version: 66.08
glider: 167
mission: 6
dive: 324
start: 11 9 110 16 33 56
data:
$ID,167
$MISSION,6
$DIVE,324
$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,-54532.465
$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,76
$R_STBD_OVSHOOT,106
$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
$GPS1,091110,162301,2124.811,12601.369,40,1.3,40,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.9
$GPS2,091110,163333,2124.766,12601.470,9,2.2,28,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,192.6,10874,-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,-228.7,0.0,0.0,0,92,0.00,0.00,-71.45,0.000,2,0.000,0.000,111,755,3568,0,0,0,0,0,0
$GC,95,-0.72,-228.7,6.8,-14.7,10,119,9.85,0.77,-6.05,0.000,4,0.227,0.074,2582,225,3964,0,0,0,0,0,0
$GC,359,-0.72,-228.7,92.8,-26.7,58,366,0.00,0.70,0.00,0.000,6,0.000,0.021,2580,855,3965,0,0,0,0,0,0
$GC,687,-0.72,-228.7,161.6,-19.2,119,694,0.00,0.93,0.00,0.000,4,0.000,0.040,2580,222,3966,0,0,0,0,0,0
$GC,935,-0.72,-228.7,210.8,-17.6,163,942,0.00,0.70,0.00,0.000,6,0.000,0.021,2575,849,3967,0,0,0,0,0,0
$GC,1278,-0.72,-228.7,263.9,-15.6,224,1286,0.00,0.90,0.00,0.000,4,0.000,0.040,2575,230,3967,0,0,0,0,0,0
$GC,1460,-0.72,-228.7,292.0,-15.9,255,1466,0.00,0.68,0.00,0.000,6,0.000,0.021,2574,839,3967,0,0,0,0,0,0
$GC,1802,-0.72,-228.7,342.0,-13.3,316,1811,0.00,1.77,0.00,0.000,4,0.000,0.017,2574,2106,3967,0,0,0,0,0,0
$GC,1874,-0.72,-228.7,349.9,-9.9,328,1883,0.00,1.98,0.00,0.000,6,0.000,0.032,2574,794,3967,0,0,0,0,0,0
$GC,2217,-0.72,-228.7,390.6,-12.5,389,2223,0.00,0.85,0.00,0.000,4,0.000,0.041,2574,202,3967,0,0,0,0,0,0
$GC,2281,-0.72,-228.7,398.6,-12.4,400,2290,0.00,0.62,0.00,0.000,6,0.000,0.023,2574,755,3967,0,0,0,0,0,0
$GC,2622,-0.72,-228.7,440.2,-11.8,461,2628,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2129,3965,0,0,0,0,0,0
$GC,2661,-0.72,-228.7,444.3,-10.8,467,2668,0.00,2.00,0.00,0.000,6,0.000,0.033,2574,778,3965,0,0,0,0,0,0
$GC,3004,-0.72,-228.7,483.7,-11.4,528,3013,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2124,3962,0,0,0,0,0,0
$GC,3064,-0.72,-228.7,489.7,-9.2,538,3072,0.00,2.05,0.00,0.000,6,0.000,0.034,2574,777,3962,0,0,0,0,0,0
$GC,3397,-0.72,-228.7,524.8,-10.5,577,3401,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2117,3960,0,0,0,0,0,0
$GC,3435,-0.72,-228.7,528.8,-9.0,580,3443,0.00,2.00,0.00,0.000,6,0.000,0.034,2574,787,3960,0,0,0,0,0,0
$GC,3761,-0.72,-228.7,562.0,-10.4,611,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,787,3957,0,0,0,0,0,0
$GC,4082,-0.72,-228.7,595.8,-11.0,641,4086,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2121,3956,0,0,0,0,0,0
$GC,4122,-0.72,-228.7,600.0,-9.8,644,4130,0.00,2.03,0.00,0.000,6,0.000,0.035,2574,784,3955,0,0,0,0,0,0
$GC,4438,-0.72,-228.7,633.4,-10.4,660,4442,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2131,3952,0,0,0,0,0,0
$GC,4476,-0.72,-228.7,637.2,-9.2,661,4483,0.00,2.00,0.00,0.000,6,0.000,0.036,2574,800,3953,0,0,0,0,0,0
$GC,4795,-0.72,-228.7,667.8,-9.3,677,4799,0.00,1.90,0.00,0.000,4,0.000,0.019,2573,2127,3949,0,0,0,0,0,0
$GC,4841,-0.72,-228.7,671.8,-8.0,679,4845,0.00,2.00,0.00,0.000,6,0.000,0.037,2574,799,3949,0,0,0,0,0,0
$GC,5177,-0.72,-228.7,700.4,-8.6,695,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,799,3947,0,0,0,0,0,0
$GC,5485,-0.72,-228.7,727.9,-9.1,710,5489,0.00,1.88,0.00,0.000,4,0.000,0.019,2574,2121,3945,0,0,0,0,0,0
$GC,5547,-0.72,-228.7,733.1,-7.8,712,5555,0.00,2.00,0.00,0.000,6,0.000,0.037,2574,796,3944,0,0,0,0,0,0
$GC,5865,-0.72,-228.7,759.9,-8.5,728,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,796,3942,0,0,0,0,0,0
$GC,6172,-0.72,-228.7,785.6,-8.1,743,6176,0.00,1.90,0.00,0.000,4,0.000,0.020,2573,2119,3940,0,0,0,0,0,0
$GC,6211,-0.72,-228.7,788.5,-7.3,744,6219,0.00,2.00,0.00,0.000,6,0.000,0.038,2573,802,3939,0,0,0,0,0,0
$GC,6529,-0.72,-228.7,814.1,-8.3,760,6533,0.00,1.92,0.00,0.000,4,0.000,0.020,2574,2121,3938,0,0,0,0,0,0
$GC,6590,-0.72,-228.7,818.8,-7.1,762,6597,0.00,2.03,0.00,0.000,6,0.000,0.038,2574,802,3938,0,0,0,0,0,0
$GC,6908,-0.72,-228.7,844.9,-8.3,778,6912,0.00,1.90,0.00,0.000,4,0.000,0.020,2574,2120,3935,0,0,0,0,0,0
$GC,6947,-0.72,-228.7,848.1,-7.4,779,6954,0.00,2.00,0.00,0.000,6,0.000,0.038,2575,806,3935,0,0,0,0,0,0
$GC,7263,-0.72,-228.7,874.9,-8.5,795,7267,0.00,1.92,0.00,0.000,4,0.000,0.020,2574,2121,3934,0,0,0,0,0,0
$GC,7326,-0.72,-228.7,879.8,-7.7,797,7333,0.00,2.00,0.00,0.000,6,0.000,0.039,2573,823,3933,0,0,0,0,0,0
$GC,7643,-0.72,-228.7,906.7,-8.4,813,7646,0.00,1.85,0.00,0.000,4,0.000,0.020,2574,2121,3932,0,0,0,0,0,0
$GC,7670,-0.72,-228.7,909.1,-8.0,814,7674,0.00,2.00,0.00,0.000,6,0.000,0.039,2574,825,3931,0,0,0,0,0,0
$GC,8000,-0.72,-228.7,935.1,-7.9,830,8003,0.00,1.88,0.00,0.000,4,0.000,0.020,2573,2122,3930,0,0,0,0,0,0
$GC,8027,-0.72,-228.7,937.6,-8.0,831,8031,0.00,1.98,0.00,0.000,6,0.000,0.039,2574,822,3929,0,0,0,0,0,0
$GC,8357,-0.72,-228.7,963.1,-8.0,847,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,822,3929,0,0,0,0,0,0
$GC,8664,-0.72,-228.7,988.5,-8.5,862,8668,0.00,1.88,0.00,0.000,4,0.000,0.021,2573,2119,3927,0,0,0,0,0,0
$GC,8722,-0.72,-228.7,992.9,-8.3,864,8725,0.00,1.98,0.00,0.000,6,0.000,0.040,2574,828,3926,0,0,0,0,0,0
$STATE,8815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8815,begin apogee
$GC,8823,-0.14,0.0,1000.9,8.5,869,9016,0.57,0.00,186.52,1.415,4,0.109,0.000,2770,953,3029,0,0,0,0,0,0
$STATE,9019,end apogee,CONTROL_FINISHED_OK
$STATE,9019,begin climb
$GC,9021,0.72,228.7,1011.8,0.0,878,9233,0.80,2.22,200.65,1.357,4,0.046,0.021,3062,2383,2095,0,0,0,0,0,0
$GC,9335,0.72,228.7,978.9,16.7,892,9340,0.00,2.22,0.00,0.000,6,0.000,0.037,3071,992,2090,0,0,0,0,0,0
$GC,9651,0.72,228.7,921.9,17.8,907,9655,0.00,1.23,0.00,0.000,4,0.000,0.048,3077,191,2087,0,0,0,0,0,0
$GC,9880,0.72,228.7,877.1,19.4,917,9885,0.00,1.12,0.00,0.000,6,0.000,0.026,3077,992,2087,0,0,0,0,0,0
$GC,10208,0.72,228.7,817.8,18.0,933,10212,0.00,2.03,0.00,0.000,4,0.000,0.024,3077,2384,2086,0,0,0,0,0,0
$GC,10357,0.72,228.7,792.7,16.9,939,10362,0.12,2.10,0.00,0.000,6,0.185,0.038,3054,1010,2084,0,0,0,0,0,0
$GC,10673,0.72,228.7,743.7,15.2,954,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1010,2084,0,0,0,0,0,0
$GC,10984,0.72,228.7,695.2,15.7,969,10988,0.00,2.03,0.00,0.000,4,0.000,0.024,3054,2387,2083,0,0,0,0,0,0
$GC,11076,0.72,228.7,680.7,15.4,973,11080,0.00,2.08,0.00,0.000,6,0.000,0.037,3062,1022,2084,0,0,0,0,0,0
$GC,11405,0.72,228.7,627.9,16.0,989,11409,0.00,1.98,0.00,0.000,4,0.000,0.024,3062,2382,2083,0,0,0,0,0,0
$GC,11451,0.72,228.7,620.5,15.2,991,11455,0.00,2.08,0.00,0.000,6,0.000,0.037,3067,1028,2083,0,0,0,0,0,0
$GC,11776,0.72,228.7,572.4,14.6,1015,11779,0.00,1.98,0.00,0.000,4,0.000,0.024,3068,2391,2082,0,0,0,0,0,0
$GC,11822,0.72,228.7,565.5,13.8,1019,11826,0.00,2.05,0.00,0.000,6,0.000,0.037,3076,1040,2083,0,0,0,0,0,0
$GC,12148,0.72,228.7,519.6,14.0,1049,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1040,2082,0,0,0,0,0,0
$GC,12472,0.72,228.7,471.8,13.9,1096,12481,0.00,2.00,0.00,0.000,4,0.000,0.024,3076,2387,2082,0,0,0,0,0,0
$GC,12498,0.72,228.7,468.2,13.9,1100,12508,0.00,2.08,0.00,0.000,6,0.000,0.037,3083,1048,2082,0,0,0,0,0,0
$GC,12846,0.72,228.7,418.7,14.0,1161,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1048,2081,0,0,0,0,0,0
$GC,13185,0.72,228.7,372.5,12.3,1222,13193,0.00,1.30,0.00,0.000,4,0.000,0.046,3090,194,2081,0,0,0,0,0,0
$GC,13253,0.72,228.7,364.0,11.9,1233,13260,0.10,1.17,0.00,0.000,6,0.155,0.025,3059,1037,2081,0,0,0,0,0,0
$GC,13596,0.73,239.6,327.8,10.8,1294,13610,0.00,0.00,8.27,0.818,6,0.000,0.000,3059,1036,2051,0,0,0,0,0,0
$GC,13945,0.73,239.6,287.4,12.2,1356,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1036,2050,0,0,0,0,0,0
$GC,14289,0.74,241.7,250.6,11.0,1417,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1036,2050,0,0,0,0,0,0
$GC,14626,0.78,276.1,215.7,10.0,1478,14662,0.00,1.35,31.52,0.800,4,0.000,0.045,3065,183,1903,0,0,0,0,0,0
$GC,14765,0.78,276.1,200.5,11.6,1501,14772,0.00,1.23,0.00,0.000,6,0.000,0.021,3064,1087,1899,0,0,0,0,0,0
$GC,15109,0.85,333.5,165.3,9.2,1562,15163,0.00,1.38,47.40,0.752,4,0.000,0.042,3066,181,1668,0,0,0,0,0,0
$GC,15209,0.86,338.2,155.3,11.0,1577,15223,0.00,1.23,5.25,0.558,6,0.000,0.021,3065,1086,1649,0,0,0,0,0,0
$GC,15548,0.90,374.7,120.3,9.9,1639,15586,0.12,0.00,30.12,0.698,6,0.087,0.000,3127,1086,1501,0,0,0,0,0,0
$GC,15908,0.90,374.7,75.0,13.1,1704,15916,0.00,1.88,0.00,0.000,4,0.000,0.018,3128,2406,1496,0,0,0,0,0,0
$GC,15966,0.90,374.7,68.1,11.5,1714,15974,0.00,2.10,0.00,0.000,6,0.000,0.034,3133,1032,1496,0,0,0,0,0,0
$GC,16296,0.94,405.1,32.0,10.1,1775,16327,0.00,1.30,25.67,0.614,4,0.000,0.042,3140,188,1377,0,0,0,0,0,0
$GC,16374,0.94,405.1,22.4,14.0,1787,16382,0.00,1.17,0.00,0.000,6,0.000,0.018,3140,1105,1375,0,0,0,0,0,0
$STATE,16516,end climb,SURFACE_DEPTH_REACHED
$STATE,16516,begin surface coast
$FINISH,0.6,1.022492
$STATE,16538,end surface coast,CONTROL_FINISHED_OK
$STATE,16538,begin surface
$SM_CCo,16618,0.00,0.000,0,0,1371,406.46
$SM_GC,1.28,7.75,0.00,0.00,0.036,0.000,0.000,117,786,1371,-8.37,-0.11,406.46
$IRIDIUM_FIX,2115.63,12602.66,091110,161609
$TT8_MAMPS,0.028462
$HUMID,40.39
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,22.7,60.405
$10V_AH,10.2,56.261
$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,19.325,106.425,535.425,0.000,0.000,52.469,90.008,209.432,0.000,0.000,29.906,4426.661,7288.175,625.620,4326.555,562.642,0.000,2208.103,0.000,3981.596,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,91.800,1415.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.136,1600.109,2098.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333740
$DATA_FILE_SIZE,103646,1817
$CAP_FILE_SIZE,185829,0
$CFSIZE,260165632,144355328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,103.2,1
$GPS,091110,211207,2122.027,12602.489,35,0.9,36,-2.9