version: 66.08
glider: 167
mission: 6
dive: 303
start: 11 5 110 18 13 54
data:
$ID,167
$MISSION,6
$DIVE,303
$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,-54506.051
$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,47
$R_STBD_OVSHOOT,75
$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
$GPS1,051110,180255,2123.944,12601.617,41,1.1,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.3
$GPS2,051110,181331,2123.871,12601.654,10,1.4,15,-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,196.0,9240,-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,-228.7,0.0,0.0,0,92,0.00,0.00,-71.45,0.000,2,0.000,0.000,109,769,3565,0,0,0,0,0,0
$GC,95,-0.72,-228.7,6.7,-14.2,10,119,9.70,0.85,-6.10,0.000,4,0.221,0.070,2581,192,3962,0,0,0,0,0,0
$GC,359,-0.72,-228.7,99.1,-31.0,58,367,0.00,0.80,0.00,0.000,6,0.000,0.019,2578,898,3963,0,0,0,0,0,0
$GC,689,-0.72,-228.7,171.7,-19.0,119,696,0.00,1.02,0.00,0.000,4,0.000,0.040,2578,200,3964,0,0,0,0,0,0
$GC,760,-0.72,-228.7,186.6,-19.9,131,767,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,878,3964,0,0,0,0,0,0
$GC,1094,-0.72,-228.7,245.0,-17.5,192,1103,0.00,1.88,0.00,0.000,4,0.000,0.018,2573,2209,3965,0,0,0,0,0,0
$GC,1319,-0.72,-228.7,274.1,-12.0,232,1327,0.00,2.20,0.00,0.000,6,0.000,0.032,2573,748,3965,0,0,0,0,0,0
$GC,1656,-0.72,-228.7,322.8,-14.2,293,1662,0.00,2.03,0.00,0.000,4,0.000,0.017,2573,2202,3965,0,0,0,0,0,0
$GC,1777,-0.72,-228.7,336.9,-10.4,315,1785,0.00,2.12,0.00,0.000,6,0.000,0.032,2572,759,3965,0,0,0,0,0,0
$GC,2110,-0.72,-228.7,382.5,-13.1,376,2118,0.00,2.05,0.00,0.000,4,0.000,0.018,2573,2193,3965,0,0,0,0,0,0
$GC,2153,-0.72,-228.7,387.8,-11.7,383,2161,0.00,2.10,0.00,0.000,6,0.000,0.033,2573,772,3964,0,0,0,0,0,0
$GC,2489,-0.72,-228.7,429.1,-12.3,444,2497,0.00,2.05,0.00,0.000,4,0.000,0.018,2573,2200,3962,0,0,0,0,0,0
$GC,2547,-0.72,-228.7,434.7,-9.8,453,2553,0.00,2.12,0.00,0.000,6,0.000,0.033,2573,782,3962,0,0,0,0,0,0
$GC,2881,-0.72,-228.7,472.7,-11.0,514,2888,0.00,2.03,0.00,0.000,4,0.000,0.018,2573,2190,3960,0,0,0,0,0,0
$GC,2956,-0.72,-228.7,480.3,-9.6,527,2963,0.00,2.08,0.00,0.000,6,0.000,0.034,2573,795,3959,0,0,0,0,0,0
$GC,3293,-0.72,-228.7,516.0,-10.7,575,3296,0.00,2.00,0.00,0.000,4,0.000,0.018,2573,2191,3957,0,0,0,0,0,0
$GC,3317,-0.72,-228.7,518.6,-9.7,577,3321,0.00,2.10,0.00,0.000,6,0.000,0.034,2573,789,3957,0,0,0,0,0,0
$GC,3642,-0.72,-228.7,551.5,-10.2,607,3646,0.00,2.05,0.00,0.000,4,0.000,0.019,2573,2195,3956,0,0,0,0,0,0
$GC,3677,-0.72,-228.7,554.7,-8.7,610,3681,0.00,2.10,0.00,0.000,6,0.000,0.035,2573,800,3955,0,0,0,0,0,0
$GC,4007,-0.72,-228.7,587.8,-10.5,640,4010,0.00,2.00,0.00,0.000,4,0.000,0.019,2573,2187,3952,0,0,0,0,0,0
$GC,4086,-0.72,-228.7,595.0,-7.8,647,4090,0.00,2.08,0.00,0.000,6,0.000,0.036,2573,810,3952,0,0,0,0,0,0
$GC,4414,-0.72,-228.7,626.3,-9.9,665,4418,0.00,2.00,0.00,0.000,4,0.000,0.019,2573,2196,3949,0,0,0,0,0,0
$GC,4500,-0.72,-228.7,633.5,-8.2,668,4507,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,822,3949,0,0,0,0,0,0
$GC,4817,-0.72,-228.7,664.1,-9.8,684,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,822,3946,0,0,0,0,0,0
$GC,5127,-0.72,-228.7,693.2,-9.4,699,5131,0.00,1.98,0.00,0.000,4,0.000,0.020,2573,2189,3944,0,0,0,0,0,0
$GC,5165,-0.72,-228.7,696.7,-7.9,700,5172,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,832,3943,0,0,0,0,0,0
$GC,5482,-0.72,-228.7,725.0,-9.2,716,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,832,3941,0,0,0,0,0,0
$GC,5793,-0.72,-228.7,754.2,-9.6,731,5796,0.00,1.98,0.00,0.000,4,0.000,0.021,2573,2194,3939,0,0,0,0,0,0
$GC,5832,-0.72,-228.7,757.9,-8.4,732,5838,0.00,2.08,0.00,0.000,6,0.000,0.038,2573,829,3939,0,0,0,0,0,0
$GC,6150,-0.72,-228.7,787.3,-9.5,748,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,829,3937,0,0,0,0,0,0
$GC,6457,-0.72,-228.7,815.5,-8.8,763,6461,0.00,2.00,0.00,0.000,4,0.000,0.021,2572,2189,3935,0,0,0,0,0,0
$GC,6525,-0.72,-228.7,820.8,-7.5,766,6529,0.00,2.08,0.00,0.000,6,0.000,0.038,2573,839,3934,0,0,0,0,0,0
$GC,6855,-0.72,-228.7,847.9,-8.3,782,6858,0.00,1.98,0.00,0.000,4,0.000,0.021,2573,2196,3932,0,0,0,0,0,0
$GC,6882,-0.72,-228.7,850.3,-7.4,783,6886,0.00,2.10,0.00,0.000,6,0.000,0.039,2573,834,3931,0,0,0,0,0,0
$GC,7204,-0.72,-228.7,875.7,-7.9,799,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,834,3930,0,0,0,0,0,0
$GC,7515,-0.72,-228.7,900.9,-8.2,814,7519,0.00,2.00,0.00,0.000,4,0.000,0.021,2573,2186,3928,0,0,0,0,0,0
$GC,7570,-0.72,-228.7,905.2,-7.4,816,7574,0.00,2.05,0.00,0.000,6,0.000,0.039,2573,847,3927,0,0,0,0,0,0
$GC,7888,-0.72,-228.7,931.4,-8.6,831,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,847,3926,0,0,0,0,0,0
$GC,8196,-0.72,-228.7,958.8,-9.1,846,8199,0.00,1.95,0.00,0.000,4,0.000,0.021,2573,2184,3926,0,0,0,0,0,0
$GC,8246,-0.72,-228.7,963.3,-8.4,848,8250,0.00,2.08,0.00,0.000,6,0.000,0.040,2573,845,3924,0,0,0,0,0,0
$GC,8568,-0.72,-228.7,992.5,-9.1,864,8572,0.00,1.98,0.00,0.000,4,0.000,0.021,2573,2194,3923,0,0,0,0,0,0
$GC,8607,-0.72,-228.7,995.9,-8.0,865,8614,0.00,2.08,0.00,0.000,6,0.000,0.040,2573,855,3923,0,0,0,0,0,0
$STATE,8673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8673,begin apogee
$GC,8680,-0.14,0.0,1001.6,8.4,869,8870,0.57,0.00,185.00,1.406,4,0.109,0.000,2769,1021,3029,0,0,0,0,0,0
$STATE,8872,end apogee,CONTROL_FINISHED_OK
$STATE,8872,begin climb
$GC,8875,0.72,228.7,1011.1,0.0,877,9081,0.77,1.40,199.43,1.349,4,0.049,0.049,3061,196,2096,0,0,0,0,0,0
$GC,9320,0.72,228.7,942.7,19.8,896,9324,0.00,1.12,0.00,0.000,6,0.000,0.026,3061,982,2087,0,0,0,0,0,0
$GC,9643,0.72,228.7,879.7,19.1,912,9647,0.00,1.20,0.00,0.000,4,0.000,0.047,3066,199,2084,0,0,0,0,0,0
$GC,9861,0.72,228.7,836.0,19.7,921,9868,0.00,1.15,0.00,0.000,6,0.000,0.026,3066,1019,2083,0,0,0,0,0,0
$GC,10178,0.72,228.7,782.7,16.4,937,10182,0.00,2.03,0.00,0.000,4,0.000,0.025,3066,2397,2082,0,0,0,0,0,0
$GC,10294,0.72,228.7,765.2,15.5,942,10297,0.00,2.08,0.00,0.000,6,0.000,0.037,3075,1030,2081,0,0,0,0,0,0
$GC,10621,0.72,228.7,710.2,16.6,958,10624,0.00,2.00,0.00,0.000,4,0.000,0.024,3075,2390,2081,0,0,0,0,0,0
$GC,10695,0.72,228.7,697.6,15.6,961,10699,0.00,2.05,0.00,0.000,6,0.000,0.037,3084,1042,2080,0,0,0,0,0,0
$GC,11017,0.72,228.7,640.7,17.5,977,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1042,2080,0,0,0,0,0,0
$GC,11328,0.72,228.7,586.8,17.3,995,11331,0.00,2.00,0.00,0.000,4,0.000,0.024,3084,2401,2079,0,0,0,0,0,0
$GC,11399,0.72,228.7,575.7,15.4,1001,11403,0.15,2.08,0.00,0.000,6,0.177,0.036,3053,1044,2079,0,0,0,0,0,0
$GC,11726,0.72,228.7,530.2,14.1,1031,11729,0.00,1.95,0.00,0.000,4,0.000,0.025,3053,2389,2079,0,0,0,0,0,0
$GC,11794,0.72,228.7,520.6,14.1,1037,11798,0.00,2.03,0.00,0.000,6,0.000,0.036,3061,1052,2079,0,0,0,0,0,0
$GC,12127,0.72,228.7,473.3,14.0,1084,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1052,2079,0,0,0,0,0,0
$GC,12472,0.72,228.7,425.3,13.8,1145,12478,0.00,1.30,0.00,0.000,4,0.000,0.047,3068,193,2078,0,0,0,0,0,0
$GC,12508,0.72,228.7,419.8,14.3,1151,12515,0.00,1.23,0.00,0.000,6,0.000,0.025,3067,1071,2077,0,0,0,0,0,0
$GC,12850,0.72,228.7,374.4,13.4,1212,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1071,2078,0,0,0,0,0,0
$GC,13193,0.72,228.7,331.3,12.5,1273,13199,0.00,1.35,0.00,0.000,4,0.000,0.044,3073,187,2078,0,0,0,0,0,0
$GC,13244,0.72,228.7,324.2,14.0,1282,13252,0.00,1.23,0.00,0.000,6,0.000,0.024,3074,1076,2078,0,0,0,0,0,0
$GC,13585,0.72,228.7,285.6,12.4,1343,13592,0.00,1.90,0.00,0.000,4,0.000,0.023,3074,2398,2078,0,0,0,0,0,0
$GC,13663,0.72,228.7,276.1,12.2,1356,13672,0.00,2.05,0.00,0.000,6,0.000,0.035,3081,1066,2078,0,0,0,0,0,0
$GC,14005,0.72,228.7,235.1,11.3,1417,14012,0.00,1.33,0.00,0.000,4,0.000,0.045,3087,190,2079,0,0,0,0,0,0
$GC,14068,0.72,228.7,226.8,13.2,1428,14077,0.10,1.20,0.00,0.000,6,0.149,0.022,3056,1070,2079,0,0,0,0,0,0
$GC,14415,0.82,307.5,192.9,8.5,1489,14482,0.00,1.40,62.33,0.779,4,0.000,0.044,3062,193,1775,0,0,0,0,0,0
$GC,14735,0.89,365.3,159.5,9.2,1544,14790,0.10,1.15,46.90,0.737,6,0.051,0.021,3120,1055,1538,0,0,0,0,0,0
$GC,15114,0.89,365.3,108.9,11.8,1612,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1055,1532,0,0,0,0,0,0
$GC,15444,0.89,366.5,73.9,11.1,1673,15452,0.00,1.30,0.00,0.000,4,0.000,0.042,3126,192,1532,0,0,0,0,0,0
$GC,15651,0.89,366.5,45.6,14.4,1711,15659,0.00,1.15,0.00,0.000,6,0.000,0.019,3126,1102,1532,0,0,0,0,0,0
$GC,15978,0.93,398.7,9.0,10.1,1772,16017,0.00,1.40,27.67,0.594,4,0.000,0.044,3126,194,1402,0,0,0,0,0,0
$STATE,16028,end climb,SURFACE_DEPTH_REACHED
$STATE,16028,begin surface coast
$FINISH,0.9,1.022367
$STATE,16050,end surface coast,CONTROL_FINISHED_OK
$STATE,16052,begin surface
$SM_CCo,16132,0.00,0.000,0,0,1397,400.08
$SM_GC,1.36,7.75,0.00,0.00,0.037,0.000,0.000,109,881,1397,-8.35,2.57,400.08
$IRIDIUM_FIX,2115.63,12602.66,051110,181802
$TT8_MAMPS,0.028462
$HUMID,39.21
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.10
$XPDR_PINGS,0
$24V_AH,22.8,56.509
$10V_AH,10.2,52.354
$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,19.150,108.875,521.325,0.000,0.000,54.380,85.120,228.335,0.000,0.000,16.700,4346.688,6990.876,600.204,4270.389,535.283,0.000,2150.212,0.000,3912.316,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,70.380,1406.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.903,1573.427,2055.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,103472,1783
$CAP_FILE_SIZE,181091,0
$CFSIZE,260165632,146341888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,146.4,1
$GPS,051110,224406,2121.683,12601.168,37,1.3,43,-2.9