version: 66.08
glider: 167
mission: 6
dive: 327
start: 11 10 110 6 47 57
data:
$ID,167
$MISSION,6
$DIVE,327
$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,-54536.238
$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,53
$R_STBD_OVSHOOT,137
$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
$GPS1,101110,063653,2121.143,12559.979,25,1.7,42,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.2
$GPS2,101110,064735,2121.005,12559.896,13,1.6,28,-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,34.7,6992,-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,-228.7,0.0,0.0,0,92,0.00,0.00,-72.05,0.000,2,0.000,0.000,112,762,3516,0,0,0,0,0,0
$GC,95,-0.72,-228.7,6.6,-14.8,10,120,9.77,1.95,-6.90,0.000,4,0.224,0.028,2568,2199,3963,0,0,0,0,0,0
$GC,159,-0.72,-228.7,35.2,-27.8,20,167,0.00,2.15,0.00,0.000,6,0.000,0.034,2568,794,3965,0,0,0,0,0,0
$GC,486,-0.72,-228.7,126.7,-23.8,81,494,0.00,0.88,0.00,0.000,4,0.000,0.040,2568,189,3965,0,0,0,0,0,0
$GC,691,-0.72,-228.7,174.4,-20.5,118,699,0.00,0.73,0.00,0.000,6,0.000,0.021,2563,830,3965,0,0,0,0,0,0
$GC,1034,-0.72,-228.7,237.2,-17.0,179,1041,0.00,0.93,0.00,0.000,4,0.000,0.040,2563,195,3967,0,0,0,0,0,0
$GC,1136,-0.72,-228.7,255.4,-16.8,197,1143,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,777,3967,0,0,0,0,0,0
$GC,1476,-0.72,-228.7,309.8,-14.6,258,1484,0.00,1.90,0.00,0.000,4,0.000,0.017,2560,2123,3967,0,0,0,0,0,0
$GC,1524,-0.72,-228.7,316.1,-11.6,266,1533,0.00,2.03,0.00,0.000,6,0.000,0.031,2560,778,3967,0,0,0,0,0,0
$GC,1869,-0.72,-228.7,364.0,-14.3,327,1876,0.00,0.85,0.00,0.000,4,0.000,0.042,2560,190,3967,0,0,0,0,0,0
$GC,1988,-0.72,-228.7,380.9,-13.8,348,1996,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,761,3967,0,0,0,0,0,0
$GC,2335,-0.72,-228.7,424.3,-13.0,409,2342,0.00,1.90,0.00,0.000,4,0.000,0.017,2560,2132,3965,0,0,0,0,0,0
$GC,2417,-0.72,-228.7,434.0,-11.0,423,2423,0.00,2.03,0.00,0.000,6,0.000,0.033,2560,779,3965,0,0,0,0,0,0
$GC,2754,-0.72,-228.7,478.1,-12.9,484,2762,0.10,1.95,0.00,0.000,4,0.168,0.018,2586,2124,3963,0,0,0,0,0,0
$GC,2788,-0.72,-228.7,481.7,-10.8,489,2795,0.00,1.98,0.00,0.000,6,0.000,0.034,2586,795,3963,0,0,0,0,0,0
$GC,3126,-0.72,-228.7,515.9,-10.0,535,3130,0.00,1.90,0.00,0.000,4,0.000,0.018,2585,2133,3960,0,0,0,0,0,0
$GC,3178,-0.72,-228.7,520.5,-8.3,539,3184,0.00,1.98,0.00,0.000,6,0.000,0.034,2586,806,3960,0,0,0,0,0,0
$GC,3503,-0.72,-228.7,551.6,-9.3,570,3507,0.00,0.90,0.00,0.000,4,0.000,0.045,2586,195,3957,0,0,0,0,0,0
$GC,3539,-0.72,-228.7,555.0,-9.6,573,3542,0.00,0.73,0.00,0.000,6,0.000,0.023,2586,778,3957,0,0,0,0,0,0
$GC,3870,-0.72,-228.7,584.2,-8.8,604,3874,0.00,1.98,0.00,0.000,4,0.000,0.018,2586,2149,3955,0,0,0,0,0,0
$GC,3953,-0.72,-228.7,590.5,-6.9,611,3960,0.00,2.03,0.00,0.000,6,0.000,0.036,2585,828,3955,0,0,0,0,0,0
$GC,4287,-0.72,-228.7,618.1,-8.7,633,4290,0.00,1.90,0.00,0.000,4,0.000,0.019,2586,2168,3951,0,0,0,0,0,0
$GC,4364,-0.72,-228.7,624.7,-7.7,636,4368,0.00,2.05,0.00,0.000,6,0.000,0.036,2586,815,3951,0,0,0,0,0,0
$GC,4688,-0.72,-228.7,653.3,-9.1,652,4692,0.00,1.90,0.00,0.000,4,0.000,0.019,2586,2154,3949,0,0,0,0,0,0
$GC,4744,-0.72,-228.7,658.2,-7.8,654,4747,0.00,1.98,0.00,0.000,6,0.000,0.037,2586,845,3949,0,0,0,0,0,0
$GC,5068,-0.72,-228.7,687.1,-9.2,670,5071,0.00,1.90,0.00,0.000,4,0.000,0.020,2586,2165,3946,0,0,0,0,0,0
$GC,5092,-0.72,-228.7,689.4,-9.0,671,5096,0.00,1.98,0.00,0.000,6,0.000,0.037,2586,855,3946,0,0,0,0,0,0
$GC,5426,-0.72,-228.7,718.3,-8.4,687,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,855,3944,0,0,0,0,0,0
$GC,5736,-0.72,-228.7,742.0,-7.3,702,5740,0.00,1.85,0.00,0.000,4,0.000,0.020,2586,2152,3942,0,0,0,0,0,0
$GC,5764,-0.72,-228.7,744.0,-6.8,703,5768,0.00,1.98,0.00,0.000,6,0.000,0.038,2586,864,3941,0,0,0,0,0,0
$GC,6092,-0.72,-228.7,765.2,-6.5,719,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,863,3939,0,0,0,0,0,0
$GC,6403,-0.72,-228.7,787.2,-7.7,734,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,863,3938,0,0,0,0,0,0
$GC,6710,-0.72,-228.7,813.3,-9.0,749,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,863,3936,0,0,0,0,0,0
$GC,7020,-0.72,-228.7,841.7,-9.3,764,7023,0.00,1.85,0.00,0.000,4,0.000,0.021,2586,2153,3934,0,0,0,0,0,0
$GC,7054,-0.72,-228.7,844.8,-9.1,765,7058,0.00,2.00,0.00,0.000,6,0.000,0.040,2586,858,3934,0,0,0,0,0,0
$GC,7376,-0.72,-228.7,872.8,-8.2,781,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,858,3933,0,0,0,0,0,0
$GC,7687,-0.72,-228.7,897.3,-7.9,796,7691,0.00,1.85,0.00,0.000,4,0.000,0.021,2586,2149,3930,0,0,0,0,0,0
$GC,7757,-0.72,-228.7,902.5,-7.2,799,7761,0.00,1.95,0.00,0.000,6,0.000,0.041,2586,871,3930,0,0,0,0,0,0
$GC,8091,-0.72,-228.7,929.5,-8.2,815,8094,0.00,1.85,0.00,0.000,4,0.000,0.021,2586,2157,3928,0,0,0,0,0,0
$GC,8131,-0.72,-228.7,932.7,-7.6,816,8138,0.00,2.00,0.00,0.000,6,0.000,0.041,2586,868,3928,0,0,0,0,0,0
$GC,8448,-0.72,-228.7,958.0,-8.0,832,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,866,3927,0,0,0,0,0,0
$GC,8757,-0.72,-228.7,981.3,-7.2,847,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,868,3926,0,0,0,0,0,0
$STATE,9024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9024,begin apogee
$GC,9032,-0.14,0.0,1000.2,7.0,860,9225,0.52,0.00,185.95,1.414,4,0.102,0.000,2770,991,3028,0,0,0,0,0,0
$STATE,9228,end apogee,CONTROL_FINISHED_OK
$STATE,9228,begin climb
$GC,9231,0.72,228.7,1009.6,0.0,869,9445,0.80,2.17,200.52,1.356,4,0.044,0.021,3062,2377,2094,0,0,0,0,0,0
$GC,9695,0.72,228.7,952.4,16.1,890,9699,0.00,2.15,0.00,0.000,6,0.000,0.039,3069,1002,2087,0,0,0,0,0,0
$GC,10030,0.72,228.7,894.3,17.8,906,10034,0.00,2.03,0.00,0.000,4,0.000,0.023,3069,2369,2086,0,0,0,0,0,0
$GC,10289,0.72,228.7,850.8,16.7,917,10293,0.00,2.10,0.00,0.000,6,0.000,0.039,3072,997,2084,0,0,0,0,0,0
$GC,10605,0.72,228.7,794.9,17.9,932,10609,0.00,2.00,0.00,0.000,4,0.000,0.024,3073,2365,2084,0,0,0,0,0,0
$GC,10678,0.72,228.7,782.3,16.5,935,10681,0.00,2.10,0.00,0.000,6,0.000,0.040,3073,996,2084,0,0,0,0,0,0
$GC,11008,0.72,228.7,725.8,16.8,951,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,996,2083,0,0,0,0,0,0
$GC,11314,0.72,228.7,673.7,16.8,966,11318,0.00,2.03,0.00,0.000,4,0.000,0.025,3073,2366,2083,0,0,0,0,0,0
$GC,11366,0.72,228.7,665.5,15.1,968,11370,0.00,2.08,0.00,0.000,6,0.000,0.040,3073,1012,2082,0,0,0,0,0,0
$GC,11689,0.72,228.7,613.3,16.4,984,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1012,2082,0,0,0,0,0,0
$GC,12003,0.72,228.7,563.0,15.1,1010,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1012,2082,0,0,0,0,0,0
$GC,12325,0.72,228.7,515.7,14.7,1040,12329,0.00,1.25,0.00,0.000,4,0.000,0.047,3080,193,2081,0,0,0,0,0,0
$GC,12372,0.72,228.7,508.3,15.0,1044,12375,0.00,1.12,0.00,0.000,6,0.000,0.027,3080,995,2081,0,0,0,0,0,0
$GC,12709,0.72,228.7,458.0,15.2,1100,12717,0.00,2.05,0.00,0.000,4,0.000,0.025,3080,2380,2081,0,0,0,0,0,0
$GC,12778,0.72,228.7,448.1,14.9,1111,12785,0.12,2.10,0.00,0.000,6,0.177,0.037,3057,1011,2081,0,0,0,0,0,0
$GC,13121,0.72,228.7,403.9,12.8,1172,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1011,2081,0,0,0,0,0,0
$GC,13465,0.74,241.0,364.1,10.7,1233,13481,0.00,1.27,9.40,0.871,4,0.000,0.047,3062,193,2045,0,0,0,0,0,0
$GC,13584,0.74,241.0,349.4,13.6,1253,13591,0.00,1.17,0.00,0.000,6,0.000,0.025,3062,1040,2044,0,0,0,0,0,0
$GC,13923,0.74,241.0,307.0,12.7,1314,13932,0.00,1.98,0.00,0.000,4,0.000,0.023,3062,2388,2044,0,0,0,0,0,0
$GC,14036,0.74,241.0,293.8,12.3,1333,14042,0.00,2.05,0.00,0.000,6,0.000,0.037,3066,1032,2044,0,0,0,0,0,0
$GC,14377,0.74,241.0,252.8,11.5,1394,14385,0.00,1.27,0.00,0.000,4,0.000,0.044,3072,189,2044,0,0,0,0,0,0
$GC,14414,0.74,241.0,248.1,11.6,1400,14422,0.00,1.17,0.00,0.000,6,0.000,0.022,3072,1063,2044,0,0,0,0,0,0
$GC,14756,0.78,278.7,211.6,9.9,1461,14792,0.00,1.38,32.28,0.802,4,0.000,0.045,3076,192,1892,0,0,0,0,0,0
$GC,15032,0.78,278.7,179.9,12.8,1509,15038,0.00,1.12,0.00,0.000,6,0.000,0.022,3076,1032,1889,0,0,0,0,0,0
$GC,15371,0.91,382.7,144.0,7.7,1570,15462,0.12,1.35,83.97,0.736,4,0.091,0.043,3140,192,1468,0,0,0,0,0,0
$GC,15639,0.91,382.7,107.5,14.1,1615,15647,0.00,1.08,0.00,0.000,6,0.000,0.021,3139,1011,1461,0,0,0,0,0,0
$GC,15969,0.96,425.6,67.5,9.7,1676,16013,0.00,1.98,34.15,0.649,4,0.000,0.018,3140,2360,1292,0,0,0,0,0,0
$GC,16052,0.96,425.6,57.5,13.6,1689,16062,0.00,2.12,0.00,0.000,6,0.000,0.033,3148,983,1291,0,0,0,0,0,0
$GC,16381,0.96,425.6,13.3,11.2,1750,16389,0.00,1.17,0.00,0.000,4,0.000,0.043,3153,194,1290,0,0,0,0,0,0
$GC,16405,0.96,425.6,9.9,13.6,1753,16413,0.00,1.00,0.00,0.000,6,0.000,0.019,3153,1005,1291,0,0,0,0,0,0
$STATE,16445,end climb,SURFACE_DEPTH_REACHED
$STATE,16445,begin surface coast
$FINISH,1.0,1.022530
$STATE,16463,end surface coast,CONTROL_FINISHED_OK
$STATE,16463,begin surface
$SM_CCo,16543,0.00,0.000,0,0,1287,427.07
$SM_GC,1.47,7.72,0.00,0.00,0.032,0.000,0.000,103,792,1287,-8.38,0.06,427.07
$IRIDIUM_FIX,2113.32,12559.43,101110,060606
$TT8_MAMPS,0.028462
$HUMID,40.31
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,22.6,61.009
$10V_AH,10.2,56.831
$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,19.175,100.750,546.275,0.000,0.000,55.513,83.308,215.661,0.000,0.000,28.897,4280.595,7557.014,604.085,4171.538,546.135,0.000,2154.489,0.000,3818.923,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,91.035,1413.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1204.172,1535.326,1953.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,103414,1763
$CAP_FILE_SIZE,178742,0
$CFSIZE,260165632,144064512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,229.2,1
$GPS,101110,112455,2122.689,12600.703,37,2.0,38,-2.9