0,0
$GC,11432,0.79,228.7,412.9,14.1,1053,11439,0.00,2.03,0.00,0.000,4,0.000,0.022,3095,2394,2078,0,0,0,0,0,0
$GC,11606,0.79,228.7,388.4,14.0,1084,11614,0.00,2.03,0.00,0.000,6,0.000,0.036,3102,1082,2078,0,0,0,0,0,0
$GC,11939,0.79,228.7,336.8,16.0,1145,11945,0.00,1.35,0.00,0.000,4,0.000,0.045,3109,194,2077,0,0,0,0,0,0
$GC,12084,0.79,228.7,309.7,18.9,1171,12092,0.10,1.20,0.00,0.000,6,0.171,0.023,3079,1065,2077,0,0,0,0,0,0
$GC,12420,0.79,228.7,264.5,12.1,1232,12428,0.00,1.33,0.00,0.000,4,0.000,0.044,3085,198,2077,0,0,0,0,0,0
$GC,12469,0.79,228.7,258.0,12.9,1240,12477,0.00,1.17,0.00,0.000,6,0.000,0.022,3085,1078,2078,0,0,0,0,0,0
$GC,12804,0.80,235.4,216.4,10.8,1301,12812,0.00,1.40,4.03,0.556,4,0.000,0.044,3092,182,2069,0,0,0,0,0,0
$GC,12929,0.80,235.4,201.0,12.4,1323,12937,0.00,1.17,0.00,0.000,6,0.000,0.021,3091,1067,2069,0,0,0,0,0,0
$GC,13264,0.86,281.5,166.7,9.1,1384,13311,0.00,1.95,38.42,0.764,4,0.000,0.021,3091,2385,1880,0,0,0,0,0,0
$GC,13415,0.89,310.3,151.9,9.9,1409,13450,0.00,2.00,23.98,0.728,6,0.000,0.034,3099,1066,1763,0,0,0,0,0,0
$GC,13770,0.92,329.8,114.6,10.3,1474,13794,0.00,1.30,17.17,0.678,4,0.000,0.041,3102,186,1682,0,0,0,0,0,0
$GC,13945,0.94,351.8,97.5,10.1,1505,13969,0.00,1.15,18.02,0.659,6,0.000,0.019,3102,1084,1593,0,0,0,0,0,0
$GC,14292,1.02,416.0,66.7,8.3,1568,14353,0.15,1.38,51.45,0.648,4,0.079,0.039,3183,196,1333,0,0,0,0,0,0
$GC,14441,1.02,416.0,43.9,17.5,1592,14449,0.08,1.12,0.00,0.000,6,0.164,0.019,3159,1063,1330,0,0,0,0,0,0
$STATE,14731,end climb,SURFACE_DEPTH_REACHED
$STATE,14731,begin surface coast
$FINISH,0.6,1.021904
$STATE,14750,end surface coast,CONTROL_FINISHED_OK
$STATE,14750,begin surface
$SM_CCo,14828,0.00,0.000,0,0,1326,417.75
$SM_GC,1.23,7.72,0.00,0.00,0.031,0.000,0.000,117,781,1326,-8.35,-0.23,417.75
$IRIDIUM_FIX,2113.32,12602.66,301010,020203
$TT8_MAMPS,0.028462
$HUMID,39.44
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.30
$XPDR_PINGS,2
$24V_AH,23.0,49.937
$10V_AH,10.2,45.738
$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,19.025,94.325,481.775,0.000,0.000,51.524,90.567,243.387,0.500,0.000,33.243,4029.575,6355.463,549.136,4027.919,518.964,0.000,2001.540,0.000,3650.920,0.000,0.543,0.000
$DEVICE_MAMPS,209.610,49.725,1418.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.662,1460.423,1951.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333856
$DATA_FILE_SIZE,96891,1649
$CAP_FILE_SIZE,168460,0
$CFSIZE,260165632,149778432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,199.2,1
$GPS,301010,065006,2124.016,12600.449,40,0.9,40,-2.9