version: 66.08
glider: 167
mission: 6
dive: 296
start: 11 4 110 10 34 22
data:
$ID,167
$MISSION,6
$DIVE,296
$N_DIVES,308
$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,-54495.633
$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,49
$R_STBD_OVSHOOT,120
$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
$GPS1,041110,102401,2120.298,12600.511,57,1.3,58,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.3
$GPS2,041110,103400,2120.250,12600.494,10,2.0,14,-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,12.8,8110,-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,-228.7,0.0,0.0,0,99,0.00,0.00,-78.45,0.000,2,0.000,0.000,111,772,3571,0,0,0,0,0,0
$GC,101,-0.72,-228.7,6.8,-13.8,11,126,9.77,1.98,-5.90,0.000,4,0.225,0.028,2568,2189,3962,0,0,0,0,0,0
$GC,139,-0.72,-228.7,29.3,-55.8,16,147,0.00,2.12,0.00,0.000,6,0.000,0.032,2568,797,3963,0,0,0,0,0,0
$GC,463,-0.72,-228.7,125.9,-25.3,77,472,0.00,0.88,0.00,0.000,4,0.000,0.043,2569,194,3964,0,0,0,0,0,0
$GC,716,-0.72,-228.7,185.8,-21.0,123,723,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,831,3965,0,0,0,0,0,0
$GC,1049,-0.72,-228.7,247.9,-17.3,184,1057,0.00,0.93,0.00,0.000,4,0.000,0.041,2565,195,3966,0,0,0,0,0,0
$GC,1300,-0.72,-228.7,294.4,-18.5,230,1308,0.00,0.57,0.00,0.000,6,0.000,0.023,2561,720,3966,0,0,0,0,0,0
$GC,1638,-0.72,-228.7,348.3,-14.8,291,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,720,3966,0,0,0,0,0,0
$GC,1968,-0.72,-228.7,397.6,-14.3,352,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,719,3966,0,0,0,0,0,0
$GC,2301,-0.72,-228.7,443.1,-12.6,413,2308,0.00,1.92,0.00,0.000,4,0.000,0.017,2557,2112,3964,0,0,0,0,0,0
$GC,2393,-0.72,-228.7,453.2,-10.2,429,2401,0.12,2.03,0.00,0.000,6,0.142,0.033,2593,742,3964,0,0,0,0,0,0
$GC,2729,-0.72,-228.7,486.2,-10.0,490,2737,0.00,1.92,0.00,0.000,4,0.000,0.017,2590,2096,3962,0,0,0,0,0,0
$GC,2782,-0.72,-228.7,491.4,-8.2,499,2789,0.00,2.00,0.00,0.000,6,0.000,0.034,2589,748,3962,0,0,0,0,0,0
$GC,3118,-0.72,-228.7,525.5,-10.2,538,3122,0.00,1.90,0.00,0.000,4,0.000,0.017,2590,2107,3958,0,0,0,0,0,0
$GC,3210,-0.72,-228.7,533.4,-8.2,546,3214,0.00,2.00,0.00,0.000,6,0.000,0.035,2590,771,3958,0,0,0,0,0,0
$GC,3541,-0.72,-228.7,564.8,-9.8,577,3544,0.00,1.85,0.00,0.000,4,0.000,0.018,2590,2094,3956,0,0,0,0,0,0
$GC,3576,-0.72,-228.7,567.8,-8.6,580,3579,0.00,1.98,0.00,0.000,6,0.000,0.035,2590,775,3956,0,0,0,0,0,0
$GC,3907,-0.72,-228.7,597.3,-8.8,611,3911,0.00,0.85,0.00,0.000,4,0.000,0.046,2588,195,3952,0,0,0,0,0,0
$GC,3934,-0.72,-228.7,600.0,-8.9,613,3942,0.00,0.62,0.00,0.000,6,0.000,0.024,2590,708,3952,0,0,0,0,0,0
$GC,4253,-0.72,-228.7,627.9,-8.8,629,4256,0.00,1.95,0.00,0.000,4,0.000,0.018,2590,2089,3950,0,0,0,0,0,0
$GC,4369,-0.72,-228.7,636.6,-7.7,634,4373,0.00,1.98,0.00,0.000,6,0.000,0.037,2590,779,3949,0,0,0,0,0,0
$GC,4703,-0.72,-228.7,665.2,-8.8,650,4707,0.00,1.85,0.00,0.000,4,0.000,0.018,2590,2090,3947,0,0,0,0,0,0
$GC,4797,-0.72,-228.7,672.4,-7.3,654,4800,0.00,1.95,0.00,0.000,6,0.000,0.037,2590,795,3946,0,0,0,0,0,0
$GC,5131,-0.72,-228.7,700.8,-8.2,670,5134,0.00,1.85,0.00,0.000,4,0.000,0.019,2590,2101,3943,0,0,0,0,0,0
$GC,5182,-0.72,-228.7,704.6,-6.8,672,5186,0.00,1.95,0.00,0.000,6,0.000,0.037,2590,809,3944,0,0,0,0,0,0
$GC,5510,-0.72,-228.7,730.6,-8.0,688,5513,0.00,1.83,0.00,0.000,4,0.000,0.020,2589,2095,3941,0,0,0,0,0,0
$GC,5557,-0.72,-228.7,733.9,-6.6,690,5561,0.00,1.92,0.00,0.000,6,0.000,0.038,2590,822,3940,0,0,0,0,0,0
$GC,5892,-0.72,-228.7,759.2,-7.7,706,5896,0.00,1.83,0.00,0.000,4,0.000,0.020,2589,2094,3938,0,0,0,0,0,0
$GC,5920,-0.72,-228.7,761.6,-6.8,707,5924,0.00,1.95,0.00,0.000,6,0.000,0.038,2590,839,3938,0,0,0,0,0,0
$GC,6247,-0.72,-228.7,788.0,-8.4,723,6251,0.00,1.77,0.00,0.000,4,0.000,0.020,2590,2090,3936,0,0,0,0,0,0
$GC,6276,-0.72,-228.7,790.2,-7.9,724,6280,0.00,1.95,0.00,0.000,6,0.000,0.039,2589,835,3936,0,0,0,0,0,0
$GC,6604,-0.72,-228.7,817.6,-8.3,740,6608,0.00,0.95,0.00,0.000,4,0.000,0.049,2590,200,3934,0,0,0,0,0,0
$GC,6653,-0.72,-228.7,821.4,-8.1,742,6656,0.00,0.70,0.00,0.000,6,0.000,0.024,2590,740,3934,0,0,0,0,0,0
$GC,6988,-0.72,-228.7,847.7,-7.7,758,6992,0.00,2.05,0.00,0.000,4,0.000,0.021,2590,2173,3931,0,0,0,0,0,0
$GC,7096,-0.72,-228.7,855.1,-6.6,763,7100,0.00,2.03,0.00,0.000,6,0.000,0.039,2590,844,3931,0,0,0,0,0,0
$GC,7425,-0.72,-228.7,879.5,-7.4,779,7429,0.00,1.92,0.00,0.000,4,0.000,0.021,2589,2171,3929,0,0,0,0,0,0
$GC,7458,-0.72,-228.7,882.2,-7.2,780,7462,0.00,2.03,0.00,0.000,6,0.000,0.038,2590,844,3929,0,0,0,0,0,0
$GC,7782,-0.72,-228.7,907.1,-7.8,796,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,844,3927,0,0,0,0,0,0
$GC,8090,-0.72,-228.7,931.6,-7.9,811,8094,0.00,1.95,0.00,0.000,4,0.000,0.021,2590,2166,3927,0,0,0,0,0,0
$GC,8151,-0.72,-228.7,936.3,-7.6,813,8159,0.00,2.00,0.00,0.000,6,0.000,0.039,2589,856,3925,0,0,0,0,0,0
$GC,8469,-0.72,-228.7,959.6,-7.3,829,8472,0.00,1.90,0.00,0.000,4,0.000,0.021,2590,2174,3924,0,0,0,0,0,0
$GC,8496,-0.72,-228.7,961.6,-6.5,830,8500,0.00,2.00,0.00,0.000,6,0.000,0.040,2590,866,3924,0,0,0,0,0,0
$GC,8826,-0.72,-228.7,983.7,-6.7,846,8830,0.00,1.88,0.00,0.000,4,0.000,0.021,2590,2170,3923,0,0,0,0,0,0
$GC,8873,-0.72,-228.7,986.6,-5.6,848,8876,0.00,2.00,0.00,0.000,6,0.000,0.040,2590,862,3922,0,0,0,0,0,0
$STATE,9081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9082,begin apogee
$GC,9088,-0.14,0.0,1000.0,6.6,858,9277,0.52,0.00,184.52,1.414,4,0.104,0.000,2770,1013,3029,0,0,0,0,0,0
$STATE,9278,end apogee,CONTROL_FINISHED_OK
$STATE,9278,begin climb
$GC,9281,0.72,228.7,1008.4,0.0,866,9492,0.77,1.40,199.50,1.353,4,0.049,0.051,3060,193,2095,0,0,0,0,0,0
$GC,9720,0.72,228.7,946.2,18.4,886,9724,0.00,1.12,0.00,0.000,6,0.000,0.028,3060,970,2086,0,0,0,0,0,0
$GC,10054,0.72,228.7,888.7,17.1,902,10057,0.00,1.20,0.00,0.000,4,0.000,0.047,3064,196,2083,0,0,0,0,0,0
$GC,10202,0.72,228.7,862.3,17.7,908,10206,0.00,1.15,0.00,0.000,6,0.000,0.027,3064,1012,2083,0,0,0,0,0,0
$GC,10524,0.72,228.7,807.1,17.5,924,10528,0.00,2.00,0.00,0.000,4,0.000,0.025,3064,2384,2082,0,0,0,0,0,0
$GC,10592,0.72,228.7,795.8,16.8,927,10596,0.00,2.08,0.00,0.000,6,0.000,0.036,3073,1019,2081,0,0,0,0,0,0
$GC,10923,0.72,228.7,741.0,16.9,943,10927,0.00,2.00,0.00,0.000,4,0.000,0.025,3073,2385,2080,0,0,0,0,0,0
$GC,10973,0.72,228.7,732.1,15.9,945,10976,0.00,2.08,0.00,0.000,6,0.000,0.037,3081,1019,2080,0,0,0,0,0,0
$GC,11302,0.72,228.7,675.6,17.3,961,11306,0.00,2.03,0.00,0.000,4,0.000,0.025,3081,2389,2080,0,0,0,0,0,0
$GC,11340,0.72,228.7,668.6,17.7,962,11348,0.12,2.08,0.00,0.000,6,0.179,0.037,3059,1035,2080,0,0,0,0,0,0
$GC,11657,0.72,228.7,622.2,14.5,978,11661,0.00,2.00,0.00,0.000,4,0.000,0.024,3059,2398,2080,0,0,0,0,0,0
$GC,11731,0.72,228.7,611.8,13.8,981,11735,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1051,2079,0,0,0,0,0,0
$GC,12059,0.72,228.7,563.3,14.7,1008,12062,0.00,1.30,0.00,0.000,4,0.000,0.047,3073,194,2079,0,0,0,0,0,0
$GC,12151,0.72,228.7,548.4,17.0,1016,12155,0.00,1.20,0.00,0.000,6,0.000,0.027,3073,1046,2079,0,0,0,0,0,0
$GC,12478,0.72,228.7,498.6,15.0,1047,12485,0.00,1.98,0.00,0.000,4,0.000,0.026,3073,2397,2079,0,0,0,0,0,0
$GC,12542,0.72,228.7,489.4,13.6,1058,12550,0.00,2.10,0.00,0.000,6,0.000,0.037,3081,1043,2078,0,0,0,0,0,0
$GC,12880,0.72,228.7,438.7,15.0,1119,12887,0.00,2.00,0.00,0.000,4,0.000,0.026,3081,2397,2078,0,0,0,0,0,0
$GC,12985,0.72,228.7,422.6,13.7,1138,12994,0.10,2.08,0.00,0.000,6,0.155,0.037,3058,1057,2078,0,0,0,0,0,0
$GC,13325,0.72,228.7,378.8,13.0,1199,13332,0.00,1.33,0.00,0.000,4,0.000,0.047,3064,186,2078,0,0,0,0,0,0
$GC,13406,0.72,228.7,367.2,14.6,1213,13414,0.00,1.20,0.00,0.000,6,0.000,0.024,3064,1058,2078,0,0,0,0,0,0
$GC,13743,0.72,231.1,325.8,11.0,1274,13751,0.00,1.95,0.00,0.000,4,0.000,0.023,3064,2395,2078,0,0,0,0,0,0
$GC,13775,0.72,231.1,321.3,12.2,1279,13782,0.00,2.08,0.00,0.000,6,0.000,0.037,3070,1022,2078,0,0,0,0,0,0
$GC,14105,0.72,231.1,278.6,14.1,1340,14113,0.00,2.03,0.00,0.000,4,0.000,0.021,3071,2398,2078,0,0,0,0,0,0
$GC,14197,0.72,231.1,267.2,11.3,1356,14205,0.00,2.10,0.00,0.000,6,0.000,0.037,3077,1039,2078,0,0,0,0,0,0
$GC,14533,0.72,231.1,229.3,11.5,1417,14541,0.00,1.27,0.00,0.000,4,0.000,0.044,3084,190,2079,0,0,0,0,0,0
$GC,14630,0.72,231.1,217.6,12.5,1434,14638,0.00,1.20,0.00,0.000,6,0.000,0.022,3084,1089,2079,0,0,0,0,0,0
$GC,14966,0.75,256.1,180.7,10.3,1495,14994,0.00,1.95,21.80,0.755,4,0.000,0.021,3084,2407,1982,0,0,0,0,0,0
$GC,15116,0.76,257.5,164.8,11.1,1521,15123,0.00,2.00,0.00,0.000,6,0.000,0.034,3089,1077,1980,0,0,0,0,0,0
$GC,15444,0.84,327.4,132.5,8.8,1582,15510,0.00,1.38,57.72,0.721,4,0.000,0.041,3096,192,1692,0,0,0,0,0,0
$GC,15751,0.85,330.8,98.6,11.0,1636,15760,0.00,1.23,3.53,0.414,6,0.000,0.020,3096,1125,1680,0,0,0,0,0,0
$GC,16082,1.03,478.9,77.2,6.3,1697,16210,0.15,1.50,117.32,0.652,4,0.083,0.041,3175,188,1074,0,0,0,0,0,0
$GC,16260,1.03,478.9,51.0,19.5,1723,16268,0.00,1.23,0.00,0.000,6,0.000,0.018,3175,1130,1073,0,0,0,0,0,0
$STATE,16506,end climb,SURFACE_DEPTH_REACHED
$STATE,16506,begin surface coast
$FINISH,0.7,1.022479
$STATE,16519,end surface coast,CONTROL_FINISHED_OK
$STATE,16519,begin surface
$SM_CCo,16597,0.00,0.000,0,0,1068,480.79
$SM_GC,1.45,7.80,0.00,0.00,0.031,0.000,0.000,112,773,1068,-8.37,-0.48,480.79
$IRIDIUM_FIX,2111.01,12601.30,041110,101012
$TT8_MAMPS,0.027713
$HUMID,40.43
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,22.8,55.230
$10V_AH,10.2,51.055
$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,19.375,123.325,584.400,0.000,0.000,57.833,57.615,216.456,0.000,0.000,15.280,4328.957,7415.174,631.008,4253.103,542.175,0.000,2251.399,0.000,3930.395,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,59.670,1414.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.448,1539.494,1979.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333788
$DATA_FILE_SIZE,103554,1771
$CAP_FILE_SIZE,187932,0
$CFSIZE,260165632,147009536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.005,186.9,1
$GPS,041110,151207,2122.494,12600.918,30,1.4,31,-2.9