version: 66.08
glider: 167
mission: 6
dive: 237
start: 10 24 110 12 56 20
data:
$ID,167
$MISSION,6
$DIVE,237
$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,-54421.41
$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,42
$R_STBD_OVSHOOT,86
$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
$GPS1,241010,124507,2150.134,12633.238,38,1.7,39,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.8
$GPS2,241010,125558,2150.276,12633.156,14,3.2,33,-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,217.8,76540,-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,18,-0.72,-228.7,0.0,0.0,0,103,0.00,0.00,-81.97,0.000,2,0.000,0.000,112,778,3252,0,0,0,0,0,0
$GC,106,-0.72,-228.7,5.7,-12.7,11,131,9.50,0.90,-11.27,0.000,4,0.217,0.076,2581,188,3965,0,0,0,0,0,0
$GC,370,-0.72,-228.7,93.6,-22.4,59,379,0.00,0.80,0.00,0.000,6,0.000,0.020,2578,885,3967,0,0,0,0,0,0
$GC,697,-0.72,-228.7,166.7,-22.0,120,704,0.00,1.02,0.00,0.000,4,0.000,0.040,2578,190,3968,0,0,0,0,0,0
$GC,949,-0.72,-228.7,219.1,-19.1,166,957,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,887,3969,0,0,0,0,0,0
$GC,1283,-0.72,-228.7,276.8,-15.3,227,1290,0.00,1.02,0.00,0.000,4,0.000,0.039,2574,190,3969,0,0,0,0,0,0
$GC,1529,-0.72,-228.7,316.8,-16.6,272,1537,0.00,0.75,0.00,0.000,6,0.000,0.021,2570,858,3969,0,0,0,0,0,0
$GC,1861,-0.72,-228.7,367.3,-15.2,333,1869,0.00,0.98,0.00,0.000,4,0.000,0.040,2570,192,3969,0,0,0,0,0,0
$GC,1945,-0.72,-228.7,379.4,-14.6,348,1953,0.00,0.73,0.00,0.000,6,0.000,0.021,2566,828,3968,0,0,0,0,0,0
$GC,2282,-0.72,-228.7,425.8,-13.7,409,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,828,3966,0,0,0,0,0,0
$GC,2613,-0.72,-228.7,470.4,-12.5,470,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,829,3964,0,0,0,0,0,0
$GC,2945,-0.72,-228.7,513.9,-13.0,521,2949,0.00,1.80,0.00,0.000,4,0.000,0.016,2561,2122,3961,0,0,0,0,0,0
$GC,2995,-0.72,-228.7,519.8,-10.3,525,3003,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,749,3961,0,0,0,0,0,0
$GC,3320,-0.72,-228.7,560.1,-12.5,556,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,750,3958,0,0,0,0,0,0
$GC,3643,-0.72,-228.7,596.8,-11.1,586,3647,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2126,3956,0,0,0,0,0,0
$GC,3693,-0.72,-228.7,602.4,-9.5,590,3697,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,756,3955,0,0,0,0,0,0
$GC,4016,-0.72,-228.7,638.4,-11.8,606,4020,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2118,3952,0,0,0,0,0,0
$GC,4045,-0.72,-228.7,641.9,-11.3,607,4049,0.00,2.08,0.00,0.000,6,0.000,0.036,2561,748,3952,0,0,0,0,0,0
$GC,4372,-0.72,-228.7,679.0,-11.2,623,4375,0.00,1.95,0.00,0.000,4,0.000,0.017,2561,2119,3949,0,0,0,0,0,0
$GC,4405,-0.72,-228.7,682.6,-9.4,624,4409,0.00,2.08,0.00,0.000,6,0.000,0.036,2561,752,3949,0,0,0,0,0,0
$GC,4728,-0.72,-228.7,718.5,-11.2,640,4732,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2124,3946,0,0,0,0,0,0
$GC,4756,-0.72,-228.7,721.7,-10.6,641,4760,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,776,3946,0,0,0,0,0,0
$GC,5083,-0.72,-228.7,757.6,-11.2,657,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,776,3943,0,0,0,0,0,0
$GC,5394,-0.72,-228.7,793.0,-11.5,672,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,775,3941,0,0,0,0,0,0
$GC,5702,-0.72,-228.7,826.4,-10.7,687,5705,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2122,3937,0,0,0,0,0,0
$GC,5748,-0.72,-228.7,830.8,-8.9,689,5752,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,779,3937,0,0,0,0,0,0
$GC,6077,-0.72,-228.7,862.5,-9.4,705,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3935,0,0,0,0,0,0
$GC,6385,-0.72,-228.7,890.8,-9.1,720,6388,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2121,3932,0,0,0,0,0,0
$GC,6458,-0.72,-228.7,896.7,-7.8,723,6462,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,782,3932,0,0,0,0,0,0
$GC,6786,-0.72,-228.7,924.7,-8.4,739,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,782,3929,0,0,0,0,0,0
$GC,7097,-0.72,-228.7,951.0,-8.3,754,7101,0.00,1.92,0.00,0.000,4,0.000,0.019,2561,2107,3928,0,0,0,0,0,0
$GC,7144,-0.72,-228.7,954.8,-7.1,756,7148,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,768,3927,0,0,0,0,0,0
$GC,7477,-0.72,-228.7,983.3,-8.9,772,7481,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2109,3925,0,0,0,0,0,0
$GC,7534,-0.72,-228.7,988.2,-8.2,774,7538,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,777,3924,0,0,0,0,0,0
$STATE,7668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7668,begin apogee
$GC,7674,-0.14,0.0,1000.2,9.0,781,7860,0.62,0.00,180.82,1.403,4,0.114,0.000,2772,946,3029,0,0,0,0,0,0
$STATE,7860,end apogee,CONTROL_FINISHED_OK
$STATE,7861,begin climb
$GC,7863,0.72,228.7,1008.2,0.0,789,8068,0.80,2.15,194.90,1.346,4,0.044,0.020,3068,2333,2096,0,0,0,0,0,0
$GC,8268,0.72,228.7,951.9,18.6,807,8275,0.00,2.10,0.00,0.000,6,0.000,0.037,3078,999,2087,0,0,0,0,0,0
$GC,8586,0.72,228.7,890.1,19.3,823,8590,0.00,1.23,0.00,0.000,4,0.000,0.047,3084,197,2085,0,0,0,0,0,0
$GC,8790,0.72,228.7,847.6,20.1,832,8793,0.00,1.02,0.00,0.000,6,0.000,0.026,3084,934,2085,0,0,0,0,0,0
$GC,9124,0.72,228.7,782.4,19.5,848,9128,0.00,2.00,0.00,0.000,4,0.000,0.024,3084,2305,2083,0,0,0,0,0,0
$GC,9293,0.72,228.7,751.2,18.3,855,9298,0.15,1.95,0.00,0.000,6,0.176,0.036,3053,1024,2082,0,0,0,0,0,0
$GC,9611,0.72,228.7,698.6,16.5,870,9615,0.00,1.88,0.00,0.000,4,0.000,0.022,3053,2315,2082,0,0,0,0,0,0
$GC,9644,0.72,228.7,692.9,15.4,871,9648,0.00,1.98,0.00,0.000,6,0.000,0.037,3061,1042,2081,0,0,0,0,0,0
$GC,9968,0.72,228.7,643.4,14.8,887,9972,0.00,1.85,0.00,0.000,4,0.000,0.024,3061,2310,2081,0,0,0,0,0,0
$GC,10014,0.72,228.7,636.4,14.0,889,10018,0.00,1.95,0.00,0.000,6,0.000,0.037,3066,1032,2081,0,0,0,0,0,0
$GC,10339,0.72,228.7,585.9,16.6,908,10342,0.00,1.85,0.00,0.000,4,0.000,0.023,3066,2318,2080,0,0,0,0,0,0
$GC,10409,0.72,228.7,574.8,15.6,914,10413,0.00,1.95,0.00,0.000,6,0.000,0.037,3075,1037,2081,0,0,0,0,0,0
$GC,10740,0.72,228.7,519.0,16.6,945,10744,0.00,1.88,0.00,0.000,4,0.000,0.023,3075,2315,2080,0,0,0,0,0,0
$GC,10790,0.72,228.7,511.3,15.1,949,10798,0.00,1.95,0.00,0.000,6,0.000,0.036,3083,1036,2079,0,0,0,0,0,0
$GC,11121,0.72,228.7,459.5,15.9,1004,11129,0.00,1.88,0.00,0.000,4,0.000,0.023,3083,2315,2079,0,0,0,0,0,0
$GC,11277,0.72,228.7,435.2,16.4,1032,11286,0.10,1.95,0.00,0.000,6,0.153,0.036,3058,1051,2079,0,0,0,0,0,0
$GC,11615,0.72,228.7,387.4,14.5,1093,11623,0.00,1.80,0.00,0.000,4,0.000,0.021,3058,2325,2079,0,0,0,0,0,0
$GC,11667,0.72,228.7,380.2,12.5,1102,11675,0.00,1.95,0.00,0.000,6,0.000,0.037,3063,1062,2079,0,0,0,0,0,0
$GC,12000,0.72,228.7,337.0,11.7,1163,12007,0.00,1.30,0.00,0.000,4,0.000,0.046,3068,196,2079,0,0,0,0,0,0
$GC,12138,0.72,228.7,317.6,14.5,1187,12145,0.00,1.08,0.00,0.000,6,0.000,0.024,3069,991,2079,0,0,0,0,0,0
$GC,12468,0.72,228.7,276.5,13.5,1248,12476,0.00,2.00,0.00,0.000,4,0.000,0.021,3069,2375,2078,0,0,0,0,0,0
$GC,12566,0.72,228.7,265.0,12.2,1265,12574,0.00,1.98,0.00,0.000,6,0.000,0.034,3077,1070,2079,0,0,0,0,0,0
$GC,12902,0.72,228.7,224.4,11.3,1326,12910,0.00,1.33,0.00,0.000,4,0.000,0.044,3083,187,2080,0,0,0,0,0,0
$GC,13001,0.72,228.7,212.2,13.2,1343,13008,0.08,1.17,0.00,0.000,6,0.156,0.021,3058,1076,2080,0,0,0,0,0,0
$GC,13334,0.85,331.3,181.7,7.8,1404,13423,0.10,1.95,79.22,0.763,4,0.100,0.018,3109,2380,1676,0,0,0,0,0,0
$GC,13451,0.85,331.3,168.2,13.1,1421,13459,0.00,2.05,0.00,0.000,6,0.000,0.034,3119,1058,1674,0,0,0,0,0,0
$GC,13781,0.85,331.3,121.9,13.5,1482,13789,0.00,1.92,0.00,0.000,4,0.000,0.018,3118,2386,1671,0,0,0,0,0,0
$GC,13918,0.85,331.3,105.5,11.2,1507,13927,0.10,2.03,0.00,0.000,6,0.138,0.034,3094,1066,1670,0,0,0,0,0,0
$GC,14247,0.95,416.9,74.4,8.3,1568,14324,0.10,1.35,66.32,0.655,4,0.104,0.041,3149,193,1328,0,0,0,0,0,0
$GC,14471,0.95,416.9,47.1,13.8,1605,14480,0.00,1.17,0.00,0.000,6,0.000,0.018,3149,1110,1324,0,0,0,0,0,0
$GC,14800,0.95,416.9,5.2,12.9,1666,14808,0.00,1.40,0.00,0.000,4,0.000,0.042,3155,185,1323,0,0,0,0,0,0
$STATE,14814,end climb,SURFACE_DEPTH_REACHED
$STATE,14814,begin surface coast
$FINISH,0.6,1.021671
$STATE,14837,end surface coast,CONTROL_FINISHED_OK
$STATE,14837,begin surface
$SM_CCo,14915,0.00,0.000,0,0,1320,419.22
$SM_GC,1.23,7.75,0.00,0.00,0.034,0.000,0.000,119,869,1320,-8.35,2.26,419.22
$IRIDIUM_FIX,2143.45,12630.83,241010,121214
$TT8_MAMPS,0.028462
$HUMID,38.93
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,28.50
$XPDR_PINGS,0
$24V_AH,23.1,44.094
$10V_AH,10.3,40.243
$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,19.300,97.750,521.275,0.000,0.000,61.007,81.516,219.727,0.000,0.000,35.719,4064.351,6302.281,583.875,4084.563,507.962,0.000,2061.128,0.000,3713.305,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,76.500,1403.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.016,1482.341,1984.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,96906,1672
$CAP_FILE_SIZE,168374,0
$CFSIZE,260165632,152608768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 28.3,1
$GPS,241010,170607,2149.228,12632.613,35,1.1,35,-3.0