version: 66.08
glider: 167
mission: 6
dive: 200
start: 10 17 110 21 42 0
data:
$ID,167
$MISSION,6
$DIVE,200
$N_DIVES,210
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$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,-54374.758
$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,41
$R_STBD_OVSHOOT,88
$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
$GPS1,171010,213125,2250.116,12701.320,38,1.8,38,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.7
$GPS2,171010,214138,2250.223,12701.335,14,1.0,14,-3.3
$SPEED_LIMITS,0.191,0.328
$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,172.1,210063,-15.7,-11.000
$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,-228.7,0.0,0.0,0,93,0.00,0.00,-71.97,0.000,2,0.000,0.000,112,769,3421,0,0,0,0,0,0
$GC,96,-0.72,-228.7,6.6,-14.6,10,120,9.73,0.82,-8.15,0.000,4,0.228,0.070,2585,189,3962,0,0,0,0,0,0
$GC,361,-0.72,-228.7,99.1,-26.3,58,369,0.00,0.80,0.00,0.000,6,0.000,0.021,2582,865,3964,0,0,0,0,0,0
$GC,691,-0.72,-228.7,176.2,-21.3,119,699,0.00,1.00,0.00,0.000,4,0.000,0.040,2582,187,3965,0,0,0,0,0,0
$GC,946,-0.72,-228.7,231.0,-19.8,165,952,0.00,0.75,0.00,0.000,6,0.000,0.021,2577,846,3966,0,0,0,0,0,0
$GC,1278,-0.72,-228.7,293.6,-19.6,226,1288,0.00,0.95,0.00,0.000,4,0.000,0.041,2577,193,3966,0,0,0,0,0,0
$GC,1427,-0.72,-228.7,319.2,-18.2,252,1435,0.00,0.75,0.00,0.000,6,0.000,0.020,2574,870,3966,0,0,0,0,0,0
$GC,1761,-0.72,-228.7,371.7,-14.9,313,1768,0.00,1.00,0.00,0.000,4,0.000,0.041,2575,189,3966,0,0,0,0,0,0
$GC,1915,-0.72,-228.7,396.8,-15.9,341,1922,0.00,0.75,0.00,0.000,6,0.000,0.021,2573,858,3965,0,0,0,0,0,0
$GC,2246,-0.72,-228.7,446.7,-14.3,402,2253,0.00,1.88,0.00,0.000,4,0.000,0.018,2574,2184,3964,0,0,0,0,0,0
$GC,2273,-0.72,-228.7,450.1,-12.9,406,2280,0.00,2.12,0.00,0.000,6,0.000,0.034,2574,773,3963,0,0,0,0,0,0
$GC,2608,-0.72,-228.7,493.4,-13.6,467,2615,0.00,2.00,0.00,0.000,4,0.000,0.018,2574,2193,3962,0,0,0,0,0,0
$GC,2677,-0.72,-228.7,501.3,-10.5,478,2681,0.00,2.10,0.00,0.000,6,0.000,0.034,2574,784,3961,0,0,0,0,0,0
$GC,3003,-0.72,-228.7,541.5,-12.3,508,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,784,3959,0,0,0,0,0,0
$GC,3324,-0.72,-228.7,579.5,-11.1,538,3328,0.00,2.00,0.00,0.000,4,0.000,0.018,2574,2180,3957,0,0,0,0,0,0
$GC,3386,-0.72,-228.7,585.8,-8.8,543,3393,0.00,2.05,0.00,0.000,6,0.000,0.034,2574,798,3957,0,0,0,0,0,0
$GC,3720,-0.72,-228.7,620.7,-10.8,566,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,798,3954,0,0,0,0,0,0
$GC,4025,-0.72,-228.7,654.1,-11.1,581,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,798,3952,0,0,0,0,0,0
$GC,4337,-0.72,-228.7,688.8,-11.5,596,4340,0.00,1.95,0.00,0.000,4,0.000,0.018,2574,2177,3949,0,0,0,0,0,0
$GC,4370,-0.72,-228.7,692.7,-10.1,597,4374,0.00,2.08,0.00,0.000,6,0.000,0.036,2574,792,3949,0,0,0,0,0,0
$GC,4692,-0.72,-228.7,726.5,-10.2,613,4696,0.00,2.00,0.00,0.000,4,0.000,0.018,2574,2177,3946,0,0,0,0,0,0
$GC,4720,-0.72,-228.7,729.4,-10.0,614,4725,0.00,2.08,0.00,0.000,6,0.000,0.037,2573,794,3946,0,0,0,0,0,0
$GC,5043,-0.72,-228.7,760.5,-9.6,630,5046,0.00,1.98,0.00,0.000,4,0.000,0.018,2573,2183,3943,0,0,0,0,0,0
$GC,5082,-0.72,-228.7,763.9,-7.9,631,5089,0.00,2.10,0.00,0.000,6,0.000,0.037,2574,790,3943,0,0,0,0,0,0
$GC,5400,-0.72,-228.7,793.7,-9.6,647,5403,0.00,2.00,0.00,0.000,4,0.000,0.020,2574,2180,3940,0,0,0,0,0,0
$GC,5438,-0.72,-228.7,797.4,-8.7,648,5445,0.00,2.10,0.00,0.000,6,0.000,0.037,2573,802,3940,0,0,0,0,0,0
$GC,5755,-0.72,-228.7,826.6,-9.4,664,5759,0.00,1.98,0.00,0.000,4,0.000,0.019,2574,2176,3938,0,0,0,0,0,0
$GC,5830,-0.72,-228.7,833.0,-8.2,667,5834,0.00,2.08,0.00,0.000,6,0.000,0.038,2574,818,3938,0,0,0,0,0,0
$GC,6152,-0.72,-228.7,865.5,-10.5,683,6155,0.00,1.95,0.00,0.000,4,0.000,0.020,2573,2186,3935,0,0,0,0,0,0
$GC,6187,-0.72,-228.7,869.0,-9.8,684,6190,0.00,2.08,0.00,0.000,6,0.000,0.038,2573,815,3935,0,0,0,0,0,0
$GC,6503,-0.72,-228.7,901.5,-10.2,699,6507,0.00,1.95,0.00,0.000,4,0.000,0.020,2573,2181,3933,0,0,0,0,0,0
$GC,6536,-0.72,-228.7,904.8,-9.5,700,6539,0.00,2.05,0.00,0.000,6,0.000,0.039,2573,827,3933,0,0,0,0,0,0
$GC,6860,-0.72,-228.7,936.8,-9.9,716,6863,0.00,1.92,0.00,0.000,4,0.000,0.020,2573,2176,3930,0,0,0,0,0,0
$GC,6884,-0.72,-228.7,939.2,-9.4,717,6887,0.00,2.05,0.00,0.000,6,0.000,0.040,2574,823,3930,0,0,0,0,0,0
$GC,7213,-0.72,-228.7,968.6,-8.7,733,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,823,3929,0,0,0,0,0,0
$STATE,7497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7497,begin apogee
$GC,7503,-0.14,0.0,990.8,7.1,747,7688,0.57,0.00,179.73,1.392,4,0.113,0.000,2771,1009,3029,0,0,0,0,0,0
$STATE,7689,end apogee,CONTROL_FINISHED_OK
$STATE,7689,begin climb
$GC,7693,0.72,228.7,995.9,0.0,755,7893,0.75,1.35,192.57,1.332,4,0.052,0.049,3057,200,2095,0,0,0,0,0,0
$GC,8089,0.72,228.7,931.6,21.3,773,8093,0.00,1.12,0.00,0.000,6,0.000,0.023,3057,994,2086,0,0,0,0,0,0
$GC,8417,0.72,228.7,871.4,17.7,789,8421,0.00,1.25,0.00,0.000,4,0.000,0.046,3062,189,2083,0,0,0,0,0,0
$GC,8612,0.72,228.7,833.7,19.5,797,8621,0.00,1.15,0.00,0.000,6,0.000,0.022,3062,1020,2082,0,0,0,0,0,0
$GC,8930,0.72,228.7,776.6,18.4,813,8934,0.00,1.95,0.00,0.000,4,0.000,0.024,3062,2374,2080,0,0,0,0,0,0
$GC,9053,0.72,228.7,754.3,17.8,818,9057,0.00,2.05,0.00,0.000,6,0.000,0.037,3071,1017,2080,0,0,0,0,0,0
$GC,9377,0.72,228.7,695.0,18.7,834,9380,0.00,2.00,0.00,0.000,4,0.000,0.024,3071,2381,2080,0,0,0,0,0,0
$GC,9459,0.72,228.7,680.2,16.2,837,9466,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1024,2079,0,0,0,0,0,0
$GC,9776,0.72,228.7,625.8,17.2,853,9779,0.00,1.98,0.00,0.000,4,0.000,0.023,3079,2380,2078,0,0,0,0,0,0
$GC,9850,0.72,228.7,612.9,16.8,856,9854,0.12,2.03,0.00,0.000,6,0.181,0.037,3057,1039,2079,0,0,0,0,0,0
$GC,10177,0.72,228.7,558.9,16.8,883,10181,0.00,1.95,0.00,0.000,4,0.000,0.024,3057,2377,2078,0,0,0,0,0,0
$GC,10224,0.72,228.7,551.4,16.7,887,10228,0.00,2.00,0.00,0.000,6,0.000,0.037,3064,1052,2077,0,0,0,0,0,0
$GC,10551,0.72,228.7,493.7,16.1,920,10559,0.00,1.95,0.00,0.000,4,0.000,0.023,3064,2375,2078,0,0,0,0,0,0
$GC,10596,0.72,228.7,486.8,15.6,927,10603,0.00,2.00,0.00,0.000,6,0.000,0.037,3072,1056,2077,0,0,0,0,0,0
$GC,10926,0.72,228.7,437.7,13.9,988,10934,0.00,1.92,0.00,0.000,4,0.000,0.023,3072,2372,2077,0,0,0,0,0,0
$GC,11038,0.72,228.7,422.0,13.2,1008,11046,0.00,2.03,0.00,0.000,6,0.000,0.037,3079,1055,2077,0,0,0,0,0,0
$GC,11373,0.72,228.7,370.1,15.9,1069,11382,0.00,1.92,0.00,0.000,4,0.000,0.021,3079,2377,2077,0,0,0,0,0,0
$GC,11412,0.72,228.7,364.1,15.1,1075,11420,0.12,1.98,0.00,0.000,6,0.175,0.036,3057,1056,2077,0,0,0,0,0,0
$GC,11748,0.72,228.7,316.1,13.5,1136,11756,0.00,1.30,0.00,0.000,4,0.000,0.045,3062,190,2077,0,0,0,0,0,0
$GC,11815,0.72,228.7,306.9,13.3,1147,11822,0.00,1.15,0.00,0.000,6,0.000,0.023,3062,1049,2077,0,0,0,0,0,0
$GC,12149,0.72,228.7,266.5,11.3,1208,12156,0.00,1.90,0.00,0.000,4,0.000,0.021,3062,2370,2077,0,0,0,0,0,0
$GC,12223,0.72,228.7,257.7,12.1,1221,12230,0.00,1.98,0.00,0.000,6,0.000,0.035,3067,1044,2077,0,0,0,0,0,0
$GC,12553,0.72,228.7,214.5,11.5,1282,12561,0.00,1.92,0.00,0.000,4,0.000,0.019,3067,2376,2078,0,0,0,0,0,0
$GC,12597,0.72,228.7,208.8,12.6,1289,12606,0.00,1.98,0.00,0.000,6,0.000,0.035,3074,1051,2078,0,0,0,0,0,0
$GC,12935,0.72,228.7,168.3,11.3,1350,12943,0.00,1.90,0.00,0.000,4,0.000,0.018,3074,2376,2079,0,0,0,0,0,0
$GC,12980,0.72,228.7,163.4,11.3,1357,12986,0.00,2.00,0.00,0.000,6,0.000,0.035,3081,1045,2080,0,0,0,0,0,0
$GC,13312,0.79,286.0,128.9,9.2,1418,13364,0.00,1.30,43.80,0.717,4,0.000,0.042,3087,194,1862,0,0,0,0,0,0
$GC,13413,0.79,286.0,117.4,11.8,1434,13421,0.00,1.12,0.00,0.000,6,0.000,0.021,3087,1056,1859,0,0,0,0,0,0
$GC,13741,0.93,399.3,81.2,7.3,1495,13837,0.00,2.00,88.35,0.669,4,0.000,0.019,3087,2377,1400,0,0,0,0,0,0
$GC,13912,1.03,484.0,65.5,8.3,1521,13987,0.12,2.08,66.60,0.640,6,0.048,0.035,3163,1048,1054,0,0,0,0,0,0
$STATE,14303,end climb,SURFACE_DEPTH_REACHED
$STATE,14303,begin surface coast
$FINISH,0.5,1.009118
$STATE,14320,end surface coast,CONTROL_FINISHED_OK
$STATE,14320,begin surface
$SM_CCo,14400,0.00,0.000,0,0,1046,486.43
$SM_GC,1.32,7.82,0.00,0.00,0.034,0.000,0.000,122,793,1046,-8.36,0.08,486.43
$IRIDIUM_FIX,2239.35,12702.48,171010,212127
$TT8_MAMPS,0.028462
$HUMID,40.15
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,23.2,36.821
$10V_AH,10.3,33.610
$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,19.250,105.150,571.050,0.000,0.000,58.655,81.836,212.607,0.000,0.000,15.188,3858.099,6173.067,614.995,3851.981,491.742,0.000,2054.122,0.000,3518.339,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,70.380,1391.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1084.638,1407.411,1867.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333620
$DATA_FILE_SIZE,93566,1594
$CAP_FILE_SIZE,164655,0
$CFSIZE,260165632,155992064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 56.8,1
$GPS,181010,014307,2248.575,12702.632,32,1.0,32,-3.3