version: 66.08
glider: 167
mission: 6
dive: 271
start: 10 30 110 20 40 23
data:
$ID,167
$MISSION,6
$DIVE,271
$N_DIVES,282
$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,-54464.188
$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,38
$R_STBD_OVSHOOT,82
$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
$GPS1,301010,202924,2121.842,12601.470,27,1.4,45,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.9
$GPS2,301010,203946,2121.737,12601.552,13,2.7,32,-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,341.9,5301,-18.2,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-174.4,0.0,0.0,0,87,0.00,0.00,-66.95,0.000,2,0.000,0.000,113,782,3396,0,0,0,0,0,0
$GC,90,-0.72,-174.4,6.0,-12.2,9,114,9.68,2.00,-5.45,0.000,4,0.222,0.028,2572,2229,3746,0,0,0,0,0,0
$GC,184,-0.72,-174.4,41.3,-23.7,25,192,0.00,2.20,0.00,0.000,6,0.000,0.035,2571,793,3747,0,0,0,0,0,0
$GC,511,-0.72,-174.4,132.0,-23.0,86,519,0.00,0.88,0.00,0.000,4,0.000,0.042,2571,187,3748,0,0,0,0,0,0
$GC,763,-0.72,-174.4,190.6,-20.0,132,771,0.00,0.77,0.00,0.000,6,0.000,0.020,2566,872,3749,0,0,0,0,0,0
$GC,1098,-0.72,-174.4,246.8,-18.2,193,1104,0.00,1.00,0.00,0.000,4,0.000,0.040,2566,189,3751,0,0,0,0,0,0
$GC,1134,-0.72,-174.4,253.9,-18.5,199,1141,0.00,0.77,0.00,0.000,6,0.000,0.020,2562,880,3751,0,0,0,0,0,0
$GC,1468,-0.72,-174.4,307.5,-15.0,260,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,881,3751,0,0,0,0,0,0
$GC,1805,-0.72,-174.4,358.3,-14.7,321,1811,0.00,1.02,0.00,0.000,4,0.000,0.041,2562,184,3750,0,0,0,0,0,0
$GC,2014,-0.72,-174.4,390.4,-15.4,359,2021,0.00,0.77,0.00,0.000,6,0.000,0.021,2561,874,3749,0,0,0,0,0,0
$GC,2345,-0.72,-174.4,435.0,-13.3,420,2353,0.00,1.02,0.00,0.000,4,0.000,0.041,2561,180,3747,0,0,0,0,0,0
$GC,2597,-0.72,-174.4,470.7,-14.7,466,2605,0.00,0.75,0.00,0.000,6,0.000,0.021,2560,830,3746,0,0,0,0,0,0
$GC,2931,-0.72,-174.4,515.2,-12.6,517,2935,0.00,0.95,0.00,0.000,4,0.000,0.042,2561,190,3743,0,0,0,0,0,0
$GC,2971,-0.72,-174.4,520.6,-13.4,520,2978,0.00,0.62,0.00,0.000,6,0.000,0.023,2560,735,3743,0,0,0,0,0,0
$GC,3298,-0.72,-174.4,560.7,-12.3,551,3302,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2114,3740,0,0,0,0,0,0
$GC,3382,-0.73,-185.0,569.9,-10.7,558,3389,0.00,2.03,0.00,0.000,6,0.000,0.034,2560,758,3739,0,0,0,0,0,0
$GC,3710,-0.74,-191.7,605.1,-10.8,587,3713,0.00,1.90,0.00,0.000,4,0.000,0.018,2560,2113,3737,0,0,0,0,0,0
$GC,3812,-0.79,-228.7,614.8,-8.6,591,3816,0.00,2.03,0.00,0.000,6,0.000,0.036,2560,778,3735,0,0,0,0,0,0
$GC,4134,-0.79,-228.7,649.1,-11.2,607,4137,0.00,0.85,0.00,0.000,4,0.000,0.045,2561,197,3733,0,0,0,0,0,0
$GC,4256,-0.79,-228.7,664.8,-13.2,612,4260,0.00,0.68,0.00,0.000,6,0.000,0.023,2561,750,3732,0,0,0,0,0,0
$GC,4579,-0.79,-228.7,704.8,-12.7,628,4582,0.00,1.98,0.00,0.000,4,0.000,0.018,2560,2135,3729,0,0,0,0,0,0
$GC,4618,-0.79,-228.7,709.2,-10.7,629,4624,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,785,3728,0,0,0,0,0,0
$GC,4936,-0.79,-228.7,743.7,-10.2,645,4940,0.00,0.88,0.00,0.000,4,0.000,0.047,2561,194,3726,0,0,0,0,0,0
$GC,5005,-0.79,-228.7,750.9,-10.6,648,5009,0.00,0.73,0.00,0.000,6,0.000,0.023,2561,773,3726,0,0,0,0,0,0
$GC,5339,-0.79,-228.7,782.7,-9.4,664,5343,0.00,1.95,0.00,0.000,4,0.000,0.019,2561,2146,3723,0,0,0,0,0,0
$GC,5391,-0.79,-228.7,787.4,-8.6,666,5395,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,778,3723,0,0,0,0,0,0
$GC,5718,-0.79,-228.7,819.7,-10.4,682,5722,0.00,0.88,0.00,0.000,4,0.000,0.047,2561,189,3719,0,0,0,0,0,0
$GC,5779,-0.79,-228.7,826.7,-12.0,684,5786,0.00,0.75,0.00,0.000,6,0.000,0.024,2560,781,3718,0,0,0,0,0,0
$GC,6098,-0.79,-228.7,859.7,-10.4,700,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,781,3717,0,0,0,0,0,0
$GC,6405,-0.79,-228.7,890.4,-9.7,715,6409,0.00,1.95,0.00,0.000,4,0.000,0.020,2560,2152,3714,0,0,0,0,0,0
$GC,6462,-0.79,-228.7,895.4,-8.0,717,6466,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,771,3714,0,0,0,0,0,0
$GC,6783,-0.79,-228.7,924.6,-9.0,733,6787,0.00,0.88,0.00,0.000,4,0.000,0.049,2560,186,3713,0,0,0,0,0,0
$GC,6822,-0.79,-228.7,928.6,-10.4,734,6829,0.00,0.77,0.00,0.000,6,0.000,0.024,2560,784,3712,0,0,0,0,0,0
$GC,7141,-0.79,-228.7,957.6,-9.3,750,7144,0.00,1.98,0.00,0.000,4,0.000,0.020,2560,2166,3710,0,0,0,0,0,0
$GC,7174,-0.79,-228.7,960.8,-8.6,751,7178,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,778,3710,0,0,0,0,0,0
$GC,7492,-0.79,-228.7,990.5,-9.7,766,7495,0.00,0.88,0.00,0.000,4,0.000,0.049,2560,194,3708,0,0,0,0,0,0
$STATE,7584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7584,begin apogee
$GC,7591,-0.14,0.0,1000.2,10.0,770,7736,0.65,0.00,138.00,1.407,4,0.122,0.000,2772,1019,3028,0,0,0,0,0,0
$STATE,7737,end apogee,CONTROL_FINISHED_OK
$STATE,7737,begin climb
$GC,7739,0.79,228.7,1005.5,0.0,777,7943,0.85,2.12,194.45,1.349,4,0.047,0.021,3091,2409,2096,0,0,0,0,0,0
$GC,8065,0.79,228.7,962.4,18.9,792,8069,0.00,2.25,0.00,0.000,6,0.000,0.036,3099,991,2088,0,0,0,0,0,0
$GC,8395,0.79,228.7,892.7,21.0,808,8399,0.00,1.23,0.00,0.000,4,0.000,0.046,3105,193,2086,0,0,0,0,0,0
$GC,8614,0.79,228.7,842.3,23.2,817,8621,0.00,1.15,0.00,0.000,6,0.000,0.026,3105,1012,2084,0,0,0,0,0,0
$GC,8932,0.79,228.7,777.4,20.3,833,8935,0.00,2.00,0.00,0.000,4,0.000,0.025,3105,2385,2083,0,0,0,0,0,0
$GC,9009,0.79,228.7,761.2,20.2,836,9014,0.15,2.08,0.00,0.000,6,0.179,0.035,3076,1014,2082,0,0,0,0,0,0
$GC,9331,0.79,228.7,702.6,18.6,852,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1014,2081,0,0,0,0,0,0
$GC,9642,0.79,228.7,650.7,16.1,867,9646,0.00,2.03,0.00,0.000,4,0.000,0.024,3075,2390,2080,0,0,0,0,0,0
$GC,9697,0.79,228.7,641.6,15.9,869,9702,0.00,2.12,0.00,0.000,6,0.000,0.037,3083,1019,2080,0,0,0,0,0,0
$GC,10023,0.79,228.7,588.0,16.9,888,10027,0.00,2.00,0.00,0.000,4,0.000,0.025,3084,2385,2080,0,0,0,0,0,0
$GC,10115,0.79,228.7,572.7,16.9,896,10119,0.00,2.05,0.00,0.000,6,0.000,0.036,3092,1030,2079,0,0,0,0,0,0
$GC,10440,0.79,228.7,515.6,16.4,926,10444,0.00,2.00,0.00,0.000,4,0.000,0.024,3092,2395,2079,0,0,0,0,0,0
$GC,10509,0.79,228.7,505.0,15.1,932,10513,0.00,2.08,0.00,0.000,6,0.000,0.036,3101,1026,2079,0,0,0,0,0,0
$GC,10839,0.79,228.7,452.0,16.2,990,10847,0.00,2.00,0.00,0.000,4,0.000,0.023,3101,2383,2078,0,0,0,0,0,0
$GC,10887,0.79,228.7,444.2,15.1,998,10895,0.10,2.08,0.00,0.000,6,0.156,0.037,3078,1042,2079,0,0,0,0,0,0
$GC,11224,0.79,228.7,396.6,15.5,1059,11231,0.00,1.30,0.00,0.000,4,0.000,0.046,3083,189,2078,0,0,0,0,0,0
$GC,11384,0.79,228.7,371.3,15.5,1088,11392,0.00,1.15,0.00,0.000,6,0.000,0.024,3083,1035,2077,0,0,0,0,0,0
$GC,11719,0.79,228.7,324.2,14.0,1149,11726,0.00,1.30,0.00,0.000,4,0.000,0.044,3088,189,2078,0,0,0,0,0,0
$GC,11778,0.79,228.7,315.5,14.8,1159,11786,0.00,1.10,0.00,0.000,6,0.000,0.024,3088,1006,2078,0,0,0,0,0,0
$GC,12113,0.79,228.7,271.3,13.3,1220,12121,0.00,1.25,0.00,0.000,4,0.000,0.044,3094,186,2078,0,0,0,0,0,0
$GC,12162,0.79,228.7,264.7,14.0,1228,12170,0.00,1.08,0.00,0.000,6,0.000,0.023,3094,992,2079,0,0,0,0,0,0
$GC,12498,0.79,228.7,222.7,12.8,1289,12504,0.00,1.98,0.00,0.000,4,0.000,0.021,3094,2372,2078,0,0,0,0,0,0
$GC,12686,0.79,228.7,199.0,13.3,1323,12693,0.00,2.10,0.00,0.000,6,0.000,0.034,3103,984,2079,0,0,0,0,0,0
$GC,13019,0.86,290.0,163.9,8.5,1384,13074,0.00,1.17,46.88,0.749,4,0.000,0.042,3107,187,1847,0,0,0,0,0,0
$GC,13315,0.86,290.0,127.6,11.5,1437,13323,0.00,1.05,0.00,0.000,6,0.000,0.020,3107,1015,1843,0,0,0,0,0,0
$GC,13644,0.94,356.3,94.6,8.3,1498,13703,0.00,1.23,52.75,0.675,4,0.000,0.040,3113,194,1574,0,0,0,0,0,0
$GC,13836,1.02,415.0,76.9,8.6,1530,13890,0.08,1.00,47.10,0.648,6,0.064,0.019,3161,982,1336,0,0,0,0,0,0
$GC,14209,1.02,415.0,17.2,16.0,1597,14217,0.00,1.95,0.00,0.000,4,0.000,0.018,3161,2338,1331,0,0,0,0,0,0
$GC,14252,1.02,415.0,10.9,13.5,1604,14260,0.00,2.05,0.00,0.000,6,0.000,0.032,3169,996,1332,0,0,0,0,0,0
$STATE,14303,end climb,SURFACE_DEPTH_REACHED
$STATE,14303,begin surface coast
$FINISH,0.6,1.011341
$STATE,14320,end surface coast,CONTROL_FINISHED_OK
$STATE,14320,begin surface
$SM_CCo,14400,0.00,0.000,0,0,1328,417.26
$SM_GC,1.47,7.80,0.00,0.00,0.034,0.000,0.000,116,772,1328,-8.38,-0.51,417.26
$IRIDIUM_FIX,2113.32,12559.43,301010,202038
$TT8_MAMPS,0.028462
$HUMID,39.60
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.10
$XPDR_PINGS,0
$24V_AH,23.0,50.695
$10V_AH,10.2,46.473
$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,19.300,92.500,479.175,0.000,0.000,59.402,65.903,212.683,0.000,0.000,34.282,3964.245,6050.936,547.924,3959.646,490.444,0.000,1993.262,0.000,3612.052,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,52.020,1406.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.633,1433.037,1900.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333764
$DATA_FILE_SIZE,93606,1616
$CAP_FILE_SIZE,166881,0
$CFSIZE,260165632,149401600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175, 95.1,1
$GPS,311010,004137,2123.308,12602.185,38,1.0,39,-2.9