version: 66.08
glider: 167
mission: 6
dive: 298
start: 11 4 110 19 28 47
data:
$ID,167
$MISSION,6
$DIVE,298
$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,-54498.148
$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,51
$R_STBD_OVSHOOT,135
$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
$GPS1,041110,191637,2123.743,12601.282,33,1.0,33,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.4
$GPS2,041110,192822,2123.615,12601.303,15,1.6,17,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,194.6,8734,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-228.7,0.0,0.0,0,82,0.00,0.00,-64.68,0.000,2,0.000,0.000,112,778,3306,0,0,0,0,0,0
$GC,86,-0.72,-228.7,5.1,-9.5,9,111,9.85,0.88,-10.77,0.000,4,0.228,0.074,2581,197,3964,0,0,0,0,0,0
$GC,350,-0.72,-228.7,95.6,-30.7,57,358,0.00,0.70,0.00,0.000,6,0.000,0.021,2578,823,3966,0,0,0,0,0,0
$GC,678,-0.72,-228.7,170.2,-18.6,118,686,0.00,1.80,0.00,0.000,4,0.000,0.015,2568,2119,3967,0,0,0,0,0,0
$GC,864,-0.72,-228.7,199.0,-14.8,151,871,0.00,2.00,0.00,0.000,6,0.000,0.032,2569,758,3968,0,0,0,0,0,0
$GC,1197,-0.72,-228.7,256.9,-15.6,212,1205,0.00,0.80,0.00,0.000,4,0.000,0.041,2569,195,3968,0,0,0,0,0,0
$GC,1285,-0.72,-228.7,271.8,-17.6,227,1293,0.00,0.62,0.00,0.000,6,0.000,0.021,2565,764,3968,0,0,0,0,0,0
$GC,1623,-0.72,-228.7,324.6,-15.8,288,1631,0.00,0.82,0.00,0.000,4,0.000,0.041,2565,193,3968,0,0,0,0,0,0
$GC,1743,-0.72,-228.7,344.8,-16.9,310,1751,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,734,3968,0,0,0,0,0,0
$GC,2077,-0.72,-228.7,396.4,-15.1,371,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,735,3968,0,0,0,0,0,0
$GC,2407,-0.72,-228.7,440.0,-14.5,432,2415,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2113,3967,0,0,0,0,0,0
$GC,2513,-0.72,-228.7,451.6,-10.5,451,2521,0.00,2.05,0.00,0.000,6,0.000,0.033,2561,742,3966,0,0,0,0,0,0
$GC,2844,-0.72,-228.7,494.7,-13.4,512,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,742,3964,0,0,0,0,0,0
$GC,3174,-0.72,-228.7,533.2,-11.1,546,3178,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2115,3962,0,0,0,0,0,0
$GC,3254,-0.72,-228.7,540.5,-8.7,553,3258,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,740,3961,0,0,0,0,0,0
$GC,3579,-0.72,-228.7,576.1,-11.0,583,3584,0.10,1.98,0.00,0.000,4,0.164,0.019,2586,2102,3959,0,0,0,0,0,0
$GC,3614,-0.72,-228.7,579.2,-7.7,586,3618,0.00,2.05,0.00,0.000,6,0.000,0.035,2587,755,3958,0,0,0,0,0,0
$GC,3946,-0.72,-228.7,607.2,-8.7,613,3950,0.00,1.92,0.00,0.000,4,0.000,0.018,2587,2109,3956,0,0,0,0,0,0
$GC,4016,-0.72,-228.7,612.8,-7.5,616,4020,0.00,2.03,0.00,0.000,6,0.000,0.036,2587,756,3956,0,0,0,0,0,0
$GC,4352,-0.72,-228.7,641.7,-9.1,632,4355,0.00,1.92,0.00,0.000,4,0.000,0.018,2587,2108,3953,0,0,0,0,0,0
$GC,4413,-0.72,-228.7,647.0,-7.2,634,4419,0.00,2.03,0.00,0.000,6,0.000,0.036,2587,762,3952,0,0,0,0,0,0
$GC,4731,-0.72,-228.7,675.3,-9.2,650,4735,0.00,1.92,0.00,0.000,4,0.000,0.019,2587,2109,3950,0,0,0,0,0,0
$GC,4832,-0.72,-228.7,683.9,-7.9,654,4836,0.00,2.05,0.00,0.000,6,0.000,0.037,2587,784,3949,0,0,0,0,0,0
$GC,5154,-0.72,-228.7,711.1,-8.2,670,5157,0.00,1.90,0.00,0.000,4,0.000,0.019,2587,2110,3947,0,0,0,0,0,0
$GC,5203,-0.72,-228.7,714.6,-6.8,672,5206,0.00,2.00,0.00,0.000,6,0.000,0.037,2587,786,3946,0,0,0,0,0,0
$GC,5538,-0.72,-228.7,742.4,-8.6,688,5542,0.00,1.88,0.00,0.000,4,0.000,0.019,2587,2108,3944,0,0,0,0,0,0
$GC,5595,-0.72,-228.7,747.1,-7.9,690,5599,0.00,2.00,0.00,0.000,6,0.000,0.038,2587,790,3944,0,0,0,0,0,0
$GC,5917,-0.72,-228.7,774.3,-8.3,706,5921,0.00,1.90,0.00,0.000,4,0.000,0.020,2587,2109,3941,0,0,0,0,0,0
$GC,5995,-0.72,-228.7,780.3,-7.7,709,5999,0.00,1.98,0.00,0.000,6,0.000,0.038,2587,804,3940,0,0,0,0,0,0
$GC,6319,-0.72,-228.7,804.5,-7.4,725,6322,0.00,1.88,0.00,0.000,4,0.000,0.020,2587,2107,3938,0,0,0,0,0,0
$GC,6365,-0.72,-228.7,807.7,-6.1,727,6369,0.00,1.98,0.00,0.000,6,0.000,0.038,2587,805,3938,0,0,0,0,0,0
$GC,6700,-0.72,-228.7,832.4,-7.6,743,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,805,3936,0,0,0,0,0,0
$GC,7007,-0.72,-228.7,856.5,-8.1,758,7011,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2106,3934,0,0,0,0,0,0
$GC,7079,-0.72,-228.7,862.1,-7.3,761,7083,0.00,2.03,0.00,0.000,6,0.000,0.039,2587,808,3934,0,0,0,0,0,0
$GC,7409,-0.72,-228.7,888.5,-8.2,777,7412,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2106,3932,0,0,0,0,0,0
$GC,7448,-0.72,-228.7,891.6,-7.2,778,7454,0.00,2.00,0.00,0.000,6,0.000,0.039,2586,809,3931,0,0,0,0,0,0
$GC,7766,-0.72,-228.7,916.2,-7.9,794,7769,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2108,3930,0,0,0,0,0,0
$GC,7799,-0.72,-228.7,918.9,-6.9,795,7803,0.00,2.00,0.00,0.000,6,0.000,0.040,2587,811,3929,0,0,0,0,0,0
$GC,8121,-0.72,-228.7,942.9,-7.5,811,8125,0.00,1.88,0.00,0.000,4,0.000,0.021,2587,2107,3928,0,0,0,0,0,0
$GC,8161,-0.72,-228.7,945.7,-6.9,812,8168,0.00,1.98,0.00,0.000,6,0.000,0.040,2587,817,3928,0,0,0,0,0,0
$GC,8478,-0.72,-228.7,969.3,-7.4,828,8482,0.00,1.85,0.00,0.000,4,0.000,0.021,2585,2110,3927,0,0,0,0,0,0
$GC,8524,-0.72,-228.7,972.6,-6.3,830,8528,0.00,1.95,0.00,0.000,6,0.000,0.040,2587,834,3926,0,0,0,0,0,0
$GC,8859,-0.72,-228.7,996.8,-7.1,846,8863,0.00,1.83,0.00,0.000,4,0.000,0.021,2587,2109,3926,0,0,0,0,0,0
$GC,8883,-0.72,-228.7,998.6,-6.9,847,8887,0.00,2.00,0.00,0.000,6,0.000,0.041,2587,835,3925,0,0,0,0,0,0
$STATE,8905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8906,begin apogee
$GC,8911,-0.14,0.0,1000.2,7.2,848,9104,0.55,0.00,185.68,1.414,4,0.105,0.000,2775,834,3029,0,0,0,0,0,0
$STATE,9104,end apogee,CONTROL_FINISHED_OK
$STATE,9104,begin climb
$GC,9107,0.72,228.7,1008.6,0.0,857,9315,0.80,2.33,200.15,1.353,4,0.044,0.021,3067,2317,2096,0,0,0,0,0,0
$GC,9343,0.72,228.7,984.3,18.5,867,9347,0.00,2.20,0.00,0.000,6,0.000,0.037,3077,1003,2091,0,0,0,0,0,0
$GC,9672,0.72,228.7,920.5,19.4,883,9676,0.00,1.95,0.00,0.000,4,0.000,0.022,3077,2332,2086,0,0,0,0,0,0
$GC,9756,0.72,228.7,904.0,18.3,886,9763,0.00,2.05,0.00,0.000,6,0.000,0.037,3084,997,2086,0,0,0,0,0,0
$GC,10074,0.72,228.7,842.4,19.3,902,10078,0.00,1.90,0.00,0.000,4,0.000,0.024,3084,2305,2086,0,0,0,0,0,0
$GC,10157,0.72,228.7,826.4,17.7,905,10165,0.15,2.00,0.00,0.000,6,0.182,0.038,3053,1023,2085,0,0,0,0,0,0
$GC,10476,0.72,228.7,776.1,16.0,921,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1023,2084,0,0,0,0,0,0
$GC,10783,0.72,228.7,726.9,15.6,936,10786,0.00,1.88,0.00,0.000,4,0.000,0.024,3053,2312,2083,0,0,0,0,0,0
$GC,10889,0.72,228.7,710.3,15.1,940,10897,0.00,2.00,0.00,0.000,6,0.000,0.037,3060,993,2082,0,0,0,0,0,0
$GC,11207,0.72,228.7,659.0,16.3,956,11211,0.00,1.92,0.00,0.000,4,0.000,0.024,3060,2309,2083,0,0,0,0,0,0
$GC,11302,0.72,228.7,643.5,15.9,960,11305,0.00,1.98,0.00,0.000,6,0.000,0.039,3063,1007,2082,0,0,0,0,0,0
$GC,11622,0.72,228.7,593.2,15.0,977,11626,0.00,1.92,0.00,0.000,4,0.000,0.024,3062,2307,2082,0,0,0,0,0,0
$GC,11690,0.72,228.7,582.6,13.4,983,11693,0.00,1.92,0.00,0.000,6,0.000,0.040,3066,1040,2082,0,0,0,0,0,0
$GC,12024,0.72,228.7,534.0,15.1,1014,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1040,2081,0,0,0,0,0,0
$GC,12355,0.72,228.7,485.9,14.0,1053,12362,0.00,1.85,0.00,0.000,4,0.000,0.025,3066,2305,2081,0,0,0,0,0,0
$GC,12441,0.72,228.7,473.3,14.5,1068,12450,0.00,1.95,0.00,0.000,6,0.000,0.037,3074,1045,2081,0,0,0,0,0,0
$GC,12785,0.72,228.7,423.0,14.1,1129,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1045,2080,0,0,0,0,0,0
$GC,13127,0.72,228.7,375.4,15.1,1190,13135,0.00,1.30,0.00,0.000,4,0.000,0.045,3081,190,2081,0,0,0,0,0,0
$GC,13160,0.72,228.7,370.4,14.8,1195,13167,0.00,1.08,0.00,0.000,6,0.000,0.026,3079,969,2080,0,0,0,0,0,0
$GC,13498,0.72,228.7,323.9,13.3,1256,13507,0.00,2.08,0.00,0.000,4,0.000,0.023,3081,2387,2080,0,0,0,0,0,0
$GC,13565,0.72,228.7,315.4,12.0,1267,13572,0.12,2.03,0.00,0.000,6,0.177,0.034,3057,1052,2080,0,0,0,0,0,0
$GC,13908,0.72,232.2,276.8,11.0,1328,13916,0.00,1.30,0.00,0.000,4,0.000,0.044,3063,187,2080,0,0,0,0,0,0
$GC,14089,0.72,232.2,255.5,11.7,1359,14095,0.00,1.17,0.00,0.000,6,0.000,0.024,3063,1053,2081,0,0,0,0,0,0
$GC,14431,0.72,232.2,218.6,11.8,1420,14440,0.00,1.92,0.00,0.000,4,0.000,0.021,3063,2387,2082,0,0,0,0,0,0
$GC,14509,0.76,263.9,209.9,10.1,1433,14543,0.00,2.00,27.62,0.787,6,0.000,0.034,3070,1060,1952,0,0,0,0,0,0
$GC,14879,0.90,373.7,172.1,7.5,1498,14974,0.12,1.40,88.60,0.755,4,0.091,0.043,3133,181,1504,0,0,0,0,0,0
$GC,15077,0.90,373.7,143.9,15.9,1530,15085,0.00,1.23,0.00,0.000,6,0.000,0.021,3133,1088,1499,0,0,0,0,0,0
$GC,15404,0.90,373.7,97.9,12.2,1591,15412,0.00,1.88,0.00,0.000,4,0.000,0.019,3133,2395,1495,0,0,0,0,0,0
$GC,15447,0.90,373.7,92.4,12.6,1598,15454,0.00,2.05,0.00,0.000,6,0.000,0.034,3133,1061,1496,0,0,0,0,0,0
$GC,15772,0.90,373.7,49.3,13.9,1659,15780,0.00,1.30,0.00,0.000,4,0.000,0.043,3135,191,1495,0,0,0,0,0,0
$GC,15847,0.90,373.7,39.0,13.7,1672,15856,0.00,1.20,0.00,0.000,6,0.000,0.019,3136,1117,1496,0,0,0,0,0,0
$STATE,16149,end climb,SURFACE_DEPTH_REACHED
$STATE,16150,begin surface coast
$FINISH,0.8,1.022421
$STATE,16182,end surface coast,CONTROL_FINISHED_OK
$STATE,16182,begin surface
$SM_CCo,16200,31.70,0.408,1,0,1398,400.08
$SM_GC,1.58,0.00,0.00,31.70,0.000,0.000,0.408,123,782,1398,-8.42,-0.23,400.08
$IRIDIUM_FIX,2115.63,12602.66,041110,191953
$TT8_MAMPS,0.028462
$HUMID,40.23
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,22.8,55.575
$10V_AH,10.1,51.417
$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,19.375,121.025,502.050,31.700,0.000,90.532,75.759,210.582,0.000,0.000,18.738,4259.558,7324.312,625.981,4174.287,542.926,0.000,2169.772,0.000,3809.179,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,74.205,1413.720,407.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.900,1510.278,1938.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,100036,1734
$CAP_FILE_SIZE,183751,0
$CFSIZE,260165632,146825216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053, 97.6,1
$GPS,051110,000037,2121.229,12601.281,32,1.0,33,-2.9