version: 66.08
glider: 167
mission: 6
dive: 214
start: 10 20 110 9 25 36
data:
$ID,167
$MISSION,6
$DIVE,214
$N_DIVES,225
$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,-54392.363
$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,84
$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
$GPS1,201010,091455,2220.712,12705.228,40,1.1,40,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.7
$GPS2,201010,092513,2220.657,12705.252,13,1.2,13,-3.2
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2130.000,12530.000
$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,246.4,189052,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.72,-228.7,0.0,0.0,0,102,0.00,0.00,-80.03,0.000,2,0.000,0.000,113,772,3462,0,0,0,0,0,0
$GC,105,-0.72,-228.7,6.8,-14.8,11,130,9.50,0.82,-7.32,0.000,4,0.220,0.070,2582,179,3962,0,0,0,0,0,0
$GC,371,-0.72,-228.7,103.9,-25.9,59,379,0.00,0.80,0.00,0.000,6,0.000,0.020,2578,878,3964,0,0,0,0,0,0
$GC,698,-0.72,-228.7,175.3,-19.9,120,706,0.00,1.00,0.00,0.000,4,0.000,0.040,2578,196,3966,0,0,0,0,0,0
$GC,901,-0.72,-228.7,216.8,-19.1,157,908,0.00,0.77,0.00,0.000,6,0.000,0.021,2574,880,3966,0,0,0,0,0,0
$GC,1235,-0.72,-228.7,276.2,-16.7,218,1244,0.00,1.00,0.00,0.000,4,0.000,0.040,2574,196,3966,0,0,0,0,0,0
$GC,1373,-0.72,-228.7,300.8,-17.9,242,1380,0.00,0.75,0.00,0.000,6,0.000,0.021,2570,865,3966,0,0,0,0,0,0
$GC,1705,-0.72,-228.7,357.6,-17.2,303,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,867,3965,0,0,0,0,0,0
$GC,2033,-0.72,-228.7,410.8,-15.2,364,2040,0.00,1.00,0.00,0.000,4,0.000,0.041,2570,188,3964,0,0,0,0,0,0
$GC,2206,-0.72,-228.7,438.6,-14.9,395,2213,0.00,0.75,0.00,0.000,6,0.000,0.021,2568,836,3963,0,0,0,0,0,0
$GC,2540,-0.72,-228.7,486.6,-14.2,456,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,837,3961,0,0,0,0,0,0
$GC,2870,-0.72,-228.7,529.6,-12.1,495,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,837,3959,0,0,0,0,0,0
$GC,3190,-0.72,-228.7,567.0,-11.1,525,3194,0.00,1.80,0.00,0.000,4,0.000,0.017,2563,2116,3957,0,0,0,0,0,0
$GC,3218,-0.72,-228.7,570.2,-10.6,527,3225,0.00,2.05,0.00,0.000,6,0.000,0.034,2563,749,3956,0,0,0,0,0,0
$GC,3543,-0.72,-228.7,608.0,-11.6,555,3547,0.00,1.92,0.00,0.000,4,0.000,0.017,2561,2120,3955,0,0,0,0,0,0
$GC,3576,-0.72,-228.7,612.0,-11.0,556,3580,0.00,2.05,0.00,0.000,6,0.000,0.035,2561,756,3954,0,0,0,0,0,0
$GC,3898,-0.72,-228.7,651.3,-12.5,572,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,755,3952,0,0,0,0,0,0
$GC,4207,-0.72,-228.7,688.6,-12.3,587,4211,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2118,3949,0,0,0,0,0,0
$GC,4236,-0.72,-228.7,691.9,-11.9,588,4240,0.00,2.05,0.00,0.000,6,0.000,0.036,2561,761,3949,0,0,0,0,0,0
$GC,4564,-0.72,-228.7,729.1,-10.9,604,4567,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2118,3946,0,0,0,0,0,0
$GC,4587,-0.72,-228.7,731.4,-9.8,605,4591,0.00,2.05,0.00,0.000,6,0.000,0.037,2561,763,3945,0,0,0,0,0,0
$GC,4922,-0.72,-228.7,763.4,-10.0,621,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,763,3942,0,0,0,0,0,0
$GC,5230,-0.72,-228.7,795.3,-10.5,636,5234,0.00,1.95,0.00,0.000,4,0.000,0.018,2561,2114,3940,0,0,0,0,0,0
$GC,5263,-0.72,-228.7,798.9,-9.3,637,5267,0.00,2.05,0.00,0.000,6,0.000,0.037,2560,766,3939,0,0,0,0,0,0
$GC,5587,-0.72,-228.7,832.5,-10.5,653,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,766,3938,0,0,0,0,0,0
$GC,5894,-0.72,-228.7,866.6,-11.1,668,5897,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2115,3935,0,0,0,0,0,0
$GC,5932,-0.72,-228.7,870.8,-9.8,669,5940,0.00,2.05,0.00,0.000,6,0.000,0.038,2561,772,3934,0,0,0,0,0,0
$GC,6251,-0.72,-228.7,905.0,-10.7,685,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,772,3932,0,0,0,0,0,0
$GC,6558,-0.72,-228.7,938.1,-10.9,700,6562,0.00,1.92,0.00,0.000,4,0.000,0.018,2561,2114,3930,0,0,0,0,0,0
$GC,6607,-0.72,-228.7,942.6,-9.6,702,6611,0.00,2.03,0.00,0.000,6,0.000,0.039,2561,789,3930,0,0,0,0,0,0
$GC,6940,-0.72,-228.7,977.9,-10.5,718,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,788,3928,0,0,0,0,0,0
$STATE,7164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7164,begin apogee
$GC,7170,-0.14,0.0,1001.0,9.9,729,7361,0.62,0.00,180.00,1.398,4,0.116,0.000,2772,945,3029,0,0,0,0,0,0
$STATE,7361,end apogee,CONTROL_FINISHED_OK
$STATE,7361,begin climb
$GC,7364,0.72,228.7,1009.5,0.0,738,7565,0.80,2.12,193.20,1.343,4,0.045,0.021,3071,2330,2096,0,0,0,0,0,0
$GC,7763,0.72,228.7,951.2,19.7,756,7767,0.00,2.10,0.00,0.000,6,0.000,0.037,3081,993,2088,0,0,0,0,0,0
$GC,8091,0.72,228.7,882.9,21.1,772,8094,0.00,1.23,0.00,0.000,4,0.000,0.046,3087,190,2086,0,0,0,0,0,0
$GC,8275,0.72,228.7,842.5,21.4,780,8279,0.10,1.02,0.00,0.000,6,0.170,0.026,3057,919,2086,0,0,0,0,0,0
$GC,8602,0.72,228.7,784.2,17.7,796,8605,0.00,2.03,0.00,0.000,4,0.000,0.024,3057,2305,2084,0,0,0,0,0,0
$GC,8813,0.72,228.7,749.0,17.0,805,8817,0.00,2.00,0.00,0.000,6,0.000,0.036,3064,1024,2082,0,0,0,0,0,0
$GC,9135,0.72,228.7,695.4,16.0,821,9139,0.00,1.90,0.00,0.000,4,0.000,0.021,3065,2323,2082,0,0,0,0,0,0
$GC,9204,0.72,228.7,684.8,15.3,824,9208,0.00,1.95,0.00,0.000,6,0.000,0.036,3073,1040,2082,0,0,0,0,0,0
$GC,9537,0.72,228.7,626.1,17.6,840,9541,0.00,1.85,0.00,0.000,4,0.000,0.024,3073,2312,2081,0,0,0,0,0,0
$GC,9570,0.72,228.7,619.9,16.9,841,9574,0.00,1.95,0.00,0.000,6,0.000,0.037,3081,1048,2081,0,0,0,0,0,0
$GC,9901,0.72,228.7,564.5,16.5,866,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1047,2080,0,0,0,0,0,0
$GC,10228,0.72,228.7,508.9,16.7,897,10232,0.00,1.83,0.00,0.000,4,0.000,0.021,3081,2313,2080,0,0,0,0,0,0
$GC,10423,0.72,228.7,478.8,15.0,927,10430,0.12,1.92,0.00,0.000,6,0.177,0.037,3058,1047,2080,0,0,0,0,0,0
$GC,10754,0.72,228.7,434.1,14.8,988,10762,0.00,1.85,0.00,0.000,4,0.000,0.022,3058,2314,2080,0,0,0,0,0,0
$GC,10865,0.72,228.7,418.5,13.0,1007,10872,0.00,1.92,0.00,0.000,6,0.000,0.037,3062,1048,2078,0,0,0,0,0,0
$GC,11196,0.72,228.7,370.4,14.5,1068,11204,0.00,1.30,0.00,0.000,4,0.000,0.046,3068,190,2079,0,0,0,0,0,0
$GC,11219,0.72,228.7,367.2,14.2,1071,11226,0.00,1.10,0.00,0.000,6,0.000,0.023,3069,1013,2079,0,0,0,0,0,0
$GC,11553,0.72,228.7,321.5,14.0,1132,11561,0.00,1.95,0.00,0.000,4,0.000,0.021,3069,2361,2079,0,0,0,0,0,0
$GC,11616,0.72,228.7,312.8,12.8,1143,11622,0.00,1.95,0.00,0.000,6,0.000,0.036,3075,1058,2079,0,0,0,0,0,0
$GC,11951,0.72,228.7,264.8,14.9,1204,11959,0.00,1.90,0.00,0.000,4,0.000,0.021,3075,2366,2079,0,0,0,0,0,0
$GC,12010,0.72,228.7,256.8,12.9,1214,12018,0.00,2.00,0.00,0.000,6,0.000,0.035,3082,1057,2080,0,0,0,0,0,0
$GC,12344,0.72,228.7,214.4,12.9,1275,12350,0.00,1.30,0.00,0.000,4,0.000,0.044,3089,191,2080,0,0,0,0,0,0
$GC,12391,0.72,228.7,207.5,14.0,1283,12398,0.10,1.15,0.00,0.000,6,0.155,0.022,3057,1053,2079,0,0,0,0,0,0
$GC,12726,0.79,283.3,171.9,9.3,1344,12776,0.00,0.00,41.62,0.760,6,0.000,0.000,3057,1053,1873,0,0,0,0,0,0
$GC,13102,0.83,314.5,131.1,10.1,1411,13131,0.00,0.00,25.48,0.709,6,0.000,0.000,3057,1054,1745,0,0,0,0,0,0
$GC,13452,0.92,387.7,98.2,8.7,1475,13520,0.17,1.95,58.20,0.685,4,0.070,0.020,3135,2361,1447,0,0,0,0,0,0
$GC,13563,0.92,387.7,81.3,15.7,1491,13571,0.00,2.05,0.00,0.000,6,0.000,0.034,3143,1048,1444,0,0,0,0,0,0
$GC,13891,0.92,387.7,37.7,11.8,1552,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1048,1441,0,0,0,0,0,0
$STATE,14165,end climb,SURFACE_DEPTH_REACHED
$STATE,14165,begin surface coast
$FINISH,0.4,1.009481
$STATE,14188,end surface coast,CONTROL_FINISHED_OK
$STATE,14188,begin surface
$SM_CCo,14207,14.50,0.139,1,0,1398,400.08
$SM_GC,1.01,0.00,0.00,14.50,0.000,0.000,0.139,126,776,1398,-8.43,-0.40,400.08
$IRIDIUM_FIX,2211.35,12705.71,201010,090950
$TT8_MAMPS,0.028462
$HUMID,40.70
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,27.90
$XPDR_PINGS,1
$24V_AH,23.2,39.529
$10V_AH,10.3,36.111
$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,19.150,77.375,498.500,14.500,0.000,52.609,83.748,229.390,0.250,0.000,13.910,3901.249,5986.853,567.004,3876.868,495.396,0.000,1975.350,0.000,3549.102,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,70.380,1398.420,139.230,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.560,1425.915,1915.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334040
$DATA_FILE_SIZE,93660,1608
$CAP_FILE_SIZE,157871,0
$CFSIZE,260165632,154730496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,197.0,1
$GPS,201010,132400,2219.112,12703.087,38,1.0,39,-3.2