version: 66.08
glider: 167
mission: 6
dive: 257
start: 10 28 110 6 50 52
data:
$ID,167
$MISSION,6
$DIVE,257
$N_DIVES,270
$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,-54446.566
$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,41
$R_STBD_OVSHOOT,81
$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
$GPS1,281010,064006,2126.391,12606.815,44,0.9,44,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.9
$GPS2,281010,065030,2126.362,12606.804,15,1.8,31,-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,227.0,13083,-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,-228.7,0.0,0.0,0,87,0.00,0.00,-65.97,0.000,2,0.000,0.000,109,775,3401,0,0,0,0,0,0
$GC,90,-0.72,-228.7,5.6,-9.8,9,114,9.45,2.10,-8.60,0.000,4,0.214,0.030,2568,2234,3964,0,0,0,0,0,0
$GC,180,-0.72,-228.7,46.0,-28.3,24,189,0.00,2.20,0.00,0.000,6,0.000,0.031,2568,790,3966,0,0,0,0,0,0
$GC,507,-0.72,-228.7,145.0,-26.4,85,515,0.00,0.90,0.00,0.000,4,0.000,0.043,2568,189,3967,0,0,0,0,0,0
$GC,754,-0.72,-228.7,201.7,-20.1,129,761,0.00,0.80,0.00,0.000,6,0.000,0.020,2563,914,3968,0,0,0,0,0,0
$GC,1092,-0.72,-228.7,264.8,-18.1,190,1100,0.00,1.05,0.00,0.000,4,0.000,0.040,2563,197,3968,0,0,0,0,0,0
$GC,1353,-0.72,-228.7,312.7,-15.9,236,1362,0.00,0.77,0.00,0.000,6,0.000,0.020,2560,895,3968,0,0,0,0,0,0
$GC,1698,-0.72,-228.7,364.4,-15.3,297,1705,0.00,1.02,0.00,0.000,4,0.000,0.040,2561,195,3968,0,0,0,0,0,0
$GC,1877,-0.72,-228.7,392.5,-15.7,329,1884,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,867,3968,0,0,0,0,0,0
$GC,2217,-0.72,-228.7,440.0,-14.1,390,2225,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2191,3967,0,0,0,0,0,0
$GC,2251,-0.72,-228.7,444.1,-12.4,395,2257,0.00,2.15,0.00,0.000,6,0.000,0.034,2561,756,3966,0,0,0,0,0,0
$GC,2593,-0.72,-228.7,491.3,-13.9,456,2602,0.00,2.05,0.00,0.000,4,0.000,0.017,2561,2186,3964,0,0,0,0,0,0
$GC,2662,-0.72,-228.7,499.1,-10.7,467,2669,0.00,2.15,0.00,0.000,6,0.000,0.034,2560,758,3963,0,0,0,0,0,0
$GC,2988,-0.72,-228.7,542.6,-13.3,498,2991,0.00,2.03,0.00,0.000,4,0.000,0.017,2560,2179,3961,0,0,0,0,0,0
$GC,3025,-0.72,-228.7,546.7,-11.2,501,3029,0.00,2.17,0.00,0.000,6,0.000,0.035,2560,759,3960,0,0,0,0,0,0
$GC,3351,-0.72,-228.7,585.1,-11.4,531,3353,0.10,0.00,0.00,0.000,6,0.167,0.000,2586,759,3957,0,0,0,0,0,0
$GC,3677,-0.72,-228.7,616.4,-9.9,554,3681,0.00,2.05,0.00,0.000,4,0.000,0.018,2586,2176,3955,0,0,0,0,0,0
$GC,3769,-0.72,-228.7,624.4,-8.4,558,3773,0.00,2.17,0.00,0.000,6,0.000,0.036,2587,764,3954,0,0,0,0,0,0
$GC,4098,-0.72,-228.7,657.6,-10.5,574,4101,0.00,2.05,0.00,0.000,4,0.000,0.018,2586,2179,3951,0,0,0,0,0,0
$GC,4204,-0.72,-228.7,667.6,-8.7,578,4211,0.00,2.15,0.00,0.000,6,0.000,0.037,2586,791,3951,0,0,0,0,0,0
$GC,4520,-0.72,-228.7,698.0,-9.4,594,4524,0.00,2.03,0.00,0.000,4,0.000,0.018,2586,2187,3948,0,0,0,0,0,0
$GC,4599,-0.72,-228.7,704.4,-7.8,597,4603,0.00,2.12,0.00,0.000,6,0.000,0.037,2586,795,3947,0,0,0,0,0,0
$GC,4922,-0.72,-228.7,732.6,-8.9,613,4926,0.00,2.00,0.00,0.000,4,0.000,0.018,2587,2189,3944,0,0,0,0,0,0
$GC,4970,-0.72,-228.7,736.6,-7.7,615,4974,0.00,2.15,0.00,0.000,6,0.000,0.038,2587,792,3944,0,0,0,0,0,0
$GC,5298,-0.72,-228.7,764.0,-8.0,631,5301,0.00,2.00,0.00,0.000,4,0.000,0.018,2586,2190,3941,0,0,0,0,0,0
$GC,5367,-0.72,-228.7,768.7,-6.4,634,5370,0.00,2.12,0.00,0.000,6,0.000,0.037,2587,813,3941,0,0,0,0,0,0
$GC,5696,-0.72,-228.7,793.8,-7.8,650,5700,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2184,3938,0,0,0,0,0,0
$GC,5758,-0.72,-228.7,798.3,-6.9,652,5766,0.00,2.10,0.00,0.000,6,0.000,0.037,2586,821,3938,0,0,0,0,0,0
$GC,6076,-0.72,-228.7,823.5,-8.5,668,6079,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2192,3936,0,0,0,0,0,0
$GC,6126,-0.72,-228.7,827.7,-7.3,670,6129,0.00,2.10,0.00,0.000,6,0.000,0.038,2586,827,3935,0,0,0,0,0,0
$GC,6453,-0.72,-228.7,854.8,-8.4,686,6457,0.00,1.98,0.00,0.000,4,0.000,0.019,2586,2185,3934,0,0,0,0,0,0
$GC,6494,-0.72,-228.7,858.0,-7.7,687,6501,0.00,2.08,0.00,0.000,6,0.000,0.038,2586,832,3933,0,0,0,0,0,0
$GC,6811,-0.72,-228.7,884.9,-8.8,703,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,831,3931,0,0,0,0,0,0
$GC,7123,-0.72,-228.7,912.3,-8.9,718,7126,0.00,1.95,0.00,0.000,4,0.000,0.018,2586,2187,3929,0,0,0,0,0,0
$GC,7146,-0.72,-228.7,914.5,-8.0,719,7150,0.00,2.08,0.00,0.000,6,0.000,0.039,2586,839,3930,0,0,0,0,0,0
$GC,7474,-0.72,-228.7,941.1,-7.9,735,7478,0.00,1.92,0.00,0.000,4,0.000,0.019,2586,2190,3929,0,0,0,0,0,0
$GC,7523,-0.72,-228.7,944.5,-6.7,737,7527,0.00,2.08,0.00,0.000,6,0.000,0.038,2586,844,3928,0,0,0,0,0,0
$GC,7851,-0.72,-228.7,969.8,-7.6,753,7855,0.00,1.95,0.00,0.000,4,0.000,0.019,2586,2193,3926,0,0,0,0,0,0
$GC,7907,-0.72,-228.7,973.9,-6.9,755,7911,0.00,2.08,0.00,0.000,6,0.000,0.039,2587,840,3926,0,0,0,0,0,0
$GC,8230,-0.72,-228.7,998.5,-7.9,771,8234,0.00,1.95,0.00,0.000,4,0.000,0.019,2586,2189,3924,0,0,0,0,0,0
$STATE,8252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8252,begin apogee
$GC,8259,-0.14,0.0,1000.3,7.5,772,8454,0.52,0.00,182.77,1.412,4,0.103,0.000,2770,995,3028,0,0,0,0,0,0
$STATE,8455,end apogee,CONTROL_FINISHED_OK
$STATE,8455,begin climb
$GC,8457,0.72,228.7,1009.8,0.0,781,8663,0.80,2.20,197.27,1.353,4,0.047,0.020,3061,2406,2096,0,0,0,0,0,0
$GC,8801,0.72,228.7,968.0,16.9,796,8805,0.00,2.28,0.00,0.000,6,0.000,0.037,3069,990,2088,0,0,0,0,0,0
$GC,9131,0.72,228.7,905.9,18.8,812,9134,0.00,1.23,0.00,0.000,4,0.000,0.047,3075,192,2086,0,0,0,0,0,0
$GC,9328,0.72,228.7,866.5,20.5,820,9336,0.00,1.17,0.00,0.000,6,0.000,0.025,3075,1026,2086,0,0,0,0,0,0
$GC,9644,0.72,228.7,805.5,19.2,836,9648,0.00,1.98,0.00,0.000,4,0.000,0.025,3075,2384,2084,0,0,0,0,0,0
$GC,9739,0.72,228.7,787.9,18.7,840,9743,0.00,2.10,0.00,0.000,6,0.000,0.037,3083,1020,2084,0,0,0,0,0,0
$GC,10067,0.72,228.7,727.1,18.8,856,10070,0.00,2.00,0.00,0.000,4,0.000,0.023,3083,2386,2083,0,0,0,0,0,0
$GC,10116,0.72,228.7,717.7,17.5,858,10121,0.10,2.10,0.00,0.000,6,0.159,0.036,3061,1036,2083,0,0,0,0,0,0
$GC,10445,0.72,228.7,665.5,15.9,874,10449,0.00,1.98,0.00,0.000,4,0.000,0.024,3061,2384,2082,0,0,0,0,0,0
$GC,10523,0.72,228.7,652.9,15.3,877,10526,0.00,2.08,0.00,0.000,6,0.000,0.037,3065,1032,2082,0,0,0,0,0,0
$GC,10845,0.72,228.7,599.9,16.8,893,10849,0.00,1.98,0.00,0.000,4,0.000,0.021,3065,2394,2082,0,0,0,0,0,0
$GC,10983,0.72,228.7,578.1,15.4,905,10987,0.00,2.05,0.00,0.000,6,0.000,0.036,3074,1051,2081,0,0,0,0,0,0
$GC,11316,0.72,228.7,523.2,15.7,936,11319,0.00,1.30,0.00,0.000,4,0.000,0.047,3081,193,2081,0,0,0,0,0,0
$GC,11367,0.72,228.7,514.3,16.4,940,11374,0.00,1.23,0.00,0.000,6,0.000,0.025,3081,1071,2081,0,0,0,0,0,0
$GC,11704,0.72,228.7,463.7,14.5,993,11711,0.00,1.92,0.00,0.000,4,0.000,0.024,3081,2391,2081,0,0,0,0,0,0
$GC,11752,0.72,228.7,456.1,14.1,1001,11759,0.12,2.05,0.00,0.000,6,0.180,0.037,3058,1049,2080,0,0,0,0,0,0
$GC,12096,0.72,228.7,408.7,13.5,1062,12104,0.00,1.98,0.00,0.000,4,0.000,0.021,3058,2391,2080,0,0,0,0,0,0
$GC,12244,0.72,228.7,388.7,12.6,1087,12250,0.00,2.00,0.00,0.000,6,0.000,0.037,3065,1077,2080,0,0,0,0,0,0
$GC,12583,0.72,228.7,343.7,12.8,1148,12592,0.00,1.35,0.00,0.000,4,0.000,0.047,3071,189,2080,0,0,0,0,0,0
$GC,12841,0.72,228.7,308.4,11.4,1194,12849,0.00,1.20,0.00,0.000,6,0.000,0.021,3070,1087,2080,0,0,0,0,0,0
$GC,13182,0.72,228.7,266.4,12.4,1255,13188,0.00,1.38,0.00,0.000,4,0.000,0.044,3077,187,2081,0,0,0,0,0,0
$GC,13366,0.72,228.7,241.4,12.2,1288,13375,0.00,1.17,0.00,0.000,6,0.000,0.022,3077,1071,2081,0,0,0,0,0,0
$GC,13712,0.72,228.7,203.4,12.2,1349,13719,0.00,1.35,0.00,0.000,4,0.000,0.044,3084,187,2082,0,0,0,0,0,0
$GC,13875,0.77,268.2,185.3,9.8,1378,13910,0.00,1.12,30.73,0.769,6,0.000,0.022,3084,1048,1934,0,0,0,0,0,0
$GC,14247,0.78,280.8,147.4,10.7,1443,14263,0.00,1.35,11.45,0.682,4,0.000,0.044,3088,186,1884,0,0,0,0,0,0
$GC,14308,0.88,354.7,141.9,8.7,1453,14378,0.00,1.10,59.25,0.725,6,0.000,0.021,3088,1032,1581,0,0,0,0,0,0
$GC,14699,1.04,486.0,105.7,6.8,1522,14810,0.17,2.00,103.60,0.680,4,0.076,0.018,3170,2350,1045,0,0,0,0,0,0
$GC,14826,1.04,486.0,87.0,17.1,1539,14834,0.00,2.12,0.00,0.000,6,0.000,0.034,3177,1001,1043,0,0,0,0,0,0
$GC,15152,1.04,486.0,36.1,19.5,1600,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1001,1041,0,0,0,0,0,0
$STATE,15344,end climb,SURFACE_DEPTH_REACHED
$STATE,15344,begin surface coast
$FINISH,0.9,1.021893
$STATE,15367,end surface coast,CONTROL_FINISHED_OK
$STATE,15367,begin surface
$SM_CCo,15445,0.00,0.000,0,0,1039,488.15
$SM_GC,1.11,7.82,0.00,0.00,0.035,0.000,0.000,121,775,1039,-8.36,-0.45,488.15
$IRIDIUM_FIX,2117.95,12609.13,281010,060613
$TT8_MAMPS,0.028462
$HUMID,39.36
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,23.0,48.062
$10V_AH,10.2,43.934
$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,19.100,119.000,585.075,0.000,0.000,58.624,58.836,226.438,0.000,0.000,32.810,4014.228,6898.794,622.668,3997.368,511.921,0.000,2126.686,0.000,3644.622,0.000,0.545,0.000
$DEVICE_MAMPS,214.200,51.255,1412.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.774,1432.547,1836.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,96990,1639
$CAP_FILE_SIZE,174311,0
$CFSIZE,260165632,150704128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047, 88.4,1
$GPS,281010,110936,2124.708,12605.459,37,1.2,42,-2.9