version: 66.08
glider: 167
mission: 6
dive: 218
start: 10 21 110 2 12 26
data:
$ID,167
$MISSION,6
$DIVE,218
$N_DIVES,230
$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,-54397.406
$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,93
$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
$GPS1,211010,020125,2215.313,12656.724,42,1.1,43,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.3
$GPS2,211010,021204,2215.307,12656.843,16,99.0,35,-3.1
$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,216.5,138217,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,100,0.00,0.00,-78.90,0.000,2,0.000,0.000,113,789,3173,0,0,0,0,0,0
$GC,103,-0.72,-228.7,5.3,-12.2,11,135,9.70,0.90,-12.98,0.000,4,0.226,0.079,2581,190,3964,0,0,0,0,0,0
$GC,317,-0.72,-228.7,81.8,-28.5,49,325,0.00,0.77,0.00,0.000,6,0.000,0.020,2578,887,3966,0,0,0,0,0,0
$GC,643,-0.72,-228.7,159.9,-21.5,110,651,0.00,1.02,0.00,0.000,4,0.000,0.041,2578,195,3967,0,0,0,0,0,0
$GC,856,-0.72,-228.7,205.7,-20.4,148,865,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,867,3968,0,0,0,0,0,0
$GC,1201,-0.72,-228.7,270.1,-18.0,209,1208,0.00,1.00,0.00,0.000,4,0.000,0.040,2573,185,3968,0,0,0,0,0,0
$GC,1306,-0.72,-228.7,290.2,-18.6,227,1313,0.00,0.75,0.00,0.000,6,0.000,0.021,2569,846,3968,0,0,0,0,0,0
$GC,1648,-0.72,-228.7,350.1,-16.8,288,1656,0.00,0.95,0.00,0.000,4,0.000,0.041,2569,196,3968,0,0,0,0,0,0
$GC,1751,-0.72,-228.7,368.6,-17.5,306,1759,0.00,0.73,0.00,0.000,6,0.000,0.021,2565,824,3967,0,0,0,0,0,0
$GC,2092,-0.72,-228.7,419.9,-14.8,367,2098,0.00,1.80,0.00,0.000,4,0.000,0.016,2561,2133,3966,0,0,0,0,0,0
$GC,2118,-0.72,-228.7,423.8,-13.8,371,2124,0.00,2.08,0.00,0.000,6,0.000,0.034,2561,738,3965,0,0,0,0,0,0
$GC,2456,-0.72,-228.7,471.5,-14.4,432,2465,0.00,0.80,0.00,0.000,4,0.000,0.043,2561,183,3964,0,0,0,0,0,0
$GC,2504,-0.72,-228.7,478.3,-14.3,440,2513,0.00,0.62,0.00,0.000,6,0.000,0.023,2561,736,3963,0,0,0,0,0,0
$GC,2840,-0.72,-228.7,526.3,-14.6,484,2844,0.00,1.98,0.00,0.000,4,0.000,0.017,2561,2156,3961,0,0,0,0,0,0
$GC,2898,-0.72,-228.7,533.2,-11.2,489,2901,0.00,2.12,0.00,0.000,6,0.000,0.034,2561,736,3960,0,0,0,0,0,0
$GC,3223,-0.72,-228.7,573.9,-12.4,519,3226,0.00,0.80,0.00,0.000,4,0.000,0.044,2561,184,3958,0,0,0,0,0,0
$GC,3280,-0.72,-228.7,581.5,-12.9,524,3284,0.00,0.62,0.00,0.000,6,0.000,0.024,2561,715,3958,0,0,0,0,0,0
$GC,3618,-0.72,-228.7,626.3,-13.4,547,3621,0.00,1.98,0.00,0.000,4,0.000,0.017,2561,2118,3955,0,0,0,0,0,0
$GC,3656,-0.72,-228.7,631.3,-11.2,548,3664,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,742,3954,0,0,0,0,0,0
$GC,3974,-0.72,-228.7,668.8,-11.2,564,3978,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2120,3952,0,0,0,0,0,0
$GC,4035,-0.72,-228.7,675.1,-9.2,566,4044,0.00,2.05,0.00,0.000,6,0.000,0.035,2560,761,3951,0,0,0,0,0,0
$GC,4351,-0.72,-228.7,707.5,-10.4,582,4355,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2130,3949,0,0,0,0,0,0
$GC,4377,-0.72,-228.7,709.9,-10.2,583,4381,0.00,2.08,0.00,0.000,6,0.000,0.036,2560,761,3949,0,0,0,0,0,0
$GC,4704,-0.72,-228.7,746.7,-11.4,599,4708,0.00,0.82,0.00,0.000,4,0.000,0.047,2561,198,3946,0,0,0,0,0,0
$GC,4781,-0.72,-228.7,756.4,-12.2,602,4785,0.00,0.65,0.00,0.000,6,0.000,0.024,2560,719,3945,0,0,0,0,0,0
$GC,5105,-0.72,-228.7,793.7,-11.6,618,5108,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2117,3942,0,0,0,0,0,0
$GC,5151,-0.72,-228.7,798.9,-10.6,620,5155,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,759,3942,0,0,0,0,0,0
$GC,5481,-0.72,-228.7,836.4,-11.8,636,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,759,3940,0,0,0,0,0,0
$GC,5787,-0.72,-228.7,870.0,-10.4,651,5791,0.00,1.95,0.00,0.000,4,0.000,0.018,2560,2120,3937,0,0,0,0,0,0
$GC,5859,-0.72,-228.7,876.3,-8.4,654,5863,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,761,3935,0,0,0,0,0,0
$GC,6190,-0.72,-228.7,907.4,-9.7,670,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3934,0,0,0,0,0,0
$GC,6497,-0.72,-228.7,936.9,-9.5,685,6500,0.00,1.95,0.00,0.000,4,0.000,0.019,2560,2119,3931,0,0,0,0,0,0
$GC,6545,-0.72,-228.7,941.0,-7.9,687,6549,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,764,3930,0,0,0,0,0,0
$GC,6872,-0.72,-228.7,971.5,-9.4,703,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,763,3928,0,0,0,0,0,0
$STATE,7179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7179,begin apogee
$GC,7185,-0.14,0.0,1001.1,9.5,718,7371,0.62,0.00,180.00,1.402,4,0.115,0.000,2772,950,3028,0,0,0,0,0,0
$STATE,7372,end apogee,CONTROL_FINISHED_OK
$STATE,7372,begin climb
$GC,7374,0.72,228.7,1009.8,0.0,726,7575,0.80,2.20,193.18,1.345,4,0.045,0.020,3071,2392,2096,0,0,0,0,0,0
$GC,7711,0.72,228.7,965.1,19.6,742,7716,0.00,2.22,0.00,0.000,6,0.000,0.037,3079,1004,2088,0,0,0,0,0,0
$GC,8028,0.72,228.7,902.1,19.4,757,8032,0.00,1.25,0.00,0.000,4,0.000,0.045,3086,189,2086,0,0,0,0,0,0
$GC,8211,0.72,228.7,862.9,22.8,765,8215,0.08,1.15,0.00,0.000,6,0.176,0.023,3063,1013,2085,0,0,0,0,0,0
$GC,8539,0.72,228.7,802.7,18.8,781,8543,0.00,2.00,0.00,0.000,4,0.000,0.022,3063,2384,2083,0,0,0,0,0,0
$GC,8618,0.72,228.7,788.9,17.2,784,8622,0.00,2.10,0.00,0.000,6,0.000,0.037,3069,1013,2083,0,0,0,0,0,0
$GC,8940,0.72,228.7,727.5,18.9,800,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1012,2082,0,0,0,0,0,0
$GC,9249,0.72,228.7,672.6,17.2,815,9253,0.00,2.00,0.00,0.000,4,0.000,0.023,3069,2380,2082,0,0,0,0,0,0
$GC,9306,0.72,228.7,662.8,16.4,817,9310,0.00,2.08,0.00,0.000,6,0.000,0.036,3078,1020,2080,0,0,0,0,0,0
$GC,9622,0.72,228.7,607.2,18.3,832,9626,0.00,2.00,0.00,0.000,4,0.000,0.024,3078,2381,2081,0,0,0,0,0,0
$GC,9795,0.72,228.7,578.0,16.8,845,9800,0.12,2.05,0.00,0.000,6,0.180,0.037,3055,1040,2080,0,0,0,0,0,0
$GC,10120,0.72,228.7,525.9,15.5,875,10124,0.00,1.98,0.00,0.000,4,0.000,0.023,3055,2409,2079,0,0,0,0,0,0
$GC,10160,0.72,228.7,519.9,14.7,878,10166,0.00,2.10,0.00,0.000,6,0.000,0.037,3062,1031,2079,0,0,0,0,0,0
$GC,10492,0.72,228.7,469.6,15.2,927,10499,0.00,1.98,0.00,0.000,4,0.000,0.021,3063,2399,2078,0,0,0,0,0,0
$GC,10563,0.72,228.7,460.4,13.4,939,10570,0.00,2.08,0.00,0.000,6,0.000,0.037,3070,1035,2078,0,0,0,0,0,0
$GC,10904,0.72,228.7,407.9,16.7,1000,10912,0.00,1.27,0.00,0.000,4,0.000,0.046,3077,194,2079,0,0,0,0,0,0
$GC,10960,0.72,228.7,398.5,17.0,1009,10966,0.00,1.15,0.00,0.000,6,0.000,0.024,3077,1036,2079,0,0,0,0,0,0
$GC,11299,0.72,228.7,347.8,14.4,1070,11307,0.00,1.95,0.00,0.000,4,0.000,0.021,3077,2385,2079,0,0,0,0,0,0
$GC,11354,0.72,228.7,340.5,13.1,1079,11361,0.12,2.05,0.00,0.000,6,0.174,0.036,3054,1033,2079,0,0,0,0,0,0
$GC,11697,0.72,228.7,299.8,11.4,1140,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1033,2079,0,0,0,0,0,0
$GC,12041,0.72,228.7,257.5,12.0,1201,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1033,2079,0,0,0,0,0,0
$GC,12378,0.75,249.4,218.3,10.4,1262,12400,0.00,1.95,14.65,0.771,4,0.000,0.018,3054,2393,2014,0,0,0,0,0,0
$GC,12432,0.79,284.5,213.0,10.0,1270,12467,0.00,2.08,29.73,0.786,6,0.000,0.035,3058,1042,1868,0,0,0,0,0,0
$GC,12804,0.79,284.5,170.0,11.5,1335,12811,0.00,1.27,0.00,0.000,4,0.000,0.044,3066,196,1864,0,0,0,0,0,0
$GC,12887,0.79,284.5,160.8,11.6,1349,12894,0.00,1.15,0.00,0.000,6,0.000,0.021,3065,1066,1864,0,0,0,0,0,0
$GC,13219,0.85,333.7,129.1,9.5,1410,13264,0.00,1.38,39.15,0.715,4,0.000,0.043,3070,191,1668,0,0,0,0,0,0
$GC,13364,0.92,390.0,114.6,9.3,1434,13417,0.10,1.12,45.12,0.692,6,0.054,0.021,3127,1040,1438,0,0,0,0,0,0
$GC,13738,0.97,427.6,66.9,9.9,1501,13775,0.00,1.90,30.10,0.641,4,0.000,0.016,3127,2372,1283,0,0,0,0,0,0
$GC,13801,1.03,482.7,60.9,9.3,1510,13855,0.00,2.12,44.38,0.635,6,0.000,0.034,3131,1007,1059,0,0,0,0,0,0
$GC,14174,1.03,482.7,18.5,12.5,1577,14182,0.00,1.23,0.00,0.000,4,0.000,0.043,3132,189,1056,0,0,0,0,0,0
$GC,14232,1.03,482.7,11.2,13.1,1587,14240,0.00,1.08,0.00,0.000,6,0.000,0.020,3132,1037,1056,0,0,0,0,0,0
$STATE,14293,end climb,SURFACE_DEPTH_REACHED
$STATE,14293,begin surface coast
$FINISH,0.4,1.001060
$STATE,14315,end surface coast,CONTROL_FINISHED_OK
$STATE,14315,begin surface
$SM_CCo,14395,0.00,0.000,0,0,1055,484.22
$SM_GC,1.41,7.60,0.00,0.00,0.027,0.000,0.000,108,786,1055,-8.37,-0.11,484.22
$IRIDIUM_FIX,2206.70,12655.92,211010,020227
$TT8_MAMPS,0.028462
$HUMID,38.89
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.2,40.330
$10V_AH,10.3,36.818
$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,19.150,92.775,576.300,0.000,0.000,56.116,87.480,218.798,0.000,0.000,37.620,3878.002,6100.971,618.252,3926.208,487.154,0.000,2065.813,0.000,3556.764,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,78.795,1402.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.880,1421.811,1925.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,93530,1602
$CAP_FILE_SIZE,165328,0
$CFSIZE,260165632,154365952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058, 10.9,1
$GPS,211010,061337,2213.771,12655.646,41,1.0,41,-3.1