version: 66.08
glider: 167
mission: 6
dive: 326
start: 11 10 110 2 12 10
data:
$ID,167
$MISSION,6
$DIVE,326
$N_DIVES,330
$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,-54534.98
$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,40
$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
$GPS1,101110,020237,2119.376,12600.478,35,1.0,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-61.9
$GPS2,101110,021148,2119.164,12600.362,13,1.8,29,-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,13.7,10134,-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,18,-0.72,-228.7,0.0,0.0,0,93,0.00,0.00,-71.97,0.000,2,0.000,0.000,111,784,3446,0,0,0,0,0,0
$GC,96,-0.72,-228.7,6.3,-13.7,10,120,9.75,2.00,-8.25,0.000,4,0.223,0.029,2573,2204,3964,0,0,0,0,0,0
$GC,155,-0.72,-228.7,31.4,-30.1,19,162,0.00,2.17,0.00,0.000,6,0.000,0.034,2574,785,3965,0,0,0,0,0,0
$GC,479,-0.72,-228.7,120.4,-21.8,80,487,0.00,0.88,0.00,0.000,4,0.000,0.042,2573,182,3965,0,0,0,0,0,0
$GC,548,-0.72,-228.7,136.4,-25.2,92,556,0.00,0.80,0.00,0.000,6,0.000,0.020,2568,874,3966,0,0,0,0,0,0
$GC,888,-0.72,-228.7,197.3,-16.6,153,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,875,3967,0,0,0,0,0,0
$GC,1226,-0.72,-228.7,251.7,-17.3,214,1235,0.00,1.00,0.00,0.000,4,0.000,0.040,2567,192,3967,0,0,0,0,0,0
$GC,1306,-0.72,-228.7,264.8,-17.4,227,1312,0.00,0.77,0.00,0.000,6,0.000,0.020,2564,874,3967,0,0,0,0,0,0
$GC,1646,-0.72,-228.7,320.0,-14.9,288,1654,0.00,1.85,0.00,0.000,4,0.000,0.018,2561,2184,3968,0,0,0,0,0,0
$GC,1679,-0.72,-228.7,324.9,-13.9,293,1686,0.00,2.05,0.00,0.000,6,0.000,0.032,2561,793,3967,0,0,0,0,0,0
$GC,2018,-0.72,-228.7,371.6,-12.9,354,2027,0.00,0.88,0.00,0.000,4,0.000,0.042,2561,188,3967,0,0,0,0,0,0
$GC,2089,-0.72,-228.7,381.6,-13.7,366,2097,0.00,0.80,0.00,0.000,6,0.000,0.021,2561,874,3967,0,0,0,0,0,0
$GC,2433,-0.72,-228.7,424.3,-11.8,427,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,874,3966,0,0,0,0,0,0
$GC,2771,-0.72,-228.7,466.1,-13.7,488,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,874,3964,0,0,0,0,0,0
$GC,3110,-0.72,-228.7,508.0,-12.1,543,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,874,3961,0,0,0,0,0,0
$GC,3432,-0.72,-228.7,546.9,-12.1,573,3435,0.00,1.00,0.00,0.000,4,0.000,0.043,2561,203,3959,0,0,0,0,0,0
$GC,3494,-0.72,-228.7,555.5,-12.7,578,3502,0.00,0.80,0.00,0.000,6,0.000,0.022,2560,846,3959,0,0,0,0,0,0
$GC,3821,-0.72,-228.7,593.9,-11.8,609,3825,0.00,1.88,0.00,0.000,4,0.000,0.020,2561,2178,3956,0,0,0,0,0,0
$GC,3908,-0.72,-228.7,602.5,-9.6,615,3914,0.00,2.05,0.00,0.000,6,0.000,0.035,2560,810,3957,0,0,0,0,0,0
$GC,4224,-0.72,-228.7,638.0,-11.3,631,4228,0.00,1.95,0.00,0.000,4,0.000,0.020,2561,2180,3953,0,0,0,0,0,0
$GC,4280,-0.72,-228.7,643.9,-9.3,633,4284,0.00,2.10,0.00,0.000,6,0.000,0.036,2561,819,3952,0,0,0,0,0,0
$GC,4604,-0.72,-228.7,678.2,-10.5,649,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,819,3950,0,0,0,0,0,0
$GC,4912,-0.72,-228.7,709.5,-9.8,664,4916,0.00,1.95,0.00,0.000,4,0.000,0.020,2560,2175,3948,0,0,0,0,0,0
$GC,4946,-0.72,-228.7,712.8,-8.8,665,4949,0.00,2.08,0.00,0.000,6,0.000,0.037,2560,826,3947,0,0,0,0,0,0
$GC,5270,-0.72,-228.7,742.7,-9.5,681,5273,0.00,1.95,0.00,0.000,4,0.000,0.020,2560,2175,3945,0,0,0,0,0,0
$GC,5319,-0.72,-228.7,747.3,-7.7,683,5323,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,821,3944,0,0,0,0,0,0
$GC,5643,-0.72,-228.7,776.5,-8.8,699,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,820,3942,0,0,0,0,0,0
$GC,5950,-0.72,-228.7,804.8,-9.2,714,5954,0.00,1.95,0.00,0.000,4,0.000,0.021,2560,2179,3940,0,0,0,0,0,0
$GC,5989,-0.72,-228.7,808.3,-8.2,715,5996,0.00,2.08,0.00,0.000,6,0.000,0.038,2560,815,3940,0,0,0,0,0,0
$GC,6308,-0.72,-228.7,838.0,-9.8,731,6312,0.00,2.00,0.00,0.000,4,0.000,0.021,2560,2176,3938,0,0,0,0,0,0
$GC,6363,-0.72,-228.7,843.2,-8.5,733,6367,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,827,3937,0,0,0,0,0,0
$GC,6680,-0.72,-228.7,873.3,-9.6,748,6684,0.10,1.98,0.00,0.000,4,0.159,0.021,2587,2162,3935,0,0,0,0,0,0
$GC,6714,-0.72,-228.7,876.1,-7.5,749,6718,0.00,2.05,0.00,0.000,6,0.000,0.040,2587,844,3934,0,0,0,0,0,0
$GC,7030,-0.72,-228.7,899.1,-7.0,764,7034,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2180,3933,0,0,0,0,0,0
$GC,7071,-0.72,-228.7,901.9,-6.7,765,7078,0.00,2.05,0.00,0.000,6,0.000,0.039,2587,838,3933,0,0,0,0,0,0
$GC,7387,-0.72,-228.7,924.0,-7.1,781,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,838,3931,0,0,0,0,0,0
$GC,7697,-0.72,-228.7,946.1,-7.2,796,7700,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2179,3929,0,0,0,0,0,0
$GC,7737,-0.72,-228.7,948.9,-7.2,797,7744,0.00,2.08,0.00,0.000,6,0.000,0.040,2587,837,3929,0,0,0,0,0,0
$GC,8053,-0.72,-228.7,971.8,-7.5,813,8057,0.00,1.95,0.00,0.000,4,0.000,0.021,2587,2175,3927,0,0,0,0,0,0
$GC,8092,-0.72,-228.7,974.6,-7.1,814,8100,0.00,2.03,0.00,0.000,6,0.000,0.040,2587,852,3927,0,0,0,0,0,0
$GC,8411,-0.72,-228.7,998.1,-7.5,830,8414,0.00,1.92,0.00,0.000,4,0.000,0.021,2587,2171,3926,0,0,0,0,0,0
$STATE,8435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8436,begin apogee
$GC,8443,-0.14,0.0,1000.3,6.9,831,8635,0.52,0.00,186.32,1.418,4,0.100,0.000,2771,994,3029,0,0,0,0,0,0
$STATE,8636,end apogee,CONTROL_FINISHED_OK
$STATE,8636,begin climb
$GC,8638,0.72,228.7,1010.5,0.0,840,8847,0.80,2.20,200.25,1.357,4,0.046,0.021,3060,2389,2096,0,0,0,0,0,0
$GC,8965,0.72,228.7,973.4,16.2,855,8970,0.00,2.22,0.00,0.000,6,0.000,0.038,3069,996,2088,0,0,0,0,0,0
$GC,9295,0.72,228.7,916.1,17.4,871,9299,0.00,1.25,0.00,0.000,4,0.000,0.048,3075,184,2087,0,0,0,0,0,0
$GC,9461,0.72,228.7,884.7,19.1,878,9464,0.00,1.17,0.00,0.000,6,0.000,0.026,3075,1016,2085,0,0,0,0,0,0
$GC,9790,0.72,228.7,826.5,17.9,894,9793,0.00,2.00,0.00,0.000,4,0.000,0.024,3075,2385,2084,0,0,0,0,0,0
$GC,9890,0.72,228.7,808.8,16.7,898,9894,0.00,2.08,0.00,0.000,6,0.000,0.037,3083,1021,2084,0,0,0,0,0,0
$GC,10212,0.72,228.7,750.6,18.1,914,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1020,2084,0,0,0,0,0,0
$GC,10521,0.72,228.7,694.6,18.2,929,10525,0.00,2.00,0.00,0.000,4,0.000,0.024,3083,2385,2082,0,0,0,0,0,0
$GC,10581,0.72,228.7,684.0,16.4,931,10589,0.15,2.05,0.00,0.000,6,0.178,0.037,3052,1032,2082,0,0,0,0,0,0
$GC,10900,0.72,228.7,637.3,14.0,947,10904,0.00,1.27,0.00,0.000,4,0.000,0.046,3058,196,2082,0,0,0,0,0,0
$GC,10916,0.72,228.7,634.4,13.6,947,10923,0.00,1.17,0.00,0.000,6,0.000,0.028,3058,1032,2081,0,0,0,0,0,0
$GC,11234,0.72,228.7,589.6,14.4,966,11238,0.00,1.98,0.00,0.000,4,0.000,0.026,3058,2385,2082,0,0,0,0,0,0
$GC,11251,0.72,228.7,587.1,14.4,967,11258,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1031,2081,0,0,0,0,0,0
$GC,11576,0.72,228.7,540.2,14.6,998,11580,0.00,1.98,0.00,0.000,4,0.000,0.024,3066,2391,2081,0,0,0,0,0,0
$GC,11646,0.72,228.7,530.6,13.5,1004,11650,0.00,2.05,0.00,0.000,6,0.000,0.037,3075,1038,2081,0,0,0,0,0,0
$GC,11976,0.72,228.7,480.7,15.5,1045,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1037,2080,0,0,0,0,0,0
$GC,12314,0.72,228.7,431.8,14.0,1106,12323,0.00,1.27,0.00,0.000,4,0.000,0.046,3082,193,2080,0,0,0,0,0,0
$GC,12353,0.72,228.7,426.3,14.4,1112,12361,0.00,1.20,0.00,0.000,6,0.000,0.025,3081,1049,2079,0,0,0,0,0,0
$GC,12698,0.72,228.7,378.6,12.5,1173,12705,0.00,1.95,0.00,0.000,4,0.000,0.024,3082,2398,2080,0,0,0,0,0,0
$GC,12768,0.72,228.7,369.1,12.5,1185,12778,0.12,2.08,0.00,0.000,6,0.174,0.036,3058,1036,2080,0,0,0,0,0,0
$GC,13111,0.72,228.7,330.5,11.6,1246,13120,0.00,1.27,0.00,0.000,4,0.000,0.046,3063,193,2080,0,0,0,0,0,0
$GC,13246,0.72,228.7,312.5,12.7,1269,13253,0.00,1.15,0.00,0.000,6,0.000,0.024,3063,1027,2080,0,0,0,0,0,0
$GC,13589,0.77,269.6,274.9,9.8,1330,13630,0.00,2.03,32.05,0.867,4,0.000,0.022,3064,2379,1929,0,0,0,0,0,0
$GC,13650,0.79,286.2,268.2,10.6,1339,13670,0.00,2.10,15.68,0.816,6,0.000,0.034,3072,1002,1862,0,0,0,0,0,0
$GC,14004,0.79,286.2,226.2,12.4,1402,14012,0.00,2.03,0.00,0.000,4,0.000,0.019,3072,2391,1857,0,0,0,0,0,0
$GC,14040,0.79,286.2,222.0,12.5,1407,14046,0.00,2.12,0.00,0.000,6,0.000,0.036,3075,1004,1857,0,0,0,0,0,0
$GC,14379,0.83,320.0,180.5,10.0,1468,14414,0.00,1.20,28.27,0.767,4,0.000,0.042,3082,192,1724,0,0,0,0,0,0
$GC,14478,0.83,320.0,168.6,13.1,1484,14486,0.00,1.12,0.00,0.000,6,0.000,0.022,3081,1028,1721,0,0,0,0,0,0
$GC,14813,0.94,410.9,135.2,8.1,1545,14897,0.12,1.33,73.47,0.728,4,0.090,0.044,3145,191,1353,0,0,0,0,0,0
$GC,15053,0.94,410.9,100.1,15.1,1585,15061,0.00,1.10,0.00,0.000,6,0.000,0.021,3145,1028,1347,0,0,0,0,0,0
$GC,15381,0.94,410.9,52.0,13.9,1646,15390,0.00,1.25,0.00,0.000,4,0.000,0.041,3151,194,1346,0,0,0,0,0,0
$GC,15425,0.94,410.9,45.0,17.1,1653,15433,0.00,1.05,0.00,0.000,6,0.000,0.020,3150,1020,1346,0,0,0,0,0,0
$STATE,15709,end climb,SURFACE_DEPTH_REACHED
$STATE,15709,begin surface coast
$FINISH,0.7,1.022558
$STATE,15726,end surface coast,CONTROL_FINISHED_OK
$STATE,15726,begin surface
$SM_CCo,15804,0.00,0.000,0,0,1343,413.33
$SM_GC,1.52,7.80,0.00,0.00,0.039,0.000,0.000,120,766,1343,-8.36,-0.68,413.33
$IRIDIUM_FIX,2115.63,12602.66,091110,212133
$TT8_MAMPS,0.028462
$HUMID,41.84
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,22.7,60.807
$10V_AH,10.1,56.642
$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,19.375,108.975,536.050,0.000,0.000,25.261,43.402,247.788,0.000,0.000,30.481,4143.158,6997.403,617.032,4032.049,537.698,0.000,2128.988,0.000,3712.110,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,48.195,1418.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.486,1499.487,1933.245,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100146,1709
$CAP_FILE_SIZE,175416,0
$CFSIZE,260165632,144166912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,246.4,1
$GPS,101110,063653,2121.143,12559.979,25,1.7,42,-2.9