version: 66.08
glider: 167
mission: 6
dive: 241
start: 10 25 110 6 35 30
data:
$ID,167
$MISSION,6
$DIVE,241
$N_DIVES,244
$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,-54426.441
$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,37
$R_STBD_OVSHOOT,95
$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
$GPS1,251010,062706,2146.298,12629.732,26,1.3,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.9
$GPS2,251010,063508,2146.317,12629.729,15,1.4,15,-3.0
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,225.8,67207,-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,16,-0.72,-228.7,0.0,0.0,0,85,0.00,0.00,-67.15,0.000,2,0.000,0.000,109,858,3365,0,0,0,0,0,0
$GC,89,-0.72,-228.7,6.3,-14.1,9,113,9.55,1.02,-9.10,0.000,4,0.218,0.066,2582,182,3965,0,0,0,0,0,0
$GC,353,-0.72,-228.7,98.4,-24.4,57,360,0.00,0.80,0.00,0.000,6,0.000,0.020,2579,880,3967,0,0,0,0,0,0
$GC,680,-0.72,-228.7,171.2,-21.3,118,688,0.00,1.83,0.00,0.000,4,0.000,0.016,2571,2181,3968,0,0,0,0,0,0
$GC,825,-0.72,-228.7,196.4,-14.9,144,833,0.00,2.15,0.00,0.000,6,0.000,0.033,2571,757,3969,0,0,0,0,0,0
$GC,1162,-0.72,-228.7,255.3,-16.4,205,1169,0.00,0.80,0.00,0.000,4,0.000,0.041,2571,196,3968,0,0,0,0,0,0
$GC,1251,-0.72,-228.7,271.0,-17.8,221,1258,0.00,0.73,0.00,0.000,6,0.000,0.020,2570,866,3967,0,0,0,0,0,0
$GC,1579,-0.72,-228.7,324.7,-15.8,282,1587,0.00,0.98,0.00,0.000,4,0.000,0.039,2570,197,3968,0,0,0,0,0,0
$GC,1736,-0.72,-228.7,350.7,-17.0,310,1744,0.00,0.73,0.00,0.000,6,0.000,0.021,2566,840,3968,0,0,0,0,0,0
$GC,2070,-0.72,-228.7,400.0,-14.3,371,2077,0.00,1.77,0.00,0.000,4,0.000,0.016,2561,2129,3969,0,0,0,0,0,0
$GC,2122,-0.72,-228.7,406.9,-11.0,380,2130,0.00,2.05,0.00,0.000,6,0.000,0.033,2561,769,3968,0,0,0,0,0,0
$GC,2457,-0.72,-228.7,452.4,-13.3,441,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,770,3967,0,0,0,0,0,0
$GC,2787,-0.72,-228.7,496.4,-13.1,502,2795,0.00,1.90,0.00,0.000,4,0.000,0.016,2561,2113,3964,0,0,0,0,0,0
$GC,2834,-0.72,-228.7,501.9,-10.6,509,2837,0.00,2.00,0.00,0.000,6,0.000,0.034,2561,775,3964,0,0,0,0,0,0
$GC,3165,-0.72,-228.7,545.1,-13.1,540,3169,0.00,0.85,0.00,0.000,4,0.000,0.044,2561,190,3962,0,0,0,0,0,0
$GC,3267,-0.72,-228.7,558.7,-13.6,549,3271,0.00,0.62,0.00,0.000,6,0.000,0.024,2561,727,3961,0,0,0,0,0,0
$GC,3599,-0.72,-228.7,599.5,-12.1,580,3602,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2113,3958,0,0,0,0,0,0
$GC,3671,-0.72,-228.7,607.3,-10.3,584,3675,0.00,2.03,0.00,0.000,6,0.000,0.034,2561,773,3957,0,0,0,0,0,0
$GC,4001,-0.72,-228.7,644.9,-11.7,600,4004,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2116,3955,0,0,0,0,0,0
$GC,4056,-0.72,-228.7,651.1,-9.5,602,4060,0.00,2.05,0.00,0.000,6,0.000,0.036,2561,779,3954,0,0,0,0,0,0
$GC,4379,-0.72,-228.7,687.8,-11.4,618,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3952,0,0,0,0,0,0
$GC,4687,-0.72,-228.7,724.3,-11.9,633,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3949,0,0,0,0,0,0
$GC,4997,-0.72,-228.7,760.9,-11.8,648,5001,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2114,3946,0,0,0,0,0,0
$GC,5071,-0.72,-228.7,768.6,-9.8,651,5075,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,763,3946,0,0,0,0,0,0
$GC,5398,-0.72,-228.7,805.8,-11.0,667,5402,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2114,3943,0,0,0,0,0,0
$GC,5444,-0.72,-228.7,810.5,-9.8,669,5448,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,787,3943,0,0,0,0,0,0
$GC,5779,-0.72,-228.7,846.3,-10.5,685,5782,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2116,3940,0,0,0,0,0,0
$GC,5840,-0.72,-228.7,852.3,-8.7,687,5848,0.00,2.03,0.00,0.000,6,0.000,0.037,2561,792,3940,0,0,0,0,0,0
$GC,6158,-0.72,-228.7,882.8,-9.6,703,6162,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2105,3937,0,0,0,0,0,0
$GC,6184,-0.72,-228.7,885.0,-8.7,704,6188,0.00,2.00,0.00,0.000,6,0.000,0.038,2561,801,3937,0,0,0,0,0,0
$GC,6518,-0.72,-228.7,917.2,-10.0,720,6522,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2111,3935,0,0,0,0,0,0
$GC,6566,-0.72,-228.7,921.5,-9.5,722,6570,0.00,2.00,0.00,0.000,6,0.000,0.039,2561,806,3934,0,0,0,0,0,0
$GC,6899,-0.72,-228.7,956.4,-10.8,738,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,806,3932,0,0,0,0,0,0
$GC,7210,-0.72,-228.7,988.4,-10.3,753,7213,0.00,1.85,0.00,0.000,4,0.000,0.018,2560,2102,3930,0,0,0,0,0,0
$GC,7244,-0.72,-228.7,991.9,-9.5,754,7248,0.00,1.98,0.00,0.000,6,0.000,0.039,2561,817,3931,0,0,0,0,0,0
$STATE,7337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7337,begin apogee
$GC,7343,-0.14,0.0,1001.3,10.0,759,7533,0.62,0.00,181.80,1.403,4,0.116,0.000,2770,951,3028,0,0,0,0,0,0
$STATE,7534,end apogee,CONTROL_FINISHED_OK
$STATE,7534,begin climb
$GC,7537,0.72,228.7,1011.1,0.0,768,7741,0.80,2.20,194.12,1.346,4,0.047,0.020,3063,2374,2096,0,0,0,0,0,0
$GC,7911,0.72,228.7,964.1,17.0,785,7915,0.00,2.17,0.00,0.000,6,0.000,0.037,3073,1005,2088,0,0,0,0,0,0
$GC,8232,0.72,228.7,901.1,20.3,801,8236,0.00,1.25,0.00,0.000,4,0.000,0.046,3079,187,2086,0,0,0,0,0,0
$GC,8437,0.72,228.7,857.8,21.3,810,8440,0.00,1.10,0.00,0.000,6,0.000,0.023,3080,996,2085,0,0,0,0,0,0
$GC,8770,0.72,228.7,790.3,20.3,826,8773,0.00,1.98,0.00,0.000,4,0.000,0.023,3079,2369,2084,0,0,0,0,0,0
$GC,8916,0.72,228.7,763.1,17.7,832,8921,0.12,2.08,0.00,0.000,6,0.177,0.036,3056,1015,2083,0,0,0,0,0,0
$GC,9232,0.72,228.7,711.0,15.8,847,9236,0.00,1.95,0.00,0.000,4,0.000,0.023,3057,2366,2082,0,0,0,0,0,0
$GC,9310,0.72,228.7,698.6,15.2,850,9313,0.00,2.05,0.00,0.000,6,0.000,0.037,3063,1025,2082,0,0,0,0,0,0
$GC,9635,0.72,228.7,648.1,15.9,866,9638,0.00,1.25,0.00,0.000,4,0.000,0.047,3069,197,2082,0,0,0,0,0,0
$GC,9650,0.72,228.7,644.7,16.5,866,9657,0.00,1.12,0.00,0.000,6,0.000,0.023,3069,1028,2082,0,0,0,0,0,0
$GC,9967,0.72,228.7,593.5,16.7,883,9971,0.00,1.95,0.00,0.000,4,0.000,0.025,3069,2380,2081,0,0,0,0,0,0
$GC,10093,0.72,228.7,572.2,18.0,894,10097,0.00,2.05,0.00,0.000,6,0.000,0.036,3078,1024,2081,0,0,0,0,0,0
$GC,10425,0.72,228.7,513.3,17.7,925,10429,0.00,1.27,0.00,0.000,4,0.000,0.045,3085,188,2080,0,0,0,0,0,0
$GC,10511,0.72,228.7,498.0,17.4,933,10518,0.08,1.12,0.00,0.000,6,0.168,0.023,3061,1009,2080,0,0,0,0,0,0
$GC,10843,0.72,228.7,447.1,15.2,994,10851,0.00,2.00,0.00,0.000,4,0.000,0.023,3061,2380,2080,0,0,0,0,0,0
$GC,10983,0.72,228.7,427.5,14.0,1018,10991,0.00,2.08,0.00,0.000,6,0.000,0.036,3068,1033,2080,0,0,0,0,0,0
$GC,11316,0.72,228.7,380.7,13.6,1079,11323,0.00,1.27,0.00,0.000,4,0.000,0.045,3074,187,2080,0,0,0,0,0,0
$GC,11335,0.72,228.7,377.5,13.7,1082,11343,0.00,1.17,0.00,0.000,6,0.000,0.023,3074,1060,2080,0,0,0,0,0,0
$GC,11671,0.72,228.7,334.5,13.1,1143,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1060,2080,0,0,0,0,0,0
$GC,12000,0.72,228.7,288.9,14.7,1204,12008,0.00,1.92,0.00,0.000,4,0.000,0.021,3074,2393,2080,0,0,0,0,0,0
$GC,12032,0.72,228.7,284.4,13.2,1209,12039,0.00,2.08,0.00,0.000,6,0.000,0.034,3081,1021,2080,0,0,0,0,0,0
$GC,12367,0.72,230.1,241.9,11.1,1270,12375,0.00,1.98,0.00,0.000,4,0.000,0.020,3081,2385,2080,0,0,0,0,0,0
$GC,12431,0.72,230.1,233.9,11.9,1281,12438,0.12,2.03,0.00,0.000,6,0.170,0.034,3056,1043,2080,0,0,0,0,0,0
$GC,12765,0.78,278.2,202.1,9.5,1342,12809,0.00,1.33,37.80,0.782,4,0.000,0.044,3061,194,1895,0,0,0,0,0,0
$GC,12988,0.80,293.5,177.1,10.6,1381,13009,0.00,1.15,13.40,0.711,6,0.000,0.021,3062,1071,1832,0,0,0,0,0,0
$GC,13338,0.88,362.1,144.9,8.9,1444,13399,0.12,1.98,55.20,0.722,4,0.084,0.018,3121,2394,1551,0,0,0,0,0,0
$GC,13440,0.88,362.1,132.4,13.5,1458,13448,0.00,2.10,0.00,0.000,6,0.000,0.033,3128,1048,1548,0,0,0,0,0,0
$GC,13767,0.88,362.1,87.8,14.0,1519,13776,0.00,1.27,0.00,0.000,4,0.000,0.043,3134,196,1545,0,0,0,0,0,0
$GC,13842,0.88,362.1,77.1,13.2,1532,13850,0.00,1.15,0.00,0.000,6,0.000,0.019,3134,1104,1545,0,0,0,0,0,0
$GC,14170,0.88,362.1,42.8,11.3,1593,14177,0.00,1.83,0.00,0.000,4,0.000,0.018,3134,2401,1545,0,0,0,0,0,0
$GC,14218,0.88,362.1,37.4,12.6,1601,14227,0.10,2.10,0.00,0.000,6,0.136,0.033,3108,1018,1545,0,0,0,0,0,0
$GC,14551,0.93,400.6,10.2,9.9,1662,14589,0.00,1.23,30.98,0.589,4,0.000,0.039,3114,176,1395,0,0,0,0,0,0
$STATE,14622,end climb,SURFACE_DEPTH_REACHED
$STATE,14622,begin surface coast
$FINISH,0.8,1.021696
$STATE,14648,end surface coast,CONTROL_FINISHED_OK
$STATE,14648,begin surface
$SM_CCo,14727,0.00,0.000,0,0,1390,402.05
$SM_GC,1.37,7.68,0.00,0.00,0.034,0.000,0.000,99,844,1390,-8.37,1.53,402.05
$IRIDIUM_FIX,2136.49,12631.32,251010,010158
$TT8_MAMPS,0.028462
$HUMID,38.34
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,28.90
$XPDR_PINGS,0
$24V_AH,23.1,44.864
$10V_AH,10.2,40.987
$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,19.200,102.625,513.300,0.000,0.000,30.753,15.436,222.196,0.000,0.000,16.642,4107.384,5971.078,570.275,4015.859,518.893,0.000,2066.703,0.000,3761.550,0.000,0.544,0.000
$DEVICE_MAMPS,218.025,91.035,1403.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.860,1497.935,2030.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,96974,1677
$CAP_FILE_SIZE,171766,0
$CFSIZE,260165632,152219648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,  1.3,1
$GPS,251010,104207,2145.153,12628.187,33,1.5,33,-3.0