version: 66.08
glider: 167
mission: 6
dive: 234
start: 10 23 110 23 34 13
data:
$ID,167
$MISSION,6
$DIVE,234
$N_DIVES,244
$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,-54417.637
$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,35
$R_STBD_OVSHOOT,112
$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
$GPS1,231010,232331,2153.919,12637.086,37,1.5,38,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.1
$GPS2,231010,233350,2153.826,12637.186,13,1.4,13,-3.0
$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,228.6,86106,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,91,0.00,0.00,-70.95,0.000,2,0.000,0.000,114,783,3320,0,0,0,0,0,0
$GC,94,-0.72,-228.7,5.9,-12.5,10,119,9.57,0.93,-10.02,0.000,4,0.220,0.074,2580,177,3964,0,0,0,0,0,0
$GC,306,-0.72,-228.7,91.6,-33.7,48,314,0.00,0.77,0.00,0.000,6,0.000,0.021,2577,836,3966,0,0,0,0,0,0
$GC,636,-0.72,-228.7,169.7,-20.6,109,643,0.00,1.75,0.00,0.000,4,0.000,0.015,2568,2140,3967,0,0,0,0,0,0
$GC,811,-0.72,-228.7,199.2,-16.0,140,820,0.00,2.05,0.00,0.000,6,0.000,0.034,2568,786,3967,0,0,0,0,0,0
$GC,1156,-0.72,-228.7,262.1,-17.8,201,1162,0.00,0.85,0.00,0.000,4,0.000,0.041,2569,192,3968,0,0,0,0,0,0
$GC,1305,-0.72,-228.7,287.2,-17.3,227,1312,0.00,0.65,0.00,0.000,6,0.000,0.022,2564,774,3967,0,0,0,0,0,0
$GC,1648,-0.72,-228.7,343.3,-14.7,288,1657,0.00,1.90,0.00,0.000,4,0.000,0.016,2559,2132,3968,0,0,0,0,0,0
$GC,1682,-0.72,-228.7,348.2,-13.7,293,1689,0.00,2.05,0.00,0.000,6,0.000,0.033,2560,749,3968,0,0,0,0,0,0
$GC,2023,-0.72,-228.7,397.1,-13.2,354,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,750,3967,0,0,0,0,0,0
$GC,2368,-0.72,-228.7,442.8,-13.9,415,2374,0.00,1.95,0.00,0.000,4,0.000,0.016,2560,2143,3965,0,0,0,0,0,0
$GC,2394,-0.72,-228.7,446.6,-13.3,419,2401,0.00,2.05,0.00,0.000,6,0.000,0.034,2560,775,3965,0,0,0,0,0,0
$GC,2734,-0.72,-228.7,495.2,-13.6,480,2743,0.00,0.85,0.00,0.000,4,0.000,0.044,2560,189,3962,0,0,0,0,0,0
$GC,2794,-0.72,-228.7,504.0,-14.2,488,2798,0.00,0.68,0.00,0.000,6,0.000,0.022,2560,760,3962,0,0,0,0,0,0
$GC,3126,-0.72,-228.7,546.7,-12.7,519,3129,0.00,1.95,0.00,0.000,4,0.000,0.017,2560,2144,3959,0,0,0,0,0,0
$GC,3195,-0.72,-228.7,554.7,-10.5,525,3199,0.00,2.05,0.00,0.000,6,0.000,0.034,2560,782,3959,0,0,0,0,0,0
$GC,3526,-0.72,-228.7,597.2,-12.8,556,3528,0.10,0.00,0.00,0.000,6,0.168,0.000,2586,781,3956,0,0,0,0,0,0
$GC,3847,-0.72,-228.7,629.4,-9.8,573,3851,0.00,1.92,0.00,0.000,4,0.000,0.017,2586,2141,3953,0,0,0,0,0,0
$GC,3881,-0.72,-228.7,632.5,-8.8,574,3884,0.00,2.05,0.00,0.000,6,0.000,0.035,2585,787,3953,0,0,0,0,0,0
$GC,4204,-0.72,-228.7,662.0,-9.1,590,4208,0.00,1.92,0.00,0.000,4,0.000,0.017,2585,2141,3949,0,0,0,0,0,0
$GC,4251,-0.72,-228.7,665.9,-7.7,592,4254,0.00,2.03,0.00,0.000,6,0.000,0.036,2586,802,3950,0,0,0,0,0,0
$GC,4585,-0.72,-228.7,693.1,-8.2,608,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,802,3947,0,0,0,0,0,0
$GC,4893,-0.72,-228.7,720.4,-9.0,623,4897,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2149,3944,0,0,0,0,0,0
$GC,4943,-0.72,-228.7,724.6,-7.2,625,4947,0.00,2.05,0.00,0.000,6,0.000,0.037,2586,804,3944,0,0,0,0,0,0
$GC,5273,-0.72,-228.7,750.0,-7.5,641,5277,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2136,3941,0,0,0,0,0,0
$GC,5311,-0.72,-228.7,753.0,-6.9,642,5318,0.00,2.03,0.00,0.000,6,0.000,0.037,2585,807,3941,0,0,0,0,0,0
$GC,5629,-0.72,-228.7,777.2,-8.1,658,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,807,3939,0,0,0,0,0,0
$GC,5937,-0.72,-228.7,804.1,-8.8,673,5941,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2134,3936,0,0,0,0,0,0
$GC,5976,-0.72,-228.7,807.6,-8.4,674,5983,0.00,2.03,0.00,0.000,6,0.000,0.038,2586,808,3936,0,0,0,0,0,0
$GC,6294,-0.72,-228.7,836.0,-9.0,690,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,808,3934,0,0,0,0,0,0
$GC,6602,-0.72,-228.7,862.7,-8.4,705,6606,0.00,1.92,0.00,0.000,4,0.000,0.018,2585,2134,3932,0,0,0,0,0,0
$GC,6664,-0.72,-228.7,867.5,-7.5,707,6670,0.00,2.03,0.00,0.000,6,0.000,0.038,2585,814,3931,0,0,0,0,0,0
$GC,6982,-0.72,-228.7,891.5,-7.7,723,6985,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2136,3929,0,0,0,0,0,0
$GC,7006,-0.72,-228.7,893.3,-7.2,724,7009,0.00,2.03,0.00,0.000,6,0.000,0.039,2585,818,3930,0,0,0,0,0,0
$GC,7340,-0.72,-228.7,918.0,-7.3,740,7344,0.00,1.88,0.00,0.000,4,0.000,0.019,2586,2139,3928,0,0,0,0,0,0
$GC,7379,-0.72,-228.7,920.9,-6.7,741,7386,0.00,2.03,0.00,0.000,6,0.000,0.039,2586,821,3926,0,0,0,0,0,0
$GC,7696,-0.72,-228.7,945.0,-8.1,757,7700,0.00,1.90,0.00,0.000,4,0.000,0.019,2586,2128,3925,0,0,0,0,0,0
$GC,7737,-0.72,-228.7,948.1,-7.1,758,7743,0.00,2.00,0.00,0.000,6,0.000,0.040,2585,828,3925,0,0,0,0,0,0
$GC,8054,-0.72,-228.7,975.1,-8.5,774,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,828,3924,0,0,0,0,0,0
$STATE,8360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8360,begin apogee
$GC,8368,-0.14,0.0,1001.3,8.4,789,8560,0.52,0.00,181.12,1.410,4,0.106,0.000,2769,970,3028,0,0,0,0,0,0
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8560,begin climb
$GC,8563,0.72,228.7,1011.2,0.0,798,8765,0.75,1.30,195.57,1.354,4,0.050,0.050,3056,197,2096,0,0,0,0,0,0
$GC,8776,0.72,228.7,991.1,18.4,808,8779,0.00,1.20,0.00,0.000,6,0.000,0.024,3056,979,2093,0,0,0,0,0,0
$GC,9109,0.72,228.7,931.2,17.7,824,9113,0.00,2.10,0.00,0.000,4,0.000,0.024,3056,2388,2084,0,0,0,0,0,0
$GC,9270,0.72,228.7,904.5,16.0,831,9274,0.00,2.12,0.00,0.000,6,0.000,0.037,3065,1022,2083,0,0,0,0,0,0
$GC,9591,0.72,228.7,845.9,18.3,847,9595,0.00,2.00,0.00,0.000,4,0.000,0.022,3065,2391,2082,0,0,0,0,0,0
$GC,9663,0.72,228.7,832.9,16.8,850,9667,0.00,2.10,0.00,0.000,6,0.000,0.037,3073,1031,2081,0,0,0,0,0,0
$GC,9993,0.72,228.7,774.3,18.0,866,9996,0.00,2.00,0.00,0.000,4,0.000,0.022,3073,2395,2080,0,0,0,0,0,0
$GC,10039,0.72,228.7,765.8,17.3,868,10043,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1028,2080,0,0,0,0,0,0
$GC,10369,0.72,228.7,707.2,18.2,884,10373,0.00,1.98,0.00,0.000,4,0.000,0.023,3083,2394,2080,0,0,0,0,0,0
$GC,10474,0.72,228.7,687.6,18.5,888,10481,0.12,2.05,0.00,0.000,6,0.180,0.037,3059,1060,2080,0,0,0,0,0,0
$GC,10790,0.72,228.7,636.2,16.2,904,10794,0.00,1.95,0.00,0.000,4,0.000,0.024,3059,2398,2079,0,0,0,0,0,0
$GC,10825,0.72,228.7,630.6,16.5,905,10828,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1062,2079,0,0,0,0,0,0
$GC,11150,0.72,228.7,578.5,15.8,927,11154,0.00,1.95,0.00,0.000,4,0.000,0.024,3066,2395,2079,0,0,0,0,0,0
$GC,11189,0.72,228.7,572.0,15.6,930,11196,0.00,2.03,0.00,0.000,6,0.000,0.037,3074,1067,2079,0,0,0,0,0,0
$GC,11514,0.72,228.7,519.3,16.2,961,11518,0.00,1.95,0.00,0.000,4,0.000,0.023,3074,2401,2079,0,0,0,0,0,0
$GC,11593,0.72,228.7,507.2,14.8,968,11597,0.00,2.03,0.00,0.000,6,0.000,0.037,3083,1073,2079,0,0,0,0,0,0
$GC,11924,0.72,228.7,452.4,15.8,1025,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1073,2078,0,0,0,0,0,0
$GC,12254,0.72,228.7,398.0,16.2,1086,12262,0.00,1.33,0.00,0.000,4,0.000,0.047,3090,198,2078,0,0,0,0,0,0
$GC,12310,0.72,228.7,389.0,16.6,1095,12317,0.10,1.23,0.00,0.000,6,0.164,0.023,3059,1082,2078,0,0,0,0,0,0
$GC,12642,0.72,228.7,343.5,12.9,1156,12650,0.00,1.90,0.00,0.000,4,0.000,0.021,3058,2396,2078,0,0,0,0,0,0
$GC,12797,0.72,228.7,324.2,11.6,1184,12805,0.00,2.03,0.00,0.000,6,0.000,0.036,3065,1080,2078,0,0,0,0,0,0
$GC,13130,0.72,228.7,285.1,11.9,1245,13137,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1080,2078,0,0,0,0,0,0
$GC,13463,0.72,228.7,244.5,11.8,1306,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1080,2078,0,0,0,0,0,0
$GC,13797,0.83,316.6,207.5,8.2,1367,13871,0.00,1.42,68.10,0.797,4,0.000,0.044,3071,188,1737,0,0,0,0,0,0
$GC,14043,0.83,316.6,177.4,13.6,1409,14050,0.00,1.27,0.00,0.000,6,0.000,0.020,3072,1145,1732,0,0,0,0,0,0
$GC,14376,0.85,333.9,138.6,10.5,1470,14398,0.00,1.48,14.55,0.685,4,0.000,0.041,3078,190,1667,0,0,0,0,0,0
$GC,14550,0.87,352.9,118.5,10.5,1501,14573,0.00,1.23,16.27,0.671,6,0.000,0.020,3078,1125,1588,0,0,0,0,0,0
$GC,14896,0.97,433.0,84.1,8.5,1564,14964,0.15,0.00,64.12,0.663,6,0.080,0.000,3151,1126,1262,0,0,0,0,0,0
$GC,15285,0.97,433.0,33.8,14.4,1633,15293,0.00,1.42,0.00,0.000,4,0.000,0.041,3155,190,1257,0,0,0,0,0,0
$GC,15324,0.97,433.0,28.2,14.9,1639,15332,0.00,1.23,0.00,0.000,6,0.000,0.019,3155,1151,1257,0,0,0,0,0,0
$STATE,15509,end climb,SURFACE_DEPTH_REACHED
$STATE,15509,begin surface coast
$FINISH,0.4,1.008519
$STATE,15531,end surface coast,CONTROL_FINISHED_OK
$STATE,15531,begin surface
$SM_CCo,15609,0.00,0.000,0,0,1254,435.41
$SM_GC,1.50,7.78,0.00,0.00,0.036,0.000,0.000,128,778,1254,-8.37,-0.34,435.41
$IRIDIUM_FIX,2143.45,12635.95,231010,232338
$TT8_MAMPS,0.028462
$HUMID,39.56
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.0,43.491
$10V_AH,10.2,39.694
$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,19.100,102.000,539.750,0.000,0.000,61.915,84.365,213.192,0.000,0.000,14.281,4080.802,7028.875,593.633,3988.501,515.253,0.000,2065.443,0.000,3650.334,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,74.205,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.849,1467.080,1918.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,96976,1677
$CAP_FILE_SIZE,171750,0
$CFSIZE,260165632,152883200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 63.4,1
$GPS,241010,035537,2152.494,12635.896,37,0.8,38,-3.0