version: 66.08
glider: 167
mission: 6
dive: 282
start: 11 1 110 21 5 7
data:
$ID,167
$MISSION,6
$DIVE,282
$N_DIVES,289
$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,-54478.023
$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,34
$R_STBD_OVSHOOT,72
$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
$GPS1,011110,205431,2122.468,12601.285,39,1.0,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-62.6
$GPS2,011110,210444,2122.447,12601.374,12,1.8,12,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2119.400,12601.200
$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,192.4,5651,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,98,0.00,0.00,-78.57,0.000,2,0.000,0.000,112,789,3393,0,0,0,0,0,0
$GC,101,-0.72,-228.7,6.5,-14.3,11,126,9.57,0.88,-8.77,0.000,4,0.219,0.070,2580,173,3964,0,0,0,0,0,0
$GC,364,-0.72,-228.7,98.4,-30.1,59,372,0.00,0.82,0.00,0.000,6,0.000,0.019,2576,901,3965,0,0,0,0,0,0
$GC,697,-0.72,-228.7,177.1,-21.0,120,706,0.00,1.05,0.00,0.000,4,0.000,0.040,2577,191,3966,0,0,0,0,0,0
$GC,957,-0.72,-228.7,231.0,-18.4,166,965,0.00,0.77,0.00,0.000,6,0.000,0.019,2573,901,3967,0,0,0,0,0,0
$GC,1298,-0.72,-228.7,284.8,-15.7,227,1305,0.00,1.05,0.00,0.000,4,0.000,0.040,2573,187,3967,0,0,0,0,0,0
$GC,1462,-0.72,-228.7,312.2,-16.0,255,1468,0.00,0.75,0.00,0.000,6,0.000,0.021,2569,860,3967,0,0,0,0,0,0
$GC,1803,-0.72,-228.7,365.2,-14.4,316,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,860,3967,0,0,0,0,0,0
$GC,2147,-0.72,-228.7,413.2,-14.3,377,2153,0.00,1.00,0.00,0.000,4,0.000,0.040,2569,182,3966,0,0,0,0,0,0
$GC,2262,-0.72,-228.7,430.6,-15.1,397,2268,0.00,0.77,0.00,0.000,6,0.000,0.021,2564,851,3965,0,0,0,0,0,0
$GC,2601,-0.72,-228.7,473.6,-10.9,458,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,851,3963,0,0,0,0,0,0
$GC,2941,-0.72,-228.7,513.5,-12.1,509,2945,0.00,1.90,0.00,0.000,4,0.000,0.018,2561,2201,3960,0,0,0,0,0,0
$GC,2999,-0.72,-228.7,519.9,-10.5,514,3003,0.00,2.17,0.00,0.000,6,0.000,0.034,2561,739,3960,0,0,0,0,0,0
$GC,3324,-0.72,-228.7,562.3,-13.6,544,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,739,3957,0,0,0,0,0,0
$GC,3644,-0.72,-228.7,602.9,-12.5,573,3648,0.00,2.08,0.00,0.000,4,0.000,0.018,2561,2206,3954,0,0,0,0,0,0
$GC,3768,-0.72,-228.7,615.9,-9.5,578,3774,0.00,2.17,0.00,0.000,6,0.000,0.035,2561,755,3953,0,0,0,0,0,0
$GC,4084,-0.72,-228.7,652.9,-11.8,594,4087,0.00,2.08,0.00,0.000,4,0.000,0.018,2561,2202,3950,0,0,0,0,0,0
$GC,4126,-0.72,-228.7,657.0,-9.6,596,4130,0.00,2.15,0.00,0.000,6,0.000,0.036,2561,768,3950,0,0,0,0,0,0
$GC,4453,-0.72,-228.7,692.4,-10.5,612,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,768,3948,0,0,0,0,0,0
$GC,4762,-0.72,-228.7,724.6,-10.3,627,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,768,3945,0,0,0,0,0,0
$GC,5073,-0.72,-228.7,755.6,-9.9,642,5077,0.00,2.05,0.00,0.000,4,0.000,0.020,2561,2177,3942,0,0,0,0,0,0
$GC,5112,-0.72,-228.7,759.5,-8.6,643,5119,0.00,2.17,0.00,0.000,6,0.000,0.037,2561,756,3942,0,0,0,0,0,0
$GC,5430,-0.72,-228.7,789.9,-10.1,659,5434,0.00,2.08,0.00,0.000,4,0.000,0.019,2561,2203,3939,0,0,0,0,0,0
$GC,5477,-0.72,-228.7,794.2,-8.9,661,5481,0.00,2.17,0.00,0.000,6,0.000,0.038,2561,772,3940,0,0,0,0,0,0
$GC,5810,-0.72,-228.7,828.3,-10.5,677,5814,0.00,2.05,0.00,0.000,4,0.000,0.020,2561,2176,3937,0,0,0,0,0,0
$GC,5862,-0.72,-228.7,833.4,-9.4,679,5866,0.00,2.17,0.00,0.000,6,0.000,0.038,2561,775,3937,0,0,0,0,0,0
$GC,6184,-0.72,-228.7,864.8,-9.8,695,6187,0.00,2.05,0.00,0.000,4,0.000,0.020,2561,2196,3934,0,0,0,0,0,0
$GC,6231,-0.72,-228.7,868.8,-8.1,697,6234,0.00,2.17,0.00,0.000,6,0.000,0.038,2561,774,3934,0,0,0,0,0,0
$GC,6566,-0.72,-228.7,900.2,-9.5,713,6570,0.00,2.08,0.00,0.000,4,0.000,0.020,2561,2202,3931,0,0,0,0,0,0
$GC,6593,-0.72,-228.7,903.0,-9.2,714,6597,0.00,2.15,0.00,0.000,6,0.000,0.039,2561,790,3931,0,0,0,0,0,0
$GC,6912,-0.72,-228.7,931.8,-9.3,729,6915,0.00,2.08,0.00,0.000,4,0.000,0.021,2561,2192,3929,0,0,0,0,0,0
$GC,6951,-0.72,-228.7,935.3,-8.2,730,6957,0.00,2.15,0.00,0.000,6,0.000,0.040,2561,791,3929,0,0,0,0,0,0
$GC,7267,-0.72,-228.7,964.6,-9.8,746,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,791,3927,0,0,0,0,0,0
$GC,7578,-0.72,-228.7,993.6,-9.5,761,7582,0.00,2.05,0.00,0.000,4,0.000,0.021,2561,2185,3926,0,0,0,0,0,0
$GC,7625,-0.72,-228.7,997.9,-8.2,763,7629,0.00,2.17,0.00,0.000,6,0.000,0.040,2561,791,3924,0,0,0,0,0,0
$STATE,7662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7662,begin apogee
$GC,7668,-0.14,0.0,1001.3,8.9,765,7862,0.62,0.00,183.35,1.399,4,0.116,0.000,2770,1036,3028,0,0,0,0,0,0
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7863,begin climb
$GC,7865,0.72,228.7,1010.5,0.0,774,8070,0.80,2.08,197.15,1.343,4,0.050,0.021,3059,2379,2096,0,0,0,0,0,0
$GC,8325,0.72,228.7,949.8,16.1,794,8329,0.00,2.15,0.00,0.000,6,0.000,0.037,3068,993,2087,0,0,0,0,0,0
$GC,8647,0.72,228.7,889.4,19.2,810,8651,0.00,1.23,0.00,0.000,4,0.000,0.047,3074,189,2086,0,0,0,0,0,0
$GC,8842,0.72,228.7,848.9,20.1,818,8849,0.00,1.12,0.00,0.000,6,0.000,0.025,3074,996,2085,0,0,0,0,0,0
$GC,9159,0.72,228.7,789.4,18.7,834,9162,0.00,2.00,0.00,0.000,4,0.000,0.024,3074,2378,2085,0,0,0,0,0,0
$GC,9238,0.72,228.7,774.6,18.3,837,9242,0.00,2.10,0.00,0.000,6,0.000,0.037,3082,1017,2083,0,0,0,0,0,0
$GC,9554,0.72,228.7,714.8,18.5,852,9558,0.00,2.00,0.00,0.000,4,0.000,0.025,3082,2385,2082,0,0,0,0,0,0
$GC,9639,0.72,228.7,699.1,18.2,855,9647,0.12,2.08,0.00,0.000,6,0.190,0.036,3058,1023,2083,0,0,0,0,0,0
$GC,9955,0.72,228.7,646.8,16.4,871,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1023,2082,0,0,0,0,0,0
$GC,10265,0.72,228.7,598.8,15.3,886,10269,0.00,1.98,0.00,0.000,4,0.000,0.024,3058,2383,2081,0,0,0,0,0,0
$GC,10302,0.72,228.7,593.3,15.5,889,10305,0.00,2.10,0.00,0.000,6,0.000,0.037,3064,1015,2081,0,0,0,0,0,0
$GC,10628,0.72,228.7,544.3,15.4,919,10632,0.00,2.00,0.00,0.000,4,0.000,0.025,3064,2377,2081,0,0,0,0,0,0
$GC,10665,0.72,228.7,538.9,15.3,922,10669,0.00,2.08,0.00,0.000,6,0.000,0.037,3073,1017,2080,0,0,0,0,0,0
$GC,10995,0.72,228.7,487.8,15.4,959,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1016,2080,0,0,0,0,0,0
$GC,11325,0.72,228.7,437.4,17.0,1020,11335,0.00,2.03,0.00,0.000,4,0.000,0.025,3073,2379,2080,0,0,0,0,0,0
$GC,11457,0.72,228.7,417.4,14.5,1043,11463,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1026,2081,0,0,0,0,0,0
$GC,11791,0.72,228.7,369.4,14.0,1104,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1025,2079,0,0,0,0,0,0
$GC,12125,0.72,228.7,325.2,12.9,1165,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1025,2080,0,0,0,0,0,0
$GC,12458,0.72,228.7,281.3,13.5,1226,12466,0.00,2.00,0.00,0.000,4,0.000,0.021,3078,2395,2080,0,0,0,0,0,0
$GC,12494,0.72,228.7,276.5,12.1,1232,12502,0.10,2.10,0.00,0.000,6,0.151,0.034,3056,1026,2080,0,0,0,0,0,0
$GC,12829,0.73,239.0,239.9,10.8,1293,12846,0.00,2.00,7.32,0.716,4,0.000,0.019,3056,2384,2054,0,0,0,0,0,0
$GC,13091,0.78,279.0,212.4,9.8,1340,13132,0.00,2.03,33.72,0.793,6,0.000,0.036,3060,1070,1890,0,0,0,0,0,0
$GC,13461,0.86,343.6,177.6,9.0,1406,13524,0.10,1.38,52.15,0.755,4,0.102,0.045,3120,196,1627,0,0,0,0,0,0
$GC,13550,0.86,343.6,166.8,13.3,1419,13557,0.00,1.20,0.00,0.000,6,0.000,0.021,3119,1085,1624,0,0,0,0,0,0
$GC,13878,0.86,343.6,117.3,13.9,1480,13886,0.00,1.35,0.00,0.000,4,0.000,0.042,3126,199,1621,0,0,0,0,0,0
$GC,14043,0.86,343.6,94.1,14.4,1510,14050,0.00,1.12,0.00,0.000,6,0.000,0.020,3126,1076,1621,0,0,0,0,0,0
$GC,14370,1.02,471.2,63.5,6.9,1571,14480,0.00,1.95,99.97,0.643,4,0.000,0.020,3126,2388,1107,0,0,0,0,0,0
$GC,14502,1.02,471.2,49.4,12.2,1589,14511,0.00,2.12,0.00,0.000,6,0.000,0.034,3129,1031,1104,0,0,0,0,0,0
$GC,14833,1.14,570.2,17.9,7.9,1650,14914,0.15,1.33,76.47,0.589,4,0.076,0.042,3212,187,702,0,0,0,0,0,0
$STATE,14929,end climb,SURFACE_DEPTH_REACHED
$STATE,14929,begin surface coast
$FINISH,1.0,1.022060
$STATE,14942,end surface coast,CONTROL_FINISHED_OK
$STATE,14942,begin surface
$SM_CCo,15023,0.00,0.000,0,0,699,571.55
$SM_GC,1.24,8.05,0.00,0.00,0.034,0.000,0.000,117,861,699,-8.38,2.01,571.55
$IRIDIUM_FIX,2115.63,12559.43,011110,202037
$TT8_MAMPS,0.028462
$HUMID,38.77
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,22.9,52.658
$10V_AH,10.2,48.489
$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,19.525,95.875,650.150,0.000,0.000,49.583,80.675,217.626,0.000,0.000,13.431,4010.613,6404.258,665.369,4016.562,514.989,0.000,2176.016,0.000,3685.110,0.000,0.544,0.000
$DEVICE_MAMPS,218.790,69.615,1399.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1133.219,1473.370,1958.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,96803,1665
$CAP_FILE_SIZE,168481,0
$CFSIZE,260165632,148361216
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 81.3,1
$GPS,021110,011637,2120.561,12601.973,31,1.4,32,-2.9