version: 66.08
glider: 167
mission: 6
dive: 356
start: 11 13 110 6 38 26
data:
$ID,167
$MISSION,6
$DIVE,356
$N_DIVES,365
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$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,100
$T_MISSION,160
$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,-54572.785
$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,52
$R_STBD_OVSHOOT,179
$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
$GPS1,131110,063251,2117.199,12600.720,12,1.7,12,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.8
$GPS2,131110,063802,2117.166,12600.683,14,1.4,14,-2.9
$SPEED_LIMITS,0.289,0.375
$TGT_NAME,PICKUP
$TGT_LATLONG,2118.600,12601.200
$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,41.7,2802,-22.0,-16.667
$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,-0.89,-228.7,0.0,0.0,0,85,0.00,0.00,-66.80,0.000,2,0.000,0.000,116,768,3338,0,0,0,0,0,0
$GC,88,-0.89,-228.7,5.1,-10.6,9,113,9.10,0.85,-10.62,0.000,4,0.218,0.076,2523,196,3965,0,0,0,0,0,0
$GC,352,-0.89,-228.7,102.4,-32.9,57,360,0.00,0.62,0.00,0.000,6,0.000,0.021,2520,781,3966,0,0,0,0,0,0
$GC,682,-0.89,-228.7,186.0,-23.8,118,690,0.00,1.85,0.00,0.000,4,0.000,0.015,2511,2134,3967,0,0,0,0,0,0
$GC,877,-0.89,-228.7,223.8,-18.8,153,883,0.00,2.00,0.00,0.000,6,0.000,0.029,2511,766,3968,0,0,0,0,0,0
$GC,1211,-0.89,-228.7,297.2,-21.2,214,1219,0.00,0.80,0.00,0.000,4,0.000,0.041,2511,202,3968,0,0,0,0,0,0
$GC,1276,-0.89,-228.7,311.0,-20.7,225,1282,0.00,0.57,0.00,0.000,6,0.000,0.022,2507,755,3968,0,0,0,0,0,0
$GC,1614,-0.89,-228.7,373.7,-19.6,286,1623,0.00,0.80,0.00,0.000,4,0.000,0.042,2506,202,3968,0,0,0,0,0,0
$GC,1658,-0.89,-228.7,381.9,-19.7,293,1664,0.00,0.57,0.00,0.000,6,0.000,0.023,2506,747,3968,0,0,0,0,0,0
$GC,1991,-0.89,-228.7,444.8,-18.2,354,2000,0.10,0.82,0.00,0.000,4,0.200,0.044,2529,195,3967,0,0,0,0,0,0
$GC,2057,-0.89,-228.7,456.1,-16.7,365,2064,0.00,0.60,0.00,0.000,6,0.000,0.023,2526,738,3967,0,0,0,0,0,0
$STATE,2342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2342,begin apogee
$GC,2348,-0.14,0.0,500.2,13.9,417,2528,0.75,0.00,171.57,0.952,4,0.129,0.000,2772,999,3028,0,0,0,0,0,0
$STATE,2529,end apogee,CONTROL_FINISHED_OK
$STATE,2529,begin climb
$GC,2531,0.89,228.7,510.4,0.0,433,2713,0.85,1.25,170.43,0.929,4,0.056,0.044,3111,195,2095,0,0,0,0,0,0
$GC,2960,0.89,228.7,450.1,18.9,495,2967,0.00,0.98,0.00,0.000,6,0.000,0.019,3111,1007,2089,0,0,0,0,0,0
$GC,3296,0.92,251.0,394.1,15.6,556,3319,0.00,1.25,17.58,0.847,4,0.000,0.042,3117,198,2004,0,0,0,0,0,0
$GC,3519,0.92,251.0,353.8,17.3,596,3527,0.00,0.98,0.00,0.000,6,0.000,0.019,3117,1001,2001,0,0,0,0,0,0
$GC,3857,0.93,257.8,297.1,16.3,657,3871,0.00,1.88,5.90,0.669,4,0.000,0.017,3116,2320,1976,0,0,0,0,0,0
$GC,3891,0.93,258.3,291.5,16.6,662,3898,0.00,1.95,0.00,0.000,6,0.000,0.031,3126,1026,1975,0,0,0,0,0,0
$GC,4227,0.93,258.3,234.6,17.0,723,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1026,1973,0,0,0,0,0,0
$GC,4560,0.97,290.2,181.6,15.1,784,4594,0.00,1.25,26.38,0.744,4,0.000,0.039,3132,196,1846,0,0,0,0,0,0
$GC,4613,0.98,303.9,172.7,16.0,792,4634,0.00,1.05,12.55,0.689,6,0.000,0.019,3133,1036,1788,0,0,0,0,0,0
$GC,4960,1.05,354.1,124.1,14.2,855,5006,0.00,1.25,39.85,0.698,4,0.000,0.039,3138,194,1586,0,0,0,0,0,0
$GC,5246,1.15,434.8,81.1,12.7,906,5320,0.10,1.00,64.07,0.653,6,0.052,0.020,3206,998,1254,0,0,0,0,0,0
$STATE,5637,end climb,SURFACE_DEPTH_REACHED
$STATE,5637,begin surface coast
$FINISH,0.4,1.017252
$STATE,5654,end surface coast,CONTROL_FINISHED_OK
$STATE,5654,begin surface
$SM_CCo,5732,0.00,0.000,0,0,1246,437.37
$SM_GC,1.44,7.82,0.00,0.00,0.032,0.000,0.000,123,779,1246,-8.38,-0.31,437.37
$IRIDIUM_FIX,2108.69,12603.17,131110,050545
$TT8_MAMPS,0.028462
$HUMID,46.73
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,24.9,64.755
$10V_AH,10.4,60.477
$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,18.725,22.800,508.325,0.000,0.000,22.234,43.698,108.301,0.000,0.000,15.233,2243.027,667.506,492.100,2375.783,269.937,0.000,1329.513,0.000,2212.916,0.000,0.544,0.000
$DEVICE_MAMPS,218.025,75.735,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.515,986.051,1521.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,56946,979
$CAP_FILE_SIZE,82260,0
$CFSIZE,260165632,142417920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178,270.1,1
$GPS,131110,081507,2117.480,12600.486,32,1.2,32,-2.9