version: 66.08
glider: 167
mission: 6
dive: 195
start: 10 16 110 23 38 44
data:
$ID,167
$MISSION,6
$DIVE,195
$N_DIVES,223
$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,-52562.754
$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,106
$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
$GPS1,161010,150619,2251.042,12700.151,0,10000.0,0,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.7
$GPS2,161010,150619,2251.042,12700.151,901,99.0,901,-3.3
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2100.000,12730.000
$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,146.4,212027,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.72,-228.7,0.0,0.0,0,83,0.00,0.00,-65.30,0.000,2,0.000,0.000,110,773,3393,0,0,0,0,0,0
$GC,86,-0.72,-228.7,6.2,-14.0,9,111,9.48,0.82,-8.45,0.000,4,0.224,0.073,2579,190,3964,0,0,0,0,0,0
$GC,210,-0.72,-228.7,58.7,-31.8,30,218,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,876,3965,0,0,0,0,0,0
$GC,536,-0.72,-228.7,139.8,-22.7,91,544,0.00,0.98,0.00,0.000,4,0.000,0.041,2574,207,3966,0,0,0,0,0,0
$GC,791,-0.72,-228.7,200.1,-23.1,137,799,0.00,0.70,0.00,0.000,6,0.000,0.021,2570,853,3966,0,0,0,0,0,0
$GC,1123,-0.72,-228.7,271.0,-20.4,198,1131,0.00,0.95,0.00,0.000,4,0.000,0.040,2570,199,3966,0,0,0,0,0,0
$GC,1377,-0.72,-228.7,318.9,-19.3,244,1385,0.00,0.68,0.00,0.000,6,0.000,0.021,2566,799,3966,0,0,0,0,0,0
$GC,1706,-0.72,-228.7,373.2,-16.1,305,1714,0.00,0.88,0.00,0.000,4,0.000,0.041,2566,197,3964,0,0,0,0,0,0
$GC,1790,-0.72,-228.7,387.2,-16.9,320,1798,0.00,0.60,0.00,0.000,6,0.000,0.023,2562,734,3964,0,0,0,0,0,0
$GC,2125,-0.72,-228.7,443.2,-17.2,381,2133,0.00,1.92,0.00,0.000,4,0.000,0.016,2561,2127,3962,0,0,0,0,0,0
$GC,2187,-0.72,-228.7,452.4,-13.0,392,2195,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,762,3961,0,0,0,0,0,0
$GC,2518,-0.72,-228.7,502.0,-13.9,452,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3959,0,0,0,0,0,0
$GC,2841,-0.72,-228.7,545.9,-13.2,482,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,762,3957,0,0,0,0,0,0
$GC,3168,-0.72,-228.7,589.7,-12.9,513,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,762,3954,0,0,0,0,0,0
$GC,3479,-0.72,-228.7,629.2,-12.7,532,3483,0.00,1.90,0.00,0.000,4,0.000,0.017,2561,2125,3951,0,0,0,0,0,0
$GC,3518,-0.72,-228.7,634.1,-11.4,533,3526,0.00,2.08,0.00,0.000,6,0.000,0.035,2561,745,3950,0,0,0,0,0,0
$GC,3834,-0.72,-228.7,674.2,-13.4,549,3838,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2122,3947,0,0,0,0,0,0
$GC,3868,-0.72,-228.7,678.5,-12.0,550,3872,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,748,3947,0,0,0,0,0,0
$GC,4184,-0.72,-228.7,719.7,-12.8,565,4188,0.00,0.80,0.00,0.000,4,0.000,0.045,2562,196,3944,0,0,0,0,0,0
$GC,4267,-0.72,-228.7,730.8,-12.4,568,4274,0.00,0.62,0.00,0.000,6,0.000,0.024,2561,704,3943,0,0,0,0,0,0
$GC,4586,-0.72,-228.7,766.2,-11.0,584,4589,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2110,3941,0,0,0,0,0,0
$GC,4646,-0.72,-228.7,772.4,-8.9,586,4653,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,758,3941,0,0,0,0,0,0
$GC,4965,-0.72,-228.7,804.8,-10.7,602,4969,0.00,1.92,0.00,0.000,4,0.000,0.018,2560,2127,3938,0,0,0,0,0,0
$GC,4998,-0.72,-228.7,808.5,-9.7,603,5002,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,758,3938,0,0,0,0,0,0
$GC,5320,-0.72,-228.7,844.0,-11.2,619,5324,0.00,0.82,0.00,0.000,4,0.000,0.047,2561,197,3935,0,0,0,0,0,0
$GC,5359,-0.72,-228.7,848.6,-11.7,620,5366,0.00,0.65,0.00,0.000,6,0.000,0.024,2560,714,3935,0,0,0,0,0,0
$GC,5677,-0.72,-228.7,883.0,-10.9,636,5681,0.00,1.98,0.00,0.000,4,0.000,0.018,2561,2111,3932,0,0,0,0,0,0
$GC,5733,-0.72,-228.7,888.7,-8.9,638,5737,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,771,3932,0,0,0,0,0,0
$GC,6057,-0.72,-228.7,922.9,-10.8,654,6061,0.00,1.90,0.00,0.000,4,0.000,0.019,2561,2114,3929,0,0,0,0,0,0
$GC,6081,-0.72,-228.7,925.6,-10.5,655,6085,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,769,3928,0,0,0,0,0,0
$GC,6408,-0.72,-228.7,959.8,-10.6,671,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,770,3926,0,0,0,0,0,0
$GC,6720,-0.72,-228.7,990.7,-9.8,686,6723,0.00,1.90,0.00,0.000,4,0.000,0.019,2560,2113,3924,0,0,0,0,0,0
$GC,6758,-0.72,-228.7,994.6,-8.6,687,6765,0.00,2.05,0.00,0.000,6,0.000,0.039,2560,774,3924,0,0,0,0,0,0
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6825,begin apogee
$GC,6832,-0.14,0.0,1001.1,9.6,691,7015,0.62,0.00,177.62,1.403,4,0.119,0.000,2770,943,3028,0,0,0,0,0,0
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7018,0.72,228.7,1009.7,0.0,699,7217,0.80,2.12,189.90,1.347,4,0.048,0.020,3065,2334,2096,0,0,0,0,0,0
$GC,7251,0.72,228.7,983.9,19.1,710,7255,0.00,2.17,0.00,0.000,6,0.000,0.036,3074,996,2091,0,0,0,0,0,0
$GC,7568,0.72,228.7,917.6,21.1,725,7572,0.00,1.98,0.00,0.000,4,0.000,0.023,3074,2337,2086,0,0,0,0,0,0
$GC,7637,0.72,228.7,903.7,20.3,728,7641,0.00,2.08,0.00,0.000,6,0.000,0.037,3079,1000,2086,0,0,0,0,0,0
$GC,7965,0.72,228.7,836.3,20.4,744,7969,0.00,1.95,0.00,0.000,4,0.000,0.023,3079,2341,2085,0,0,0,0,0,0
$GC,8056,0.72,228.7,818.7,18.4,748,8061,0.12,2.00,0.00,0.000,6,0.181,0.037,3057,1020,2084,0,0,0,0,0,0
$GC,8386,0.72,228.7,761.5,17.2,764,8390,0.00,1.88,0.00,0.000,4,0.000,0.022,3057,2317,2083,0,0,0,0,0,0
$GC,8425,0.72,228.7,754.2,16.2,765,8432,0.00,1.95,0.00,0.000,6,0.000,0.037,3064,1040,2082,0,0,0,0,0,0
$GC,8741,0.72,228.7,702.3,16.7,781,8744,0.00,1.83,0.00,0.000,4,0.000,0.023,3064,2315,2082,0,0,0,0,0,0
$GC,8797,0.72,228.7,692.7,17.1,783,8801,0.00,1.95,0.00,0.000,6,0.000,0.036,3073,1032,2081,0,0,0,0,0,0
$GC,9119,0.72,228.7,637.2,17.2,799,9123,0.00,1.85,0.00,0.000,4,0.000,0.023,3072,2328,2081,0,0,0,0,0,0
$GC,9247,0.72,228.7,616.1,15.7,804,9254,0.00,1.95,0.00,0.000,6,0.000,0.037,3078,1065,2080,0,0,0,0,0,0
$GC,9573,0.72,228.7,565.2,15.9,830,9577,0.00,1.80,0.00,0.000,4,0.000,0.024,3077,2317,2080,0,0,0,0,0,0
$GC,9630,0.72,228.7,555.2,15.9,835,9634,0.00,1.92,0.00,0.000,6,0.000,0.037,3085,1065,2078,0,0,0,0,0,0
$GC,9961,0.72,228.7,500.4,17.0,866,9963,0.12,0.00,0.00,0.000,6,0.189,0.000,3054,1065,2079,0,0,0,0,0,0
$GC,10287,0.72,228.7,453.0,14.7,925,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1064,2079,0,0,0,0,0,0
$GC,10618,0.72,228.7,403.2,13.4,986,10627,0.00,1.83,0.00,0.000,4,0.000,0.022,3054,2326,2078,0,0,0,0,0,0
$GC,10731,0.72,228.7,387.5,15.0,1006,10738,0.00,1.92,0.00,0.000,6,0.000,0.037,3061,1071,2078,0,0,0,0,0,0
$GC,11064,0.72,228.7,340.9,12.9,1067,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1071,2078,0,0,0,0,0,0
$GC,11392,0.72,228.7,296.4,13.0,1128,11400,0.00,1.80,0.00,0.000,4,0.000,0.020,3062,2325,2078,0,0,0,0,0,0
$GC,11534,0.72,228.7,280.4,11.6,1153,11542,0.00,1.88,0.00,0.000,6,0.000,0.036,3068,1067,2078,0,0,0,0,0,0
$GC,11869,0.72,228.7,238.3,13.6,1214,11876,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1067,2079,0,0,0,0,0,0
$GC,12202,0.72,228.7,194.9,12.7,1275,12209,0.00,1.77,0.00,0.000,4,0.000,0.018,3068,2333,2080,0,0,0,0,0,0
$GC,12261,0.72,228.7,188.0,11.2,1285,12268,0.00,1.90,0.00,0.000,6,0.000,0.035,3075,1069,2080,0,0,0,0,0,0
$GC,12602,0.74,244.2,154.0,10.6,1346,12623,0.00,1.33,11.62,0.698,4,0.000,0.045,3078,194,2032,0,0,0,0,0,0
$GC,12647,0.74,244.2,148.5,11.5,1353,12656,0.00,1.12,0.00,0.000,6,0.000,0.021,3076,1062,2032,0,0,0,0,0,0
$GC,12976,0.74,244.2,109.4,13.0,1414,12984,0.00,1.80,0.00,0.000,4,0.000,0.018,3078,2337,2031,0,0,0,0,0,0
$GC,13007,0.74,244.2,106.0,12.5,1418,13014,0.00,1.90,0.00,0.000,6,0.000,0.034,3084,1084,2031,0,0,0,0,0,0
$GC,13333,0.80,289.4,75.9,9.6,1479,13378,0.00,0.00,36.38,0.673,6,0.000,0.000,3085,1084,1847,0,0,0,0,0,0
$GC,13701,0.98,437.0,46.4,6.3,1545,13822,0.15,1.42,114.00,0.636,4,0.080,0.041,3163,188,1246,0,0,0,0,0,0
$GC,13921,0.98,437.0,14.4,19.1,1579,13928,0.00,1.17,0.00,0.000,6,0.000,0.018,3163,1102,1242,0,0,0,0,0,0
$STATE,13986,end climb,SURFACE_DEPTH_REACHED
$STATE,13986,begin surface coast
$FINISH,0.4,1.008580
$STATE,14004,end surface coast,CONTROL_FINISHED_OK
$STATE,14004,begin surface
$SM_CCo,14082,0.00,0.000,0,0,1237,439.58
$SM_GC,1.37,7.90,0.00,0.00,0.036,0.000,0.000,119,791,1237,-8.38,0.06,439.58
$IRIDIUM_FIX,2251.04,12700.15,161010,191940
$TT8_MAMPS,0.027713
$HUMID,40.35
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,23.4,35.852
$10V_AH,10.3,32.663
$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,19.200,89.025,529.525,0.000,0.000,27.076,40.610,195.723,0.000,0.000,903.178,3857.916,5848.051,581.464,4651.164,453.570,0.000,1987.198,0.000,3513.979,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,72.675,1403.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.111,1417.461,1930.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333612
$DATA_FILE_SIZE,93531,1594
$CAP_FILE_SIZE,159278,0
$CFSIZE,260165632,156450816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,131.7,1
$GPS,161010,191440,2251.042,12700.151,0,10000.0,0,-3.3