version: 66.08
glider: 167
mission: 6
dive: 328
start: 11 10 110 11 34 32
data:
$ID,167
$MISSION,6
$DIVE,328
$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,-54537.496
$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,43
$R_STBD_OVSHOOT,147
$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
$GPS1,101110,112455,2122.689,12600.703,37,2.0,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.3
$GPS2,101110,113358,2122.582,12600.621,13,2.2,32,-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,26.0,3832,-19.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.73,-148.9,0.0,0.0,0,89,0.00,0.00,-71.10,0.000,2,0.000,0.000,102,792,3398,0,0,0,0,0,0
$GC,92,-0.73,-148.9,6.4,-15.0,10,116,9.75,1.95,-4.00,0.000,4,0.221,0.031,2568,2159,3640,0,0,0,0,0,0
$GC,161,-0.73,-148.9,33.2,-27.9,21,169,0.00,2.10,0.00,0.000,6,0.000,0.034,2568,788,3642,0,0,0,0,0,0
$GC,485,-0.73,-148.9,117.9,-26.2,82,493,0.00,0.88,0.00,0.000,4,0.000,0.041,2568,186,3643,0,0,0,0,0,0
$GC,681,-0.73,-148.9,159.1,-18.3,117,688,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,801,3643,0,0,0,0,0,0
$GC,1023,-0.73,-148.9,220.8,-17.4,178,1031,0.00,0.90,0.00,0.000,4,0.000,0.040,2564,187,3645,0,0,0,0,0,0
$GC,1178,-0.73,-148.9,247.5,-17.9,205,1185,0.00,0.70,0.00,0.000,6,0.000,0.021,2560,807,3644,0,0,0,0,0,0
$GC,1517,-0.73,-148.9,302.9,-14.3,266,1524,0.00,0.90,0.00,0.000,4,0.000,0.041,2560,192,3644,0,0,0,0,0,0
$GC,1652,-0.73,-148.9,322.9,-14.7,289,1658,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,774,3644,0,0,0,0,0,0
$GC,1989,-0.73,-148.9,370.6,-13.4,350,1997,0.00,1.90,0.00,0.000,4,0.000,0.016,2560,2126,3644,0,0,0,0,0,0
$GC,2022,-0.73,-148.9,375.0,-12.1,355,2029,0.00,2.03,0.00,0.000,6,0.000,0.033,2560,763,3644,0,0,0,0,0,0
$GC,2362,-0.73,-148.9,416.6,-12.3,416,2370,0.00,0.82,0.00,0.000,4,0.000,0.043,2560,192,3643,0,0,0,0,0,0
$GC,2539,-0.73,-148.9,439.6,-13.3,447,2546,0.00,0.62,0.00,0.000,6,0.000,0.023,2559,740,3643,0,0,0,0,0,0
$GC,2878,-0.74,-159.3,478.8,-10.6,508,2886,0.00,1.98,0.00,0.000,4,0.000,0.018,2557,2129,3640,0,0,0,0,0,0
$GC,2928,-0.77,-180.1,484.0,-10.1,516,2937,0.00,2.10,0.00,0.000,6,0.000,0.034,2557,746,3640,0,0,0,0,0,0
$GC,3262,-0.77,-180.1,522.2,-11.4,559,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,746,3638,0,0,0,0,0,0
$GC,3586,-0.77,-180.1,559.5,-11.8,589,3589,0.00,1.98,0.00,0.000,4,0.000,0.018,2557,2129,3636,0,0,0,0,0,0
$GC,3665,-0.82,-217.7,568.1,-9.2,596,3669,0.00,2.08,0.00,0.000,6,0.000,0.035,2557,750,3635,0,0,0,0,0,0
$GC,3995,-0.82,-217.7,605.0,-11.4,625,3998,0.00,1.95,0.00,0.000,4,0.000,0.018,2557,2127,3633,0,0,0,0,0,0
$GC,4034,-0.83,-228.7,609.3,-10.1,626,4040,0.00,2.05,0.00,0.000,6,0.000,0.037,2557,768,3633,0,0,0,0,0,0
$GC,4351,-0.83,-228.7,644.2,-11.2,642,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,768,3631,0,0,0,0,0,0
$GC,4660,-0.83,-228.7,677.7,-10.4,657,4663,0.00,1.95,0.00,0.000,4,0.000,0.018,2552,2127,3628,0,0,0,0,0,0
$GC,4715,-0.83,-228.7,683.2,-9.1,659,4719,0.00,2.05,0.00,0.000,6,0.000,0.037,2553,772,3628,0,0,0,0,0,0
$GC,5033,-0.83,-228.7,714.4,-9.9,674,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,772,3626,0,0,0,0,0,0
$GC,5342,-0.83,-228.7,745.0,-9.8,689,5345,0.00,1.92,0.00,0.000,4,0.000,0.019,2548,2123,3623,0,0,0,0,0,0
$GC,5388,-0.83,-228.7,749.1,-7.9,691,5392,0.00,2.05,0.00,0.000,6,0.000,0.038,2548,775,3623,0,0,0,0,0,0
$GC,5717,-0.83,-228.7,780.9,-9.8,707,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,775,3621,0,0,0,0,0,0
$GC,6026,-0.83,-228.7,811.3,-9.9,722,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,775,3619,0,0,0,0,0,0
$GC,6336,-0.83,-228.7,841.8,-9.9,737,6339,0.00,1.95,0.00,0.000,4,0.000,0.020,2548,2124,3616,0,0,0,0,0,0
$GC,6397,-0.83,-228.7,847.6,-8.1,739,6404,0.00,2.05,0.00,0.000,6,0.000,0.039,2547,778,3616,0,0,0,0,0,0
$GC,6713,-0.83,-228.7,878.1,-9.9,755,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,779,3615,0,0,0,0,0,0
$GC,7024,-0.83,-228.7,910.1,-10.3,770,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,779,3613,0,0,0,0,0,0
$GC,7332,-0.83,-228.7,943.2,-10.8,785,7336,0.00,1.98,0.00,0.000,4,0.000,0.021,2547,2143,3611,0,0,0,0,0,0
$GC,7371,-0.83,-228.7,947.4,-10.1,786,7378,0.00,2.10,0.00,0.000,6,0.000,0.040,2547,768,3611,0,0,0,0,0,0
$GC,7689,-0.83,-228.7,978.5,-9.6,802,7693,0.00,0.88,0.00,0.000,4,0.000,0.050,2547,188,3609,0,0,0,0,0,0
$GC,7784,-0.83,-228.7,988.0,-9.6,806,7788,0.00,0.70,0.00,0.000,6,0.000,0.026,2548,723,3608,0,0,0,0,0,0
$STATE,7924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7924,begin apogee
$GC,7932,-0.14,0.0,1000.5,8.9,813,8062,0.68,0.00,120.45,1.414,4,0.126,0.000,2767,968,3029,0,0,0,0,0,0
$STATE,8063,end apogee,CONTROL_FINISHED_OK
$STATE,8063,begin climb
$GC,8066,0.83,228.7,1003.4,0.0,819,8271,0.85,1.27,197.75,1.356,4,0.053,0.050,3096,196,2096,0,0,0,0,0,0
$GC,8432,0.83,228.7,944.3,21.3,835,8436,0.00,1.12,0.00,0.000,6,0.000,0.027,3096,971,2087,0,0,0,0,0,0
$GC,8765,0.83,228.7,876.6,19.5,851,8769,0.00,1.20,0.00,0.000,4,0.000,0.047,3101,192,2083,0,0,0,0,0,0
$GC,8895,0.83,228.7,850.2,20.0,856,8903,0.00,1.17,0.00,0.000,6,0.000,0.027,3101,1024,2083,0,0,0,0,0,0
$GC,9211,0.83,228.7,791.7,19.0,872,9215,0.00,2.00,0.00,0.000,4,0.000,0.025,3101,2393,2081,0,0,0,0,0,0
$GC,9325,0.83,228.7,771.2,17.8,877,9329,0.00,2.10,0.00,0.000,6,0.000,0.036,3110,1022,2080,0,0,0,0,0,0
$GC,9655,0.83,228.7,709.0,19.6,893,9659,0.00,2.00,0.00,0.000,4,0.000,0.026,3111,2393,2079,0,0,0,0,0,0
$GC,9716,0.83,228.7,696.5,18.6,895,9723,0.00,2.08,0.00,0.000,6,0.000,0.037,3120,1026,2079,0,0,0,0,0,0
$GC,10034,0.83,228.7,635.3,19.3,911,10038,0.00,2.00,0.00,0.000,4,0.000,0.025,3119,2394,2079,0,0,0,0,0,0
$GC,10084,0.83,228.7,625.1,19.4,913,10088,0.15,2.08,0.00,0.000,6,0.183,0.035,3090,1036,2079,0,0,0,0,0,0
$GC,10408,0.83,228.7,570.1,17.2,936,10411,0.00,2.03,0.00,0.000,4,0.000,0.024,3090,2404,2078,0,0,0,0,0,0
$GC,10435,0.83,228.7,564.9,16.3,938,10442,0.00,2.05,0.00,0.000,6,0.000,0.036,3098,1043,2078,0,0,0,0,0,0
$GC,10762,0.83,228.7,511.4,17.0,969,10766,0.00,1.98,0.00,0.000,4,0.000,0.025,3098,2396,2078,0,0,0,0,0,0
$GC,10791,0.83,228.7,506.2,17.0,971,10798,0.00,2.05,0.00,0.000,6,0.000,0.036,3107,1042,2078,0,0,0,0,0,0
$GC,11131,0.83,228.7,450.0,15.7,1029,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1042,2077,0,0,0,0,0,0
$GC,11471,0.83,228.7,397.8,15.0,1090,11479,0.00,1.27,0.00,0.000,4,0.000,0.045,3113,196,2077,0,0,0,0,0,0
$GC,11552,0.83,228.7,384.6,16.3,1104,11561,0.00,1.23,0.00,0.000,6,0.000,0.024,3113,1075,2077,0,0,0,0,0,0
$GC,11896,0.83,228.7,332.8,15.2,1165,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1075,2076,0,0,0,0,0,0
$GC,12235,0.83,228.7,284.2,13.5,1226,12243,0.00,1.35,0.00,0.000,4,0.000,0.044,3120,188,2077,0,0,0,0,0,0
$GC,12356,0.83,228.7,266.1,15.6,1247,12363,0.10,1.23,0.00,0.000,6,0.168,0.023,3089,1071,2077,0,0,0,0,0,0
$GC,12698,0.83,228.7,223.1,11.4,1308,12707,0.00,1.33,0.00,0.000,4,0.000,0.042,3095,193,2077,0,0,0,0,0,0
$GC,12726,0.83,228.7,219.5,12.6,1312,12735,0.00,1.20,0.00,0.000,6,0.000,0.023,3095,1077,2077,0,0,0,0,0,0
$GC,13068,0.87,261.9,184.5,9.5,1373,13102,0.00,1.38,25.50,0.765,4,0.000,0.043,3101,191,1960,0,0,0,0,0,0
$GC,13197,0.87,261.9,169.1,13.5,1395,13204,0.00,1.20,0.00,0.000,6,0.000,0.022,3101,1078,1958,0,0,0,0,0,0
$GC,13533,0.89,276.3,132.2,10.4,1456,13550,0.00,1.40,13.23,0.687,4,0.000,0.043,3107,182,1902,0,0,0,0,0,0
$GC,13781,0.93,314.3,107.0,9.2,1501,13819,0.00,1.15,31.67,0.696,6,0.000,0.021,3107,1056,1747,0,0,0,0,0,0
$GC,14140,0.95,330.1,72.8,10.3,1566,14163,0.00,1.95,14.23,0.627,4,0.000,0.018,3107,2404,1681,0,0,0,0,0,0
$GC,14194,0.95,330.1,66.9,11.5,1574,14202,0.00,2.12,0.00,0.000,6,0.000,0.034,3113,1018,1680,0,0,0,0,0,0
$GC,14519,1.07,424.0,37.3,6.4,1635,14603,0.15,1.27,74.20,0.627,4,0.080,0.038,3205,188,1300,0,0,0,0,0,0
$GC,14649,1.07,424.0,17.1,18.5,1654,14658,0.12,1.15,0.00,0.000,6,0.160,0.018,3166,1076,1297,0,0,0,0,0,0
$STATE,14731,end climb,SURFACE_DEPTH_REACHED
$STATE,14731,begin surface coast
$FINISH,0.7,1.022603
$STATE,14753,end surface coast,CONTROL_FINISHED_OK
$STATE,14753,begin surface
$SM_CCo,14831,0.00,0.000,0,0,1293,425.84
$SM_GC,1.43,7.82,0.00,0.00,0.034,0.000,0.000,111,776,1293,-8.36,-0.40,425.84
$IRIDIUM_FIX,2113.32,12558.07,101110,060618
$TT8_MAMPS,0.026964
$HUMID,39.48
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,22.7,61.179
$10V_AH,10.1,57.015
$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,19.625,88.950,477.025,0.000,0.000,31.384,40.611,232.132,0.000,0.000,34.703,4054.262,6251.178,557.139,3976.322,522.578,0.000,2002.700,0.000,3671.106,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,50.490,1414.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.548,1487.938,2024.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,96873,1672
$CAP_FILE_SIZE,165959,0
$CFSIZE,260165632,143990784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,211.3,1
$GPS,101110,154301,2124.306,12601.332,41,1.1,41,-2.9