version: 66.08
glider: 167
mission: 6
dive: 236
start: 10 24 110 8 27 46
data:
$ID,167
$MISSION,6
$DIVE,236
$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,-54420.152
$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,36
$R_STBD_OVSHOOT,97
$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
$GPS1,241010,081705,2151.040,12634.422,37,1.6,42,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,241010,082724,2151.084,12634.300,9,1.7,13,-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,227.2,78999,-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,-228.7,0.0,0.0,0,100,0.00,0.00,-79.07,0.000,2,0.000,0.000,107,888,3499,0,0,0,0,0,0
$GC,103,-0.72,-228.7,6.7,-14.7,11,128,9.50,1.05,-6.95,0.000,4,0.216,0.062,2582,183,3964,0,0,0,0,0,0
$GC,369,-0.72,-228.7,96.3,-23.4,59,378,0.00,0.77,0.00,0.000,6,0.000,0.020,2579,884,3965,0,0,0,0,0,0
$GC,696,-0.72,-228.7,170.5,-22.5,120,704,0.00,1.02,0.00,0.000,4,0.000,0.039,2579,189,3967,0,0,0,0,0,0
$GC,947,-0.72,-228.7,221.8,-19.7,166,955,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,880,3966,0,0,0,0,0,0
$GC,1279,-0.72,-228.7,279.4,-13.9,227,1286,0.00,1.02,0.00,0.000,4,0.000,0.040,2574,181,3967,0,0,0,0,0,0
$GC,1535,-0.72,-228.7,321.5,-17.0,273,1541,0.00,0.75,0.00,0.000,6,0.000,0.021,2574,864,3967,0,0,0,0,0,0
$GC,1866,-0.72,-228.7,370.5,-14.4,334,1874,0.00,1.00,0.00,0.000,4,0.000,0.040,2573,183,3967,0,0,0,0,0,0
$GC,2119,-0.72,-228.7,406.9,-14.0,380,2127,0.00,0.73,0.00,0.000,6,0.000,0.021,2571,817,3966,0,0,0,0,0,0
$GC,2453,-0.72,-228.7,451.6,-12.9,441,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,817,3963,0,0,0,0,0,0
$GC,2779,-0.72,-228.7,491.0,-11.8,502,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,817,3961,0,0,0,0,0,0
$GC,3114,-0.72,-228.7,531.0,-12.1,540,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,817,3960,0,0,0,0,0,0
$GC,3435,-0.72,-228.7,569.5,-11.8,570,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,817,3956,0,0,0,0,0,0
$GC,3771,-0.72,-228.7,607.0,-10.4,599,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,817,3954,0,0,0,0,0,0
$GC,4080,-0.72,-228.7,640.1,-10.8,614,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,817,3951,0,0,0,0,0,0
$GC,4388,-0.72,-228.7,673.4,-10.7,629,4392,0.00,1.83,0.00,0.000,4,0.000,0.018,2570,2118,3948,0,0,0,0,0,0
$GC,4412,-0.72,-228.7,675.8,-9.9,630,4416,0.00,2.08,0.00,0.000,6,0.000,0.036,2570,748,3948,0,0,0,0,0,0
$GC,4741,-0.72,-228.7,709.7,-10.3,646,4744,0.00,1.95,0.00,0.000,4,0.000,0.018,2569,2116,3945,0,0,0,0,0,0
$GC,4774,-0.72,-228.7,713.3,-9.1,647,4777,0.00,2.08,0.00,0.000,6,0.000,0.036,2570,753,3945,0,0,0,0,0,0
$GC,5097,-0.72,-228.7,744.3,-9.5,663,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,753,3942,0,0,0,0,0,0
$GC,5405,-0.72,-228.7,773.0,-8.9,678,5409,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2119,3940,0,0,0,0,0,0
$GC,5429,-0.72,-228.7,774.9,-8.2,679,5433,0.00,2.08,0.00,0.000,6,0.000,0.037,2570,759,3939,0,0,0,0,0,0
$GC,5758,-0.72,-228.7,801.7,-8.2,695,5762,0.00,1.92,0.00,0.000,4,0.000,0.018,2570,2123,3937,0,0,0,0,0,0
$GC,5804,-0.72,-228.7,805.4,-7.3,697,5808,0.00,2.08,0.00,0.000,6,0.000,0.037,2570,767,3937,0,0,0,0,0,0
$GC,6131,-0.72,-228.7,832.6,-8.4,713,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,767,3935,0,0,0,0,0,0
$GC,6444,-0.72,-228.7,860.5,-9.2,728,6448,0.00,1.92,0.00,0.000,4,0.000,0.018,2570,2114,3932,0,0,0,0,0,0
$GC,6477,-0.72,-228.7,863.9,-8.6,729,6481,0.00,2.10,0.00,0.000,6,0.000,0.038,2570,741,3932,0,0,0,0,0,0
$GC,6801,-0.72,-228.7,892.4,-8.9,745,6805,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2114,3929,0,0,0,0,0,0
$GC,6851,-0.72,-228.7,896.7,-7.9,747,6855,0.00,2.08,0.00,0.000,6,0.000,0.038,2570,764,3929,0,0,0,0,0,0
$GC,7179,-0.72,-228.7,924.6,-8.6,763,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,763,3928,0,0,0,0,0,0
$GC,7490,-0.72,-228.7,951.2,-8.6,778,7493,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2117,3925,0,0,0,0,0,0
$GC,7537,-0.72,-228.7,955.1,-8.8,780,7541,0.00,2.08,0.00,0.000,6,0.000,0.039,2570,769,3925,0,0,0,0,0,0
$GC,7868,-0.72,-228.7,982.8,-8.4,796,7872,0.00,1.95,0.00,0.000,4,0.000,0.018,2570,2119,3924,0,0,0,0,0,0
$GC,7903,-0.72,-228.7,985.8,-8.0,797,7906,0.00,2.10,0.00,0.000,6,0.000,0.039,2569,757,3923,0,0,0,0,0,0
$STATE,8092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8092,begin apogee
$GC,8099,-0.14,0.0,1001.7,8.4,806,8286,0.60,0.00,180.50,1.408,4,0.114,0.000,2772,954,3028,0,0,0,0,0,0
$STATE,8287,end apogee,CONTROL_FINISHED_OK
$STATE,8287,begin climb
$GC,8289,0.72,228.7,1009.6,0.0,814,8492,0.80,2.22,194.80,1.349,4,0.047,0.021,3064,2382,2096,0,0,0,0,0,0
$GC,8628,0.72,228.7,966.4,18.6,830,8632,0.00,2.22,0.00,0.000,6,0.000,0.037,3073,995,2088,0,0,0,0,0,0
$GC,8944,0.72,228.7,904.2,19.7,845,8948,0.00,1.23,0.00,0.000,4,0.000,0.047,3079,192,2086,0,0,0,0,0,0
$GC,9104,0.72,228.7,871.8,20.1,852,9108,0.00,1.12,0.00,0.000,6,0.000,0.025,3079,999,2086,0,0,0,0,0,0
$GC,9438,0.72,228.7,807.5,19.1,868,9442,0.00,2.03,0.00,0.000,4,0.000,0.024,3079,2374,2084,0,0,0,0,0,0
$GC,9624,0.72,228.7,774.1,16.4,876,9629,0.12,2.05,0.00,0.000,6,0.184,0.036,3057,1039,2083,0,0,0,0,0,0
$GC,9946,0.72,228.7,722.9,15.5,892,9949,0.00,1.95,0.00,0.000,4,0.000,0.024,3057,2380,2082,0,0,0,0,0,0
$GC,9978,0.72,228.7,717.3,15.7,893,9982,0.00,2.05,0.00,0.000,6,0.000,0.037,3061,1040,2082,0,0,0,0,0,0
$GC,10302,0.72,228.7,666.3,16.6,909,10306,0.00,2.00,0.00,0.000,4,0.000,0.025,3061,2379,2082,0,0,0,0,0,0
$GC,10402,0.72,228.7,650.0,15.8,913,10406,0.00,2.05,0.00,0.000,6,0.000,0.037,3069,1056,2081,0,0,0,0,0,0
$GC,10725,0.72,228.7,595.7,17.2,930,10729,0.00,1.92,0.00,0.000,4,0.000,0.024,3069,2392,2081,0,0,0,0,0,0
$GC,10839,0.72,228.7,577.1,15.9,940,10843,0.00,2.03,0.00,0.000,6,0.000,0.035,3078,1058,2080,0,0,0,0,0,0
$GC,11170,0.72,228.7,522.0,16.8,971,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1058,2079,0,0,0,0,0,0
$GC,11489,0.72,228.7,469.7,16.6,1018,11497,0.00,1.95,0.00,0.000,4,0.000,0.024,3078,2375,2080,0,0,0,0,0,0
$GC,11665,0.72,228.7,442.4,14.3,1049,11672,0.12,2.00,0.00,0.000,6,0.181,0.036,3054,1062,2079,0,0,0,0,0,0
$GC,12000,0.72,228.7,396.8,14.0,1110,12007,0.00,1.95,0.00,0.000,4,0.000,0.023,3054,2391,2079,0,0,0,0,0,0
$GC,12032,0.72,228.7,391.8,14.3,1115,12040,0.00,2.03,0.00,0.000,6,0.000,0.036,3060,1062,2079,0,0,0,0,0,0
$GC,12367,0.72,228.7,343.2,13.0,1176,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1062,2079,0,0,0,0,0,0
$GC,12701,0.72,228.7,301.0,12.9,1237,12708,0.00,1.30,0.00,0.000,4,0.000,0.046,3065,196,2079,0,0,0,0,0,0
$GC,12775,0.72,228.7,291.9,12.1,1250,12783,0.00,1.23,0.00,0.000,6,0.000,0.024,3065,1094,2079,0,0,0,0,0,0
$GC,13112,0.72,228.7,253.3,11.3,1311,13119,0.00,1.85,0.00,0.000,4,0.000,0.023,3065,2389,2080,0,0,0,0,0,0
$GC,13195,0.72,231.5,242.9,11.0,1326,13203,0.00,2.03,0.00,0.000,6,0.000,0.035,3068,1068,2080,0,0,0,0,0,0
$GC,13530,0.73,233.7,206.0,11.0,1387,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1068,2080,0,0,0,0,0,0
$GC,13863,0.81,305.0,173.3,8.8,1448,13930,0.00,1.35,58.65,0.761,4,0.000,0.044,3075,197,1784,0,0,0,0,0,0
$GC,13963,0.81,305.0,163.6,11.3,1463,13971,0.00,1.20,0.00,0.000,6,0.000,0.020,3075,1105,1782,0,0,0,0,0,0
$GC,14295,0.83,314.6,127.5,10.8,1524,14311,0.00,1.85,8.60,0.627,4,0.000,0.017,3076,2399,1744,0,0,0,0,0,0
$GC,14405,0.90,376.6,116.3,9.1,1543,14465,0.00,2.08,49.75,0.698,6,0.000,0.034,3081,1052,1493,0,0,0,0,0,0
$GC,14785,1.09,526.6,85.1,6.2,1611,14914,0.25,1.38,117.85,0.656,4,0.060,0.042,3204,188,880,0,0,0,0,0,0
$GC,14992,1.09,526.6,48.3,21.7,1642,15000,0.10,1.17,0.00,0.000,6,0.146,0.018,3172,1082,877,0,0,0,0,0,0
$STATE,15270,end climb,SURFACE_DEPTH_REACHED
$STATE,15270,begin surface coast
$FINISH,0.5,0.997413
$STATE,15289,end surface coast,CONTROL_FINISHED_OK
$STATE,15289,begin surface
$SM_CCo,15367,0.00,0.000,0,0,875,528.38
$SM_GC,1.37,7.78,0.00,0.00,0.031,0.000,0.000,113,779,875,-8.37,-0.31,528.38
$IRIDIUM_FIX,2141.13,12635.95,241010,080808
$TT8_MAMPS,0.028462
$HUMID,39.60
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,28.20
$XPDR_PINGS,0
$24V_AH,23.1,43.901
$10V_AH,10.3,40.059
$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,19.275,86.050,610.150,0.000,0.000,56.849,84.768,217.483,0.000,0.000,14.201,4093.282,6706.327,620.411,4050.704,492.929,0.000,2118.783,0.000,3701.134,0.000,0.543,0.000
$DEVICE_MAMPS,215.730,61.965,1407.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.626,1495.415,1961.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,97071,1697
$CAP_FILE_SIZE,167612,0
$CFSIZE,260165632,152707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,356.4,1
$GPS,241010,124507,2150.134,12633.238,38,1.7,39,-3.0