version: 66.08
glider: 167
mission: 6
dive: 255
start: 10 27 110 21 34 53
data:
$ID,167
$MISSION,6
$DIVE,255
$N_DIVES,265
$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,-54444.055
$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,49
$R_STBD_OVSHOOT,83
$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
$GPS1,271010,212437,2129.186,12610.955,27,1.1,28,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.3
$GPS2,271010,213430,2129.037,12611.095,9,1.5,13,-2.9
$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,243.3,21930,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,93,0.00,0.00,-72.68,0.000,2,0.000,0.000,103,761,3452,0,0,0,0,0,0
$GC,96,-0.72,-228.7,6.8,-15.4,10,121,9.52,2.10,-7.50,0.000,4,0.216,0.030,2567,2232,3964,0,0,0,0,0,0
$GC,219,-0.72,-228.7,54.1,-27.6,31,227,0.00,2.20,0.00,0.000,6,0.000,0.034,2567,792,3965,0,0,0,0,0,0
$GC,544,-0.72,-228.7,149.5,-25.2,92,553,0.00,0.88,0.00,0.000,4,0.000,0.041,2567,188,3966,0,0,0,0,0,0
$GC,614,-0.72,-228.7,166.3,-25.6,103,621,0.00,0.80,0.00,0.000,6,0.000,0.019,2562,924,3966,0,0,0,0,0,0
$GC,955,-0.72,-228.7,238.9,-20.3,164,963,0.00,1.08,0.00,0.000,4,0.000,0.039,2562,192,3966,0,0,0,0,0,0
$GC,1128,-0.72,-228.7,274.9,-20.7,194,1136,0.00,0.77,0.00,0.000,6,0.000,0.019,2560,920,3967,0,0,0,0,0,0
$GC,1473,-0.72,-228.7,336.1,-17.4,255,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,922,3967,0,0,0,0,0,0
$GC,1812,-0.72,-228.7,391.5,-14.7,316,1821,0.00,1.08,0.00,0.000,4,0.000,0.041,2560,190,3967,0,0,0,0,0,0
$GC,1985,-0.72,-228.7,421.5,-16.7,346,1992,0.00,0.77,0.00,0.000,6,0.000,0.021,2560,874,3967,0,0,0,0,0,0
$GC,2328,-0.72,-228.7,471.4,-14.7,407,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,875,3964,0,0,0,0,0,0
$GC,2661,-0.72,-228.7,519.1,-13.2,455,2663,0.10,0.00,0.00,0.000,6,0.176,0.000,2585,875,3963,0,0,0,0,0,0
$GC,2980,-0.72,-228.7,553.3,-10.2,485,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,875,3961,0,0,0,0,0,0
$GC,3302,-0.72,-228.7,584.3,-9.3,515,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,876,3958,0,0,0,0,0,0
$GC,3635,-0.72,-228.7,617.0,-9.6,539,3638,0.00,1.83,0.00,0.000,4,0.000,0.018,2585,2189,3955,0,0,0,0,0,0
$GC,3682,-0.72,-228.7,621.2,-8.3,541,3686,0.00,2.15,0.00,0.000,6,0.000,0.035,2585,768,3955,0,0,0,0,0,0
$GC,4012,-0.72,-228.7,653.0,-10.0,557,4016,0.00,2.00,0.00,0.000,4,0.000,0.018,2585,2176,3952,0,0,0,0,0,0
$GC,4062,-0.72,-228.7,658.0,-8.8,559,4066,0.00,2.15,0.00,0.000,6,0.000,0.036,2585,772,3951,0,0,0,0,0,0
$GC,4384,-0.72,-228.7,687.3,-8.9,575,4387,0.00,2.03,0.00,0.000,4,0.000,0.018,2585,2176,3949,0,0,0,0,0,0
$GC,4432,-0.72,-228.7,690.9,-7.3,577,4436,0.00,2.15,0.00,0.000,6,0.000,0.037,2585,775,3948,0,0,0,0,0,0
$GC,4766,-0.72,-228.7,719.8,-8.4,593,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,775,3946,0,0,0,0,0,0
$GC,5077,-0.72,-228.7,745.5,-8.3,608,5080,0.00,2.03,0.00,0.000,4,0.000,0.018,2586,2180,3943,0,0,0,0,0,0
$GC,5194,-0.72,-228.7,754.1,-6.7,613,5198,0.00,2.12,0.00,0.000,6,0.000,0.037,2585,790,3942,0,0,0,0,0,0
$GC,5524,-0.72,-228.7,780.5,-8.2,629,5528,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2182,3940,0,0,0,0,0,0
$GC,5563,-0.72,-228.7,783.7,-7.1,630,5569,0.00,2.15,0.00,0.000,6,0.000,0.037,2585,784,3940,0,0,0,0,0,0
$GC,5879,-0.72,-228.7,808.8,-7.8,646,5883,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2183,3937,0,0,0,0,0,0
$GC,5952,-0.72,-228.7,813.8,-6.9,649,5956,0.00,2.15,0.00,0.000,6,0.000,0.038,2586,793,3937,0,0,0,0,0,0
$GC,6280,-0.72,-228.7,840.5,-8.6,665,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,793,3935,0,0,0,0,0,0
$GC,6588,-0.72,-228.7,866.2,-8.1,680,6592,0.00,2.00,0.00,0.000,4,0.000,0.018,2585,2180,3932,0,0,0,0,0,0
$GC,6674,-0.72,-228.7,872.4,-6.9,683,6680,0.00,2.12,0.00,0.000,6,0.000,0.038,2585,802,3932,0,0,0,0,0,0
$GC,6990,-0.72,-228.7,897.1,-7.8,699,6994,0.00,1.98,0.00,0.000,4,0.000,0.018,2585,2183,3930,0,0,0,0,0,0
$GC,7047,-0.72,-228.7,901.2,-6.7,701,7051,0.00,2.12,0.00,0.000,6,0.000,0.039,2585,804,3929,0,0,0,0,0,0
$GC,7369,-0.72,-228.7,924.2,-6.9,717,7373,0.00,1.98,0.00,0.000,4,0.000,0.019,2585,2184,3928,0,0,0,0,0,0
$GC,7397,-0.72,-228.7,926.2,-7.2,718,7401,0.00,2.12,0.00,0.000,6,0.000,0.039,2585,807,3928,0,0,0,0,0,0
$GC,7726,-0.72,-228.7,947.4,-6.6,734,7730,0.00,1.98,0.00,0.000,4,0.000,0.019,2585,2188,3926,0,0,0,0,0,0
$GC,7754,-0.72,-228.7,949.2,-6.6,735,7758,0.00,2.12,0.00,0.000,6,0.000,0.038,2586,814,3925,0,0,0,0,0,0
$GC,8078,-0.72,-228.7,970.0,-6.7,751,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,814,3924,0,0,0,0,0,0
$GC,8385,-0.72,-228.7,991.5,-7.2,766,8389,0.00,1.95,0.00,0.000,4,0.000,0.019,2585,2181,3924,0,0,0,0,0,0
$GC,8457,-0.72,-228.7,996.4,-6.9,769,8461,0.00,2.10,0.00,0.000,6,0.000,0.039,2585,819,3923,0,0,0,0,0,0
$STATE,8513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8513,begin apogee
$GC,8521,-0.14,0.0,1000.4,7.2,772,8713,0.55,0.00,182.00,1.408,4,0.106,0.000,2776,1023,3028,0,0,0,0,0,0
$STATE,8713,end apogee,CONTROL_FINISHED_OK
$STATE,8714,begin climb
$GC,8718,0.72,228.7,1008.7,0.0,781,8923,0.77,2.12,196.05,1.353,4,0.047,0.020,3059,2399,2097,0,0,0,0,0,0
$GC,9180,0.72,228.7,946.4,17.9,802,9184,0.00,2.17,0.00,0.000,6,0.000,0.037,3068,1000,2089,0,0,0,0,0,0
$GC,9510,0.72,228.7,882.9,19.1,818,9513,0.00,1.25,0.00,0.000,4,0.000,0.047,3075,184,2087,0,0,0,0,0,0
$GC,9675,0.72,228.7,849.1,21.6,825,9679,0.00,1.15,0.00,0.000,6,0.000,0.023,3075,1020,2087,0,0,0,0,0,0
$GC,10004,0.72,228.7,786.8,18.9,841,10008,0.00,1.95,0.00,0.000,4,0.000,0.022,3076,2378,2085,0,0,0,0,0,0
$GC,10087,0.72,228.7,771.8,16.4,844,10094,0.00,2.10,0.00,0.000,6,0.000,0.037,3082,1013,2085,0,0,0,0,0,0
$GC,10403,0.72,228.7,714.3,18.1,860,10407,0.00,1.98,0.00,0.000,4,0.000,0.024,3082,2377,2084,0,0,0,0,0,0
$GC,10518,0.72,228.7,695.1,17.2,865,10523,0.12,2.08,0.00,0.000,6,0.181,0.037,3059,1026,2084,0,0,0,0,0,0
$GC,10845,0.72,228.7,642.5,16.3,881,10849,0.00,1.27,0.00,0.000,4,0.000,0.047,3064,191,2084,0,0,0,0,0,0
$GC,10871,0.72,228.7,638.6,17.1,882,10874,0.00,1.15,0.00,0.000,6,0.000,0.024,3064,1022,2083,0,0,0,0,0,0
$GC,11198,0.72,228.7,584.0,16.4,902,11202,0.00,1.95,0.00,0.000,4,0.000,0.024,3064,2381,2082,0,0,0,0,0,0
$GC,11302,0.72,228.7,567.4,15.1,911,11306,0.00,2.05,0.00,0.000,6,0.000,0.037,3072,1042,2083,0,0,0,0,0,0
$GC,11633,0.72,228.7,513.9,15.8,942,11637,0.00,1.30,0.00,0.000,4,0.000,0.047,3079,189,2082,0,0,0,0,0,0
$GC,11657,0.72,228.7,509.9,16.3,944,11661,0.00,1.17,0.00,0.000,6,0.000,0.024,3079,1044,2082,0,0,0,0,0,0
$GC,11986,0.72,228.7,454.8,15.6,999,11993,0.00,1.92,0.00,0.000,4,0.000,0.024,3079,2383,2083,0,0,0,0,0,0
$GC,12056,0.72,228.7,444.0,16.5,1011,12063,0.12,2.03,0.00,0.000,6,0.178,0.036,3056,1039,2082,0,0,0,0,0,0
$GC,12393,0.72,228.7,398.6,12.4,1072,12400,0.00,1.98,0.00,0.000,4,0.000,0.024,3056,2382,2082,0,0,0,0,0,0
$GC,12451,0.72,228.7,391.1,12.0,1082,12459,0.00,2.08,0.00,0.000,6,0.000,0.037,3059,1042,2082,0,0,0,0,0,0
$GC,12787,0.72,228.7,347.6,12.5,1143,12793,0.00,1.30,0.00,0.000,4,0.000,0.047,3066,190,2082,0,0,0,0,0,0
$GC,12849,0.72,228.7,338.9,13.1,1154,12857,0.00,1.17,0.00,0.000,6,0.000,0.024,3066,1052,2082,0,0,0,0,0,0
$GC,13183,0.72,228.7,296.4,12.1,1215,13190,0.00,1.33,0.00,0.000,4,0.000,0.044,3072,185,2082,0,0,0,0,0,0
$GC,13201,0.72,228.7,294.4,13.1,1217,13209,0.00,1.20,0.00,0.000,6,0.000,0.023,3072,1074,2082,0,0,0,0,0,0
$GC,13538,0.75,251.1,253.7,10.4,1278,13559,0.00,0.00,17.27,0.816,6,0.000,0.000,3072,1074,2004,0,0,0,0,0,0
$GC,13888,0.79,284.3,215.1,10.0,1341,13918,0.00,0.00,27.75,0.792,6,0.000,0.000,3072,1073,1870,0,0,0,0,0,0
$GC,14246,0.79,284.3,174.8,11.4,1405,14254,0.00,1.88,0.00,0.000,4,0.000,0.019,3071,2392,1866,0,0,0,0,0,0
$GC,14298,0.79,284.3,168.5,11.5,1414,14306,0.00,2.08,0.00,0.000,6,0.000,0.034,3078,1042,1866,0,0,0,0,0,0
$GC,14632,0.81,298.2,132.0,10.7,1475,14648,0.00,1.33,12.38,0.672,4,0.000,0.044,3085,184,1813,0,0,0,0,0,0
$GC,14716,0.81,298.2,122.6,12.4,1489,14725,0.00,1.17,0.00,0.000,6,0.000,0.019,3084,1106,1811,0,0,0,0,0,0
$GC,15046,0.86,339.6,87.5,9.8,1550,15084,0.00,1.90,34.03,0.668,4,0.000,0.018,3083,2396,1643,0,0,0,0,0,0
$GC,15188,0.95,415.6,73.3,8.6,1574,15255,0.08,2.05,60.58,0.652,6,0.062,0.034,3134,1059,1333,0,0,0,0,0,0
$GC,15577,0.95,415.6,34.6,14.3,1643,15584,0.00,1.30,0.00,0.000,4,0.000,0.041,3140,191,1328,0,0,0,0,0,0
$GC,15615,0.95,415.6,29.7,14.5,1649,15624,0.00,1.17,0.00,0.000,6,0.000,0.018,3140,1138,1328,0,0,0,0,0,0
$STATE,15835,end climb,SURFACE_DEPTH_REACHED
$STATE,15835,begin surface coast
$FINISH,0.3,1.021603
$STATE,15858,end surface coast,CONTROL_FINISHED_OK
$STATE,15858,begin surface
$SM_CCo,15938,0.00,0.000,0,0,1325,417.75
$SM_GC,1.21,7.82,0.00,0.00,0.042,0.000,0.000,121,783,1325,-8.37,-0.20,417.75
$IRIDIUM_FIX,2120.26,12610.50,271010,212143
$TT8_MAMPS,0.028462
$HUMID,39.13
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,28.40
$XPDR_PINGS,0
$24V_AH,23.0,47.664
$10V_AH,10.2,43.569
$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,19.100,105.175,530.050,0.000,0.000,52.646,58.800,219.569,0.000,0.000,14.774,4165.704,7143.542,581.493,4084.851,531.930,0.000,2100.485,0.000,3768.760,0.000,0.543,0.000
$DEVICE_MAMPS,215.730,47.430,1407.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.223,1474.002,1941.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,96808,1694
$CAP_FILE_SIZE,177640,0
$CFSIZE,260165632,150888448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,126.8,1
$GPS,281010,020137,2127.375,12609.552,28,1.0,29,-2.9