version: 66.08
glider: 167
mission: 6
dive: 323
start: 11 9 110 12 36 26
data:
$ID,167
$MISSION,6
$DIVE,323
$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,-54531.207
$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,39
$R_STBD_OVSHOOT,90
$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
$GPS1,091110,122737,2123.473,12601.418,31,1.0,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.4
$GPS2,091110,123602,2123.444,12601.357,13,1.6,13,-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,11.0,2121,-28.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.87,-73.8,0.0,0.0,0,85,0.00,0.12,-64.78,0.000,6,0.000,0.333,111,769,3333,0,0,0,0,0,0
$GC,89,-0.87,-73.8,6.0,-13.0,9,106,9.73,2.03,0.00,0.000,4,0.229,0.012,2521,2221,3335,0,0,0,0,0,0
$GC,161,-0.87,-73.8,32.7,-22.9,21,169,0.00,2.17,0.00,0.000,6,0.000,0.034,2521,800,3337,0,0,0,0,0,0
$GC,486,-0.87,-73.8,120.8,-23.7,82,494,0.00,0.88,0.00,0.000,4,0.000,0.041,2521,193,3338,0,0,0,0,0,0
$GC,739,-0.87,-73.8,174.9,-20.0,128,747,0.00,0.75,0.00,0.000,6,0.000,0.020,2516,846,3340,0,0,0,0,0,0
$GC,1083,-0.87,-73.8,233.8,-16.1,189,1090,0.00,0.95,0.00,0.000,4,0.000,0.041,2516,195,3340,0,0,0,0,0,0
$GC,1341,-0.87,-73.8,277.6,-17.1,235,1348,0.00,0.68,0.00,0.000,6,0.000,0.021,2513,791,3341,0,0,0,0,0,0
$GC,1682,-0.87,-73.8,328.3,-13.6,296,1691,0.10,0.90,0.00,0.000,4,0.204,0.042,2536,190,3341,0,0,0,0,0,0
$GC,1941,-0.87,-73.8,363.6,-13.4,342,1949,0.00,0.60,0.00,0.000,6,0.000,0.023,2534,724,3341,0,0,0,0,0,0
$GC,2287,-0.87,-73.8,406.0,-11.6,403,2294,0.00,0.77,0.00,0.000,4,0.000,0.042,2534,192,3341,0,0,0,0,0,0
$GC,2544,-0.87,-73.8,436.9,-12.4,449,2551,0.00,0.60,0.00,0.000,6,0.000,0.023,2531,718,3339,0,0,0,0,0,0
$GC,2887,-0.87,-73.8,477.6,-12.9,510,2897,0.00,0.77,0.00,0.000,4,0.000,0.043,2531,190,3337,0,0,0,0,0,0
$GC,3072,-0.87,-73.8,502.5,-13.7,541,3076,0.00,0.57,0.00,0.000,6,0.000,0.024,2527,688,3336,0,0,0,0,0,0
$GC,3403,-0.87,-74.0,540.7,-11.1,572,3406,0.00,2.00,0.00,0.000,4,0.000,0.017,2519,2104,3334,0,0,0,0,0,0
$GC,3495,-0.89,-93.2,549.6,-9.2,580,3499,0.00,2.10,0.00,0.000,6,0.000,0.034,2519,720,3334,0,0,0,0,0,0
$GC,3823,-0.89,-94.3,585.4,-11.0,610,3826,0.00,2.00,0.00,0.000,4,0.000,0.018,2518,2116,3331,0,0,0,0,0,0
$GC,3908,-0.92,-113.4,594.2,-9.2,617,3915,0.00,2.08,0.00,0.000,6,0.000,0.035,2519,737,3331,0,0,0,0,0,0
$GC,4236,-0.93,-124.6,628.6,-10.0,636,4240,0.00,0.80,0.00,0.000,4,0.000,0.045,2519,194,3328,0,0,0,0,0,0
$GC,4378,-0.94,-129.1,644.1,-10.7,642,4382,0.00,0.60,0.00,0.000,6,0.000,0.024,2519,687,3327,0,0,0,0,0,0
$GC,4707,-0.95,-142.6,676.2,-9.8,658,4711,0.00,0.73,0.00,0.000,4,0.000,0.047,2519,197,3325,0,0,0,0,0,0
$GC,4768,-0.96,-151.5,682.7,-10.2,660,4774,0.00,0.60,0.00,0.000,6,0.000,0.024,2518,683,3325,0,0,0,0,0,0
$GC,5086,-0.97,-153.8,714.9,-10.9,676,5089,0.00,2.05,0.00,0.000,4,0.000,0.018,2508,2102,3323,0,0,0,0,0,0
$GC,5149,-0.97,-155.3,721.8,-11.0,678,5156,0.00,2.12,0.00,0.000,6,0.000,0.037,2507,735,3321,0,0,0,0,0,0
$GC,5464,-0.97,-155.3,760.9,-12.8,694,5468,0.00,0.80,0.00,0.000,4,0.000,0.047,2508,193,3320,0,0,0,0,0,0
$GC,5527,-0.97,-155.3,769.4,-13.4,696,5534,0.00,0.60,0.00,0.000,6,0.000,0.025,2505,674,3319,0,0,0,0,0,0
$GC,5845,-0.97,-155.3,807.9,-11.4,712,5848,0.00,2.08,0.00,0.000,4,0.000,0.019,2505,2124,3317,0,0,0,0,0,0
$GC,5919,-0.98,-166.8,815.5,-10.0,715,5923,0.00,2.10,0.00,0.000,6,0.000,0.037,2505,736,3317,0,0,0,0,0,0
$GC,6235,-1.00,-180.9,847.1,-9.7,730,6238,0.00,0.80,0.00,0.000,4,0.000,0.047,2505,197,3314,0,0,0,0,0,0
$GC,6364,-1.03,-203.1,859.5,-8.9,735,6370,0.00,0.60,0.00,0.000,6,0.000,0.025,2503,669,3313,0,0,0,0,0,0
$GC,6682,-1.05,-225.2,886.9,-8.9,751,6686,0.00,0.70,0.00,0.000,4,0.000,0.049,2503,201,3312,0,0,0,0,0,0
$GC,6728,-1.06,-228.7,891.6,-9.9,753,6732,0.00,0.60,0.00,0.000,6,0.000,0.027,2500,667,3312,0,0,0,0,0,0
$GC,7064,-1.06,-228.7,921.5,-9.2,769,7067,0.00,0.70,0.00,0.000,4,0.000,0.048,2500,200,3309,0,0,0,0,0,0
$GC,7097,-1.06,-228.7,925.2,-10.1,770,7101,0.00,0.57,0.00,0.000,6,0.000,0.027,2496,652,3309,0,0,0,0,0,0
$GC,7420,-1.06,-228.7,956.4,-10.0,786,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,651,3307,0,0,0,0,0,0
$GC,7730,-1.06,-228.7,986.4,-9.8,801,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,651,3306,0,0,0,0,0,0
$STATE,7870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7870,begin apogee
$GC,7876,-0.14,0.0,1001.0,10.1,808,7940,0.90,0.00,58.67,1.422,4,0.148,0.000,2769,950,3029,0,0,0,0,0,0
$STATE,7941,end apogee,CONTROL_FINISHED_OK
$STATE,7941,begin climb
$GC,7946,1.06,228.7,1002.3,0.0,811,8148,1.05,0.00,196.77,1.371,6,0.056,0.000,3168,950,2096,0,0,0,0,0,0
$GC,8466,1.06,228.7,890.5,26.1,836,8470,0.00,2.10,0.00,0.000,4,0.000,0.026,3168,2376,2085,0,0,0,0,0,0
$GC,8599,1.06,228.7,857.7,23.9,842,8604,0.00,2.10,0.00,0.000,6,0.000,0.035,3176,1023,2083,0,0,0,0,0,0
$GC,8929,1.06,228.7,774.3,25.5,858,8932,0.00,1.98,0.00,0.000,4,0.000,0.026,3176,2363,2082,0,0,0,0,0,0
$GC,8997,1.06,228.7,757.2,23.3,861,9001,0.00,2.05,0.00,0.000,6,0.000,0.037,3185,1024,2081,0,0,0,0,0,0
$GC,9329,1.06,228.7,676.4,23.3,877,9333,0.00,1.98,0.00,0.000,4,0.000,0.025,3185,2366,2081,0,0,0,0,0,0
$GC,9437,1.06,228.7,652.2,21.7,881,9444,0.12,2.03,0.00,0.000,6,0.206,0.036,3165,1028,2080,0,0,0,0,0,0
$GC,9754,1.06,228.7,582.8,21.5,900,9758,0.00,1.95,0.00,0.000,4,0.000,0.025,3165,2368,2079,0,0,0,0,0,0
$GC,9781,1.06,228.7,577.5,22.0,902,9785,0.00,2.00,0.00,0.000,6,0.000,0.036,3172,1042,2079,0,0,0,0,0,0
$GC,10111,1.06,228.7,504.9,22.4,933,10115,0.00,1.92,0.00,0.000,4,0.000,0.026,3172,2369,2078,0,0,0,0,0,0
$GC,10209,1.06,228.7,484.5,20.9,948,10216,0.00,2.05,0.00,0.000,6,0.000,0.037,3181,1042,2077,0,0,0,0,0,0
$GC,10551,1.06,228.7,408.7,20.8,1009,10558,0.00,1.27,0.00,0.000,4,0.000,0.045,3187,193,2076,0,0,0,0,0,0
$GC,10623,1.06,228.7,392.2,23.2,1021,10630,0.00,1.15,0.00,0.000,6,0.000,0.024,3187,1033,2077,0,0,0,0,0,0
$GC,10961,1.06,228.7,325.3,19.4,1082,10970,0.00,1.27,0.00,0.000,4,0.000,0.044,3194,189,2076,0,0,0,0,0,0
$GC,11093,1.06,228.7,297.8,21.4,1105,11100,0.10,1.10,0.00,0.000,6,0.190,0.024,3165,993,2076,0,0,0,0,0,0
$GC,11438,1.06,228.7,237.4,17.0,1166,11446,0.00,2.05,0.00,0.000,4,0.000,0.023,3165,2392,2076,0,0,0,0,0,0
$GC,11508,1.06,228.7,226.2,14.0,1178,11517,0.00,2.10,0.00,0.000,6,0.000,0.034,3173,1021,2076,0,0,0,0,0,0
$GC,11852,1.06,228.7,175.3,14.1,1239,11859,0.00,1.25,0.00,0.000,4,0.000,0.042,3179,187,2076,0,0,0,0,0,0
$GC,12009,1.06,228.7,151.9,15.1,1267,12016,0.00,1.10,0.00,0.000,6,0.000,0.023,3179,1014,2076,0,0,0,0,0,0
$GC,12338,1.06,230.7,113.9,10.9,1328,12346,0.00,1.95,0.00,0.000,4,0.000,0.020,3179,2376,2077,0,0,0,0,0,0
$GC,12408,1.10,261.0,107.0,8.1,1340,12440,0.00,2.10,24.15,0.702,6,0.000,0.032,3188,993,1963,0,0,0,0,0,0
$GC,12762,1.10,261.0,67.8,12.7,1404,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,993,1960,0,0,0,0,0,0
$GC,13089,1.10,263.6,39.5,10.9,1465,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,993,1961,0,0,0,0,0,0
$STATE,13357,end climb,SURFACE_DEPTH_REACHED
$STATE,13357,begin surface coast
$FINISH,0.5,1.008671
$STATE,13379,end surface coast,CONTROL_FINISHED_OK
$STATE,13379,begin surface
$SM_CCo,13399,112.25,0.559,1,0,1398,400.08
$SM_GC,1.50,0.00,0.00,112.25,0.000,0.000,0.559,113,754,1398,-8.46,-1.02,400.08
$IRIDIUM_FIX,2113.32,12601.30,091110,070711
$TT8_MAMPS,0.028462
$HUMID,39.17
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.90
$XPDR_PINGS,0
$24V_AH,22.9,60.206
$10V_AH,10.2,56.064
$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,19.800,72.525,279.600,112.250,0.000,31.388,24.862,229.898,0.000,0.000,14.120,3744.084,5592.009,513.856,3668.237,483.115,0.000,1803.304,0.000,3399.651,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,332.775,1422.135,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.073,1352.764,1882.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,86745,1520
$CAP_FILE_SIZE,150819,0
$CFSIZE,260165632,144498688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,107.3,1
$GPS,091110,162301,2124.811,12601.369,40,1.3,40,-2.9