version: 66.08
glider: 167
mission: 6
dive: 308
start: 11 6 110 16 28 11
data:
$ID,167
$MISSION,6
$DIVE,308
$N_DIVES,319
$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,-54512.34
$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,52
$R_STBD_OVSHOOT,87
$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
$GPS1,061110,161725,2124.477,12601.134,39,1.6,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.9
$GPS2,061110,162749,2124.418,12601.237,15,1.9,15,-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,188.9,10220,-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,-67.40,0.000,2,0.000,0.000,113,773,3389,0,0,0,0,0,0
$GC,91,-0.72,-228.7,5.4,-9.9,9,117,9.62,0.88,-9.45,0.000,4,0.219,0.074,2580,195,3965,0,0,0,0,0,0
$GC,349,-0.72,-228.7,88.2,-28.6,56,357,0.00,0.77,0.00,0.000,6,0.000,0.020,2578,882,3967,0,0,0,0,0,0
$GC,677,-0.72,-228.7,161.7,-18.6,117,685,0.00,1.80,0.00,0.000,4,0.000,0.017,2570,2193,3968,0,0,0,0,0,0
$GC,694,-0.72,-228.7,165.1,-19.3,119,701,0.00,2.08,0.00,0.000,6,0.000,0.033,2570,791,3968,0,0,0,0,0,0
$GC,1036,-0.72,-228.7,227.5,-18.7,180,1043,0.00,0.85,0.00,0.000,4,0.000,0.041,2569,197,3969,0,0,0,0,0,0
$GC,1295,-0.72,-228.7,275.0,-18.9,226,1304,0.00,0.73,0.00,0.000,6,0.000,0.021,2565,845,3969,0,0,0,0,0,0
$GC,1640,-0.72,-228.7,330.3,-16.5,287,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,846,3969,0,0,0,0,0,0
$GC,1980,-0.72,-228.7,382.0,-14.1,348,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,846,3969,0,0,0,0,0,0
$GC,2322,-0.72,-228.7,428.5,-13.4,409,2328,0.00,1.90,0.00,0.000,4,0.000,0.018,2558,2198,3968,0,0,0,0,0,0
$GC,2375,-0.72,-228.7,435.1,-11.4,418,2384,0.00,2.20,0.00,0.000,6,0.000,0.034,2558,745,3968,0,0,0,0,0,0
$GC,2721,-0.72,-228.7,478.9,-12.6,479,2728,0.10,2.08,0.00,0.000,4,0.169,0.019,2583,2184,3966,0,0,0,0,0,0
$GC,2804,-0.72,-228.7,486.7,-8.1,493,2811,0.00,2.12,0.00,0.000,6,0.000,0.034,2583,756,3966,0,0,0,0,0,0
$GC,3136,-0.72,-228.7,519.1,-9.6,536,3139,0.00,2.05,0.00,0.000,4,0.000,0.018,2583,2173,3964,0,0,0,0,0,0
$GC,3197,-0.72,-228.7,524.3,-7.7,541,3203,0.00,2.12,0.00,0.000,6,0.000,0.034,2583,772,3963,0,0,0,0,0,0
$GC,3522,-0.72,-228.7,553.8,-9.2,572,3526,0.00,2.03,0.00,0.000,4,0.000,0.018,2583,2177,3960,0,0,0,0,0,0
$GC,3558,-0.72,-228.7,556.7,-7.3,575,3562,0.00,2.12,0.00,0.000,6,0.000,0.036,2583,769,3960,0,0,0,0,0,0
$GC,3884,-0.72,-228.7,586.1,-9.3,605,3887,0.00,2.03,0.00,0.000,4,0.000,0.019,2584,2170,3958,0,0,0,0,0,0
$GC,3964,-0.72,-228.7,592.6,-7.2,612,3968,0.00,2.10,0.00,0.000,6,0.000,0.036,2584,782,3958,0,0,0,0,0,0
$GC,4285,-0.72,-228.7,622.8,-9.6,631,4289,0.00,2.03,0.00,0.000,4,0.000,0.020,2584,2182,3954,0,0,0,0,0,0
$GC,4377,-0.72,-228.7,630.2,-7.2,635,4381,0.00,2.08,0.00,0.000,6,0.000,0.037,2583,808,3954,0,0,0,0,0,0
$GC,4705,-0.72,-228.7,659.7,-8.9,651,4708,0.00,1.98,0.00,0.000,4,0.000,0.020,2584,2176,3951,0,0,0,0,0,0
$GC,4762,-0.72,-228.7,664.3,-7.2,653,4766,0.00,2.08,0.00,0.000,6,0.000,0.037,2584,819,3951,0,0,0,0,0,0
$GC,5085,-0.72,-228.7,692.7,-9.0,669,5088,0.00,1.95,0.00,0.000,4,0.000,0.020,2584,2183,3949,0,0,0,0,0,0
$GC,5112,-0.72,-228.7,695.2,-8.8,670,5116,0.00,2.08,0.00,0.000,6,0.000,0.037,2583,815,3948,0,0,0,0,0,0
$GC,5437,-0.72,-228.7,721.9,-8.1,686,5440,0.00,1.98,0.00,0.000,4,0.000,0.020,2583,2180,3946,0,0,0,0,0,0
$GC,5475,-0.72,-228.7,725.1,-7.0,687,5482,0.00,2.08,0.00,0.000,6,0.000,0.038,2583,828,3946,0,0,0,0,0,0
$GC,5794,-0.72,-228.7,751.8,-8.9,703,5798,0.00,1.95,0.00,0.000,4,0.000,0.021,2583,2178,3943,0,0,0,0,0,0
$GC,5844,-0.72,-228.7,756.3,-8.2,705,5848,0.00,2.05,0.00,0.000,6,0.000,0.038,2583,843,3943,0,0,0,0,0,0
$GC,6172,-0.72,-228.7,784.2,-8.4,721,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,844,3941,0,0,0,0,0,0
$GC,6483,-0.72,-228.7,809.8,-8.2,736,6486,0.00,1.92,0.00,0.000,4,0.000,0.021,2583,2185,3940,0,0,0,0,0,0
$GC,6507,-0.72,-228.7,811.8,-7.8,737,6511,0.00,2.05,0.00,0.000,6,0.000,0.039,2584,840,3939,0,0,0,0,0,0
$GC,6836,-0.72,-228.7,837.5,-7.9,753,6840,0.00,1.95,0.00,0.000,4,0.000,0.021,2583,2181,3938,0,0,0,0,0,0
$GC,6883,-0.72,-228.7,840.8,-6.7,755,6887,0.00,2.05,0.00,0.000,6,0.000,0.040,2583,838,3937,0,0,0,0,0,0
$GC,7211,-0.72,-228.7,865.5,-7.6,771,7214,0.00,1.95,0.00,0.000,4,0.000,0.021,2583,2180,3935,0,0,0,0,0,0
$GC,7246,-0.72,-228.7,867.9,-6.5,772,7250,0.00,2.05,0.00,0.000,6,0.000,0.040,2583,852,3935,0,0,0,0,0,0
$GC,7568,-0.72,-228.7,892.4,-7.8,788,7571,0.00,1.90,0.00,0.000,4,0.000,0.021,2583,2174,3934,0,0,0,0,0,0
$GC,7601,-0.72,-228.7,895.0,-7.7,789,7605,0.00,2.03,0.00,0.000,6,0.000,0.040,2583,853,3933,0,0,0,0,0,0
$GC,7925,-0.72,-228.7,920.4,-8.1,805,7929,0.00,1.90,0.00,0.000,4,0.000,0.021,2583,2174,3932,0,0,0,0,0,0
$GC,7953,-0.72,-228.7,922.8,-7.6,806,7956,0.00,2.00,0.00,0.000,6,0.000,0.040,2583,866,3932,0,0,0,0,0,0
$GC,8282,-0.72,-228.7,949.0,-8.2,822,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,865,3930,0,0,0,0,0,0
$GC,8589,-0.72,-228.7,973.7,-7.7,837,8593,0.00,1.92,0.00,0.000,4,0.000,0.021,2584,2171,3929,0,0,0,0,0,0
$GC,8628,-0.72,-228.7,976.8,-6.9,838,8636,0.00,2.03,0.00,0.000,6,0.000,0.041,2582,865,3929,0,0,0,0,0,0
$STATE,8942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8942,begin apogee
$GC,8950,-0.14,0.0,1000.9,7.5,854,9142,0.55,0.00,186.38,1.411,4,0.109,0.000,2772,1021,3029,0,0,0,0,0,0
$STATE,9144,end apogee,CONTROL_FINISHED_OK
$STATE,9145,begin climb
$GC,9147,0.72,228.7,1010.3,0.0,863,9355,0.77,1.40,200.25,1.355,4,0.050,0.049,3063,199,2096,0,0,0,0,0,0
$GC,9512,0.72,228.7,959.9,18.5,879,9519,0.00,1.10,0.00,0.000,6,0.000,0.025,3063,969,2087,0,0,0,0,0,0
$GC,9828,0.72,228.7,902.0,18.0,895,9832,0.00,1.20,0.00,0.000,4,0.000,0.047,3068,192,2084,0,0,0,0,0,0
$GC,10052,0.72,228.7,858.6,19.1,905,10056,0.00,1.15,0.00,0.000,6,0.000,0.026,3066,1012,2084,0,0,0,0,0,0
$GC,10387,0.72,228.7,796.9,18.7,921,10391,0.00,1.98,0.00,0.000,4,0.000,0.024,3068,2379,2082,0,0,0,0,0,0
$GC,10456,0.72,228.7,784.3,17.0,924,10460,0.00,2.10,0.00,0.000,6,0.000,0.037,3076,1012,2082,0,0,0,0,0,0
$GC,10789,0.72,228.7,724.0,17.8,940,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1011,2081,0,0,0,0,0,0
$GC,11099,0.72,228.7,671.8,16.8,955,11103,0.00,2.00,0.00,0.000,4,0.000,0.024,3077,2382,2081,0,0,0,0,0,0
$GC,11149,0.72,228.7,663.2,15.6,957,11154,0.12,2.10,0.00,0.000,6,0.183,0.036,3055,1004,2080,0,0,0,0,0,0
$GC,11478,0.72,228.7,612.8,15.4,973,11482,0.00,2.03,0.00,0.000,4,0.000,0.023,3055,2392,2080,0,0,0,0,0,0
$GC,11546,0.72,228.7,602.4,14.4,976,11550,0.00,2.08,0.00,0.000,6,0.000,0.037,3063,1023,2079,0,0,0,0,0,0
$GC,11874,0.72,228.7,553.0,15.1,1006,11878,0.00,2.00,0.00,0.000,4,0.000,0.024,3063,2386,2079,0,0,0,0,0,0
$GC,11925,0.72,228.7,545.4,14.1,1010,11931,0.00,2.08,0.00,0.000,6,0.000,0.037,3070,1022,2079,0,0,0,0,0,0
$GC,12250,0.72,228.7,498.6,13.8,1041,12257,0.00,1.25,0.00,0.000,4,0.000,0.047,3076,200,2079,0,0,0,0,0,0
$GC,12299,0.72,228.7,491.4,16.0,1049,12306,0.00,1.15,0.00,0.000,6,0.000,0.024,3076,1038,2079,0,0,0,0,0,0
$GC,12630,0.72,228.7,440.1,15.1,1110,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1038,2079,0,0,0,0,0,0
$GC,12967,0.72,228.7,390.0,14.7,1171,12974,0.00,1.95,0.00,0.000,4,0.000,0.023,3076,2385,2079,0,0,0,0,0,0
$GC,13057,0.72,228.7,377.1,14.1,1187,13065,0.00,2.08,0.00,0.000,6,0.000,0.037,3079,1016,2079,0,0,0,0,0,0
$GC,13389,0.72,228.7,330.6,13.9,1248,13397,0.00,1.25,0.00,0.000,4,0.000,0.046,3085,189,2079,0,0,0,0,0,0
$GC,13499,0.72,228.7,315.8,14.2,1267,13507,0.08,1.12,0.00,0.000,6,0.161,0.024,3062,1006,2078,0,0,0,0,0,0
$GC,13830,0.72,228.7,279.8,11.3,1328,13838,0.00,2.03,0.00,0.000,4,0.000,0.023,3062,2392,2079,0,0,0,0,0,0
$GC,14059,0.77,272.4,256.1,9.7,1369,14100,0.00,2.08,34.53,0.841,6,0.000,0.037,3063,1014,1918,0,0,0,0,0,0
$GC,14432,0.80,297.3,215.4,10.3,1435,14460,0.00,1.25,21.42,0.787,4,0.000,0.042,3069,186,1816,0,0,0,0,0,0
$GC,14571,0.80,297.3,198.5,12.5,1459,14578,0.00,1.15,0.00,0.000,6,0.000,0.021,3069,1052,1814,0,0,0,0,0,0
$GC,14908,0.84,322.4,160.4,10.3,1520,14936,0.00,1.35,21.73,0.732,4,0.000,0.044,3073,195,1713,0,0,0,0,0,0
$GC,15079,0.86,342.7,140.1,10.4,1550,15103,0.00,1.12,17.65,0.700,6,0.000,0.021,3073,1054,1630,0,0,0,0,0,0
$GC,15427,1.00,454.1,108.0,7.5,1613,15524,0.20,1.33,89.60,0.691,4,0.066,0.041,3170,183,1176,0,0,0,0,0,0
$GC,15546,1.00,454.1,92.3,15.5,1629,15554,0.00,1.15,0.00,0.000,6,0.000,0.020,3170,1055,1174,0,0,0,0,0,0
$GC,15873,1.00,454.1,35.8,16.2,1690,15881,0.00,1.92,0.00,0.000,4,0.000,0.019,3170,2391,1171,0,0,0,0,0,0
$GC,15902,1.00,454.1,30.8,17.3,1694,15910,0.10,2.10,0.00,0.000,6,0.144,0.032,3145,1011,1170,0,0,0,0,0,0
$STATE,16088,end climb,SURFACE_DEPTH_REACHED
$STATE,16088,begin surface coast
$FINISH,0.5,1.022458
$STATE,16111,end surface coast,CONTROL_FINISHED_OK
$STATE,16111,begin surface
$SM_CCo,16191,0.00,0.000,0,0,1168,456.50
$SM_GC,1.43,7.80,0.00,0.00,0.039,0.000,0.000,122,769,1168,-8.38,-0.59,456.50
$IRIDIUM_FIX,2117.95,12559.43,061110,161637
$TT8_MAMPS,0.028462
$HUMID,40.35
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,22.7,57.421
$10V_AH,10.2,53.269
$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,19.350,117.750,571.550,0.000,0.000,61.122,87.554,210.249,0.000,0.000,15.941,4236.828,7262.594,620.681,4126.663,544.880,0.000,2168.282,0.000,3784.397,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,74.205,1411.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1182.047,1506.355,1918.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333736
$DATA_FILE_SIZE,100042,1732
$CAP_FILE_SIZE,182095,0
$CFSIZE,260165632,145870848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,124.1,1
$GPS,061110,205907,2121.653,12601.770,27,1.1,28,-2.9