version: 66.08
glider: 167
mission: 6
dive: 268
start: 10 30 110 7 1 0
data:
$ID,167
$MISSION,6
$DIVE,268
$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,-54460.414
$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,45
$R_STBD_OVSHOOT,89
$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
$GPS1,301010,065006,2124.016,12600.449,40,0.9,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.5
$GPS2,301010,070037,2124.007,12600.474,11,1.2,16,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2119.400,12601.200
$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,172.1,8623,-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,-228.7,0.0,0.0,0,88,0.00,0.00,-66.40,0.000,2,0.000,0.000,113,779,3308,0,0,0,0,0,0
$GC,91,-0.72,-228.7,5.4,-10.6,9,116,9.32,0.90,-10.48,0.000,4,0.209,0.075,2581,190,3965,0,0,0,0,0,0
$GC,354,-0.72,-228.7,105.3,-29.1,57,362,0.00,0.77,0.00,0.000,6,0.000,0.020,2578,874,3968,0,0,0,0,0,0
$GC,684,-0.72,-228.7,181.5,-21.5,118,691,0.00,1.85,0.00,0.000,4,0.000,0.015,2569,2199,3969,0,0,0,0,0,0
$GC,929,-0.72,-228.7,219.2,-15.0,163,936,0.00,2.10,0.00,0.000,6,0.000,0.033,2569,792,3969,0,0,0,0,0,0
$GC,1262,-0.72,-228.7,277.5,-17.0,224,1270,0.00,1.98,0.00,0.000,4,0.000,0.016,2561,2191,3969,0,0,0,0,0,0
$GC,1328,-0.72,-228.7,286.9,-12.6,235,1336,0.00,2.08,0.00,0.000,6,0.000,0.033,2561,798,3969,0,0,0,0,0,0
$GC,1663,-0.72,-228.7,338.2,-14.9,296,1671,0.00,0.88,0.00,0.000,4,0.000,0.042,2561,191,3970,0,0,0,0,0,0
$GC,1838,-0.72,-228.7,368.7,-17.8,328,1846,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,869,3969,0,0,0,0,0,0
$GC,2172,-0.72,-228.7,420.0,-13.9,389,2178,0.00,1.00,0.00,0.000,4,0.000,0.041,2560,190,3968,0,0,0,0,0,0
$GC,2381,-0.72,-228.7,449.3,-13.6,427,2389,0.00,0.75,0.00,0.000,6,0.000,0.021,2560,851,3967,0,0,0,0,0,0
$GC,2714,-0.72,-228.7,491.6,-12.6,488,2721,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2192,3964,0,0,0,0,0,0
$GC,2746,-0.72,-228.7,495.3,-10.9,493,2754,0.10,2.12,0.00,0.000,6,0.150,0.034,2587,765,3965,0,0,0,0,0,0
$GC,3080,-0.72,-228.7,527.1,-9.6,528,3084,0.00,2.03,0.00,0.000,4,0.000,0.017,2587,2183,3962,0,0,0,0,0,0
$GC,3160,-0.72,-228.7,534.2,-8.8,535,3164,0.00,2.12,0.00,0.000,6,0.000,0.035,2588,785,3961,0,0,0,0,0,0
$GC,3486,-0.72,-228.7,567.9,-10.3,565,3490,0.00,1.98,0.00,0.000,4,0.000,0.018,2587,2190,3958,0,0,0,0,0,0
$GC,3600,-0.72,-228.7,577.6,-7.7,575,3604,0.00,2.10,0.00,0.000,6,0.000,0.035,2588,786,3957,0,0,0,0,0,0
$GC,3934,-0.72,-228.7,608.3,-9.2,602,3937,0.00,1.98,0.00,0.000,4,0.000,0.018,2587,2177,3955,0,0,0,0,0,0
$GC,3981,-0.72,-228.7,612.1,-7.8,604,3985,0.00,2.08,0.00,0.000,6,0.000,0.035,2588,801,3954,0,0,0,0,0,0
$GC,4312,-0.72,-228.7,643.6,-9.9,620,4316,0.00,1.98,0.00,0.000,4,0.000,0.018,2588,2179,3951,0,0,0,0,0,0
$GC,4390,-0.72,-228.7,650.8,-8.0,623,4394,0.00,2.10,0.00,0.000,6,0.000,0.036,2587,797,3951,0,0,0,0,0,0
$GC,4714,-0.72,-228.7,681.0,-9.4,639,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,797,3949,0,0,0,0,0,0
$GC,5022,-0.72,-228.7,707.9,-8.5,654,5025,0.00,1.98,0.00,0.000,4,0.000,0.018,2587,2186,3946,0,0,0,0,0,0
$GC,5049,-0.72,-228.7,710.3,-7.3,655,5053,0.00,2.12,0.00,0.000,6,0.000,0.037,2587,802,3946,0,0,0,0,0,0
$GC,5373,-0.72,-228.7,737.3,-8.5,671,5377,0.00,1.95,0.00,0.000,4,0.000,0.018,2588,2177,3943,0,0,0,0,0,0
$GC,5400,-0.72,-228.7,739.8,-8.1,672,5404,0.00,2.08,0.00,0.000,6,0.000,0.038,2588,808,3943,0,0,0,0,0,0
$GC,5723,-0.72,-228.7,765.6,-7.9,688,5726,0.00,1.98,0.00,0.000,4,0.000,0.018,2587,2180,3941,0,0,0,0,0,0
$GC,5793,-0.72,-228.7,770.3,-6.6,691,5797,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,826,3941,0,0,0,0,0,0
$GC,6120,-0.72,-228.7,794.0,-7.3,707,6124,0.00,1.92,0.00,0.000,4,0.000,0.018,2587,2180,3937,0,0,0,0,0,0
$GC,6171,-0.72,-228.7,797.5,-6.6,709,6175,0.00,2.08,0.00,0.000,6,0.000,0.038,2588,828,3937,0,0,0,0,0,0
$GC,6493,-0.72,-228.7,823.5,-8.6,725,6497,0.00,1.98,0.00,0.000,4,0.000,0.019,2588,2182,3935,0,0,0,0,0,0
$GC,6526,-0.72,-228.7,826.2,-8.1,726,6530,0.00,2.05,0.00,0.000,6,0.000,0.038,2588,833,3935,0,0,0,0,0,0
$GC,6850,-0.72,-228.7,854.3,-9.0,742,6854,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2182,3933,0,0,0,0,0,0
$GC,6889,-0.72,-228.7,857.9,-8.1,743,6897,0.00,2.05,0.00,0.000,6,0.000,0.038,2587,835,3933,0,0,0,0,0,0
$GC,7205,-0.72,-228.7,884.2,-8.3,759,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,835,3931,0,0,0,0,0,0
$GC,7516,-0.72,-228.7,908.3,-7.6,774,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,835,3929,0,0,0,0,0,0
$GC,7824,-0.72,-228.7,931.8,-7.6,789,7828,0.00,1.95,0.00,0.000,4,0.000,0.020,2587,2184,3928,0,0,0,0,0,0
$GC,7895,-0.72,-228.7,936.6,-6.7,792,7899,0.00,2.08,0.00,0.000,6,0.000,0.039,2587,832,3928,0,0,0,0,0,0
$GC,8229,-0.72,-228.7,960.7,-7.4,808,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,832,3926,0,0,0,0,0,0
$GC,8538,-0.72,-228.7,982.0,-6.6,823,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,832,3924,0,0,0,0,0,0
$STATE,8824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8824,begin apogee
$GC,8832,-0.14,0.0,1000.7,6.5,837,9024,0.55,0.00,182.55,1.418,4,0.106,0.000,2775,1004,3028,0,0,0,0,0,0
$STATE,9025,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9029,0.72,228.7,1007.8,0.0,846,9234,0.77,2.17,196.75,1.357,4,0.044,0.020,3060,2402,2096,0,0,0,0,0,0
$GC,9489,0.72,228.7,943.0,17.3,866,9493,0.00,2.20,0.00,0.000,6,0.000,0.037,3068,1005,2087,0,0,0,0,0,0
$GC,9813,0.72,228.7,881.7,18.9,882,9816,0.00,1.25,0.00,0.000,4,0.000,0.047,3074,188,2086,0,0,0,0,0,0
$GC,10043,0.72,228.7,835.2,19.6,892,10047,0.00,1.12,0.00,0.000,6,0.000,0.024,3074,1006,2085,0,0,0,0,0,0
$GC,10371,0.72,228.7,772.9,19.1,908,10375,0.00,2.03,0.00,0.000,4,0.000,0.025,3074,2378,2084,0,0,0,0,0,0
$GC,10478,0.72,228.7,754.1,17.1,912,10485,0.00,2.08,0.00,0.000,6,0.000,0.037,3083,1017,2083,0,0,0,0,0,0
$GC,10796,0.72,228.7,695.8,18.6,928,10800,0.00,2.00,0.00,0.000,4,0.000,0.024,3083,2381,2084,0,0,0,0,0,0
$GC,10852,0.72,228.7,685.2,17.4,930,10857,0.10,2.10,0.00,0.000,6,0.158,0.037,3061,1028,2082,0,0,0,0,0,0
$GC,11175,0.72,228.7,633.1,16.8,946,11179,0.00,1.98,0.00,0.000,4,0.000,0.021,3061,2390,2082,0,0,0,0,0,0
$GC,11221,0.72,228.7,625.4,16.7,948,11225,0.00,2.08,0.00,0.000,6,0.000,0.037,3068,1025,2082,0,0,0,0,0,0
$GC,11545,0.72,228.7,572.2,16.5,971,11549,0.00,2.00,0.00,0.000,4,0.000,0.023,3068,2404,2081,0,0,0,0,0,0
$GC,11630,0.72,228.7,558.3,16.0,978,11637,0.00,2.08,0.00,0.000,6,0.000,0.037,3075,1036,2082,0,0,0,0,0,0
$GC,11955,0.72,228.7,508.2,15.6,1009,11959,0.00,1.98,0.00,0.000,4,0.000,0.024,3076,2388,2081,0,0,0,0,0,0
$GC,12102,0.72,228.7,485.4,15.5,1030,12110,0.00,2.08,0.00,0.000,6,0.000,0.037,3080,1051,2081,0,0,0,0,0,0
$GC,12434,0.72,228.7,431.7,15.0,1091,12442,0.00,1.95,0.00,0.000,4,0.000,0.022,3080,2395,2081,0,0,0,0,0,0
$GC,12496,0.72,228.7,422.2,13.3,1102,12505,0.10,2.05,0.00,0.000,6,0.157,0.037,3057,1067,2080,0,0,0,0,0,0
$GC,12834,0.72,228.7,378.5,13.2,1163,12842,0.00,1.33,0.00,0.000,4,0.000,0.047,3063,193,2080,0,0,0,0,0,0
$GC,13046,0.72,228.7,348.8,13.4,1201,13052,0.00,1.20,0.00,0.000,6,0.000,0.024,3063,1065,2079,0,0,0,0,0,0
$GC,13380,0.72,228.7,308.2,11.9,1262,13388,0.00,1.35,0.00,0.000,4,0.000,0.045,3066,189,2080,0,0,0,0,0,0
$GC,13460,0.72,228.7,298.3,12.2,1276,13468,0.00,1.17,0.00,0.000,6,0.000,0.023,3067,1067,2080,0,0,0,0,0,0
$GC,13795,0.72,228.7,259.3,12.0,1337,13802,0.00,1.35,0.00,0.000,4,0.000,0.044,3069,187,2080,0,0,0,0,0,0
$GC,13833,0.74,241.9,255.4,10.7,1343,13849,0.00,1.15,10.00,0.782,6,0.000,0.022,3069,1051,2042,0,0,0,0,0,0
$GC,14174,0.77,267.8,220.4,10.3,1405,14202,0.00,2.00,22.20,0.795,4,0.000,0.021,3069,2395,1936,0,0,0,0,0,0
$GC,14282,0.77,267.8,208.3,11.3,1423,14289,0.00,2.08,0.00,0.000,6,0.000,0.034,3077,1024,1934,0,0,0,0,0,0
$GC,14617,0.79,285.6,169.2,10.5,1484,14639,0.00,2.03,15.85,0.727,4,0.000,0.019,3077,2391,1863,0,0,0,0,0,0
$GC,14697,0.79,288.5,160.4,11.0,1497,14703,0.00,2.05,0.00,0.000,6,0.000,0.034,3084,1030,1862,0,0,0,0,0,0
$GC,15026,0.80,294.9,125.8,10.9,1558,15043,0.00,1.25,8.80,0.637,4,0.000,0.041,3090,173,1825,0,0,0,0,0,0
$GC,15265,0.85,333.4,101.8,9.9,1601,15303,0.00,1.17,32.15,0.682,6,0.000,0.019,3090,1087,1669,0,0,0,0,0,0
$GC,15625,0.96,425.1,73.7,8.1,1666,15707,0.12,1.40,72.40,0.652,4,0.089,0.040,3158,191,1294,0,0,0,0,0,0
$GC,15754,0.96,425.1,56.9,15.2,1685,15761,0.00,1.17,0.00,0.000,6,0.000,0.018,3157,1117,1292,0,0,0,0,0,0
$GC,16082,0.99,448.5,9.3,10.3,1746,16105,0.00,0.00,19.27,0.572,6,0.000,0.000,3158,1118,1199,0,0,0,0,0,0
$STATE,16128,end climb,SURFACE_DEPTH_REACHED
$STATE,16129,begin surface coast
$FINISH,0.6,0.997868
$STATE,16151,end surface coast,CONTROL_FINISHED_OK
$STATE,16151,begin surface
$SM_CCo,16231,0.00,0.000,0,0,1193,450.37
$SM_GC,1.48,7.90,0.00,0.00,0.041,0.000,0.000,134,775,1193,-8.36,-0.42,450.37
$IRIDIUM_FIX,2115.63,12559.43,301010,060607
$TT8_MAMPS,0.027713
$HUMID,39.80
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,22.9,50.139
$10V_AH,10.2,45.928
$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,18.975,114.075,559.975,0.000,0.000,58.783,61.452,253.320,0.000,0.000,16.912,4297.673,7161.389,607.006,4228.265,546.346,0.000,2167.966,0.000,3879.859,0.000,0.543,0.000
$DEVICE_MAMPS,208.845,74.970,1417.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.107,1533.341,2004.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333848
$DATA_FILE_SIZE,103423,1757
$CAP_FILE_SIZE,183274,0
$CFSIZE,260165632,149659648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 37.4,1
$GPS,301010,113237,2122.273,12600.920,28,1.1,29,-2.9