version: 66.08
glider: 167
mission: 6
dive: 290
start: 11 3 110 8 31 2
data:
$ID,167
$MISSION,6
$DIVE,290
$N_DIVES,302
$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,-54488.086
$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,49
$R_STBD_OVSHOOT,81
$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
$GPS1,031110,081824,2121.221,12600.634,41,0.9,42,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.7
$GPS2,031110,083038,2121.248,12600.676,12,1.2,12,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$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,10.4,6236,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-228.7,0.0,0.0,0,102,0.00,0.00,-82.38,0.000,2,0.000,0.000,110,773,3501,0,0,0,0,0,0
$GC,104,-0.72,-228.7,6.8,-15.1,11,129,9.70,2.03,-6.97,0.000,4,0.223,0.028,2567,2224,3960,0,0,0,0,0,0
$GC,168,-0.72,-228.7,36.1,-26.2,21,177,0.00,2.17,0.00,0.000,6,0.000,0.034,2567,800,3961,0,0,0,0,0,0
$GC,494,-0.72,-228.7,127.5,-21.8,82,502,0.00,0.88,0.00,0.000,4,0.000,0.041,2567,194,3961,0,0,0,0,0,0
$GC,747,-0.72,-228.7,188.3,-22.3,128,755,0.00,0.77,0.00,0.000,6,0.000,0.020,2563,888,3962,0,0,0,0,0,0
$GC,1083,-0.72,-228.7,250.7,-17.1,189,1091,0.00,1.02,0.00,0.000,4,0.000,0.040,2563,190,3963,0,0,0,0,0,0
$GC,1337,-0.72,-228.7,296.4,-18.1,235,1344,0.00,0.75,0.00,0.000,6,0.000,0.020,2560,867,3963,0,0,0,0,0,0
$GC,1670,-0.72,-228.7,349.8,-14.9,296,1678,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2192,3963,0,0,0,0,0,0
$GC,1702,-0.72,-228.7,354.6,-13.1,301,1710,0.00,2.10,0.00,0.000,6,0.000,0.033,2561,769,3963,0,0,0,0,0,0
$GC,2036,-0.72,-228.7,404.7,-16.3,362,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,768,3962,0,0,0,0,0,0
$GC,2370,-0.72,-228.7,451.5,-12.7,423,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,768,3959,0,0,0,0,0,0
$GC,2701,-0.72,-228.7,491.9,-12.1,484,2709,0.00,2.05,0.00,0.000,4,0.000,0.018,2560,2191,3958,0,0,0,0,0,0
$GC,2734,-0.72,-228.7,495.7,-11.1,489,2742,0.00,2.12,0.00,0.000,6,0.000,0.034,2561,764,3958,0,0,0,0,0,0
$GC,3065,-0.72,-228.7,535.4,-11.6,523,3069,0.00,2.05,0.00,0.000,4,0.000,0.018,2561,2179,3956,0,0,0,0,0,0
$GC,3146,-0.72,-228.7,543.3,-9.1,530,3150,0.00,2.12,0.00,0.000,6,0.000,0.034,2561,778,3955,0,0,0,0,0,0
$GC,3474,-0.72,-228.7,579.5,-11.6,560,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,778,3952,0,0,0,0,0,0
$GC,3796,-0.72,-228.7,615.0,-11.4,585,3799,0.00,2.00,0.00,0.000,4,0.000,0.018,2561,2173,3948,0,0,0,0,0,0
$GC,3842,-0.72,-228.7,619.3,-9.0,587,3846,0.00,2.12,0.00,0.000,6,0.000,0.037,2561,773,3949,0,0,0,0,0,0
$GC,4171,-0.72,-228.7,655.9,-11.5,603,4174,0.00,2.03,0.00,0.000,4,0.000,0.019,2561,2180,3946,0,0,0,0,0,0
$GC,4249,-0.72,-228.7,664.2,-9.1,606,4253,0.00,2.15,0.00,0.000,6,0.000,0.037,2560,779,3946,0,0,0,0,0,0
$GC,4573,-0.72,-228.7,699.1,-10.8,622,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,779,3943,0,0,0,0,0,0
$GC,4880,-0.72,-228.7,730.2,-9.8,637,4883,0.00,2.03,0.00,0.000,4,0.000,0.020,2561,2171,3940,0,0,0,0,0,0
$GC,4952,-0.72,-228.7,736.5,-8.0,640,4956,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,794,3940,0,0,0,0,0,0
$GC,5277,-0.72,-228.7,766.4,-9.3,656,5281,0.00,0.90,0.00,0.000,4,0.000,0.048,2561,192,3938,0,0,0,0,0,0
$GC,5327,-0.72,-228.7,771.9,-10.1,658,5331,0.00,0.80,0.00,0.000,6,0.000,0.023,2561,816,3937,0,0,0,0,0,0
$GC,5657,-0.72,-228.7,803.3,-9.8,674,5661,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2153,3934,0,0,0,0,0,0
$GC,5704,-0.72,-228.7,807.7,-8.5,676,5708,0.00,2.08,0.00,0.000,6,0.000,0.038,2561,788,3934,0,0,0,0,0,0
$GC,6033,-0.72,-228.7,840.8,-10.3,692,6036,0.00,2.00,0.00,0.000,4,0.000,0.021,2561,2159,3932,0,0,0,0,0,0
$GC,6090,-0.72,-228.7,846.4,-9.3,694,6094,0.00,2.08,0.00,0.000,6,0.000,0.039,2560,802,3931,0,0,0,0,0,0
$GC,6407,-0.72,-228.7,877.9,-9.7,709,6410,0.00,1.95,0.00,0.000,4,0.000,0.021,2560,2159,3929,0,0,0,0,0,0
$GC,6453,-0.72,-228.7,882.1,-8.8,711,6457,0.00,2.05,0.00,0.000,6,0.000,0.039,2561,815,3929,0,0,0,0,0,0
$GC,6782,-0.72,-228.7,912.7,-9.5,727,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,815,3927,0,0,0,0,0,0
$GC,7090,-0.72,-228.7,941.3,-9.1,742,7094,0.00,1.95,0.00,0.000,4,0.000,0.021,2561,2154,3925,0,0,0,0,0,0
$GC,7142,-0.72,-228.7,945.6,-8.4,744,7146,0.00,2.05,0.00,0.000,6,0.000,0.040,2561,822,3924,0,0,0,0,0,0
$GC,7470,-0.72,-228.7,975.1,-9.1,760,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,822,3923,0,0,0,0,0,0
$STATE,7757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7757,begin apogee
$GC,7765,-0.14,0.0,1000.4,8.7,774,7957,0.62,0.00,181.93,1.405,4,0.115,0.000,2770,989,3031,0,0,0,0,0,0
$STATE,7958,end apogee,CONTROL_FINISHED_OK
$STATE,7958,begin climb
$GC,7960,0.72,228.7,1008.7,0.0,783,8166,0.77,1.33,198.10,1.344,4,0.049,0.049,3065,202,2095,0,0,0,0,0,0
$GC,8329,0.72,228.7,955.3,20.3,799,8333,0.00,1.15,0.00,0.000,6,0.000,0.026,3065,990,2087,0,0,0,0,0,0
$GC,8657,0.72,228.7,894.3,18.4,815,8661,0.00,1.23,0.00,0.000,4,0.000,0.046,3071,193,2084,0,0,0,0,0,0
$GC,8841,0.72,228.7,857.4,19.6,823,8845,0.00,1.15,0.00,0.000,6,0.000,0.027,3070,1010,2084,0,0,0,0,0,0
$GC,9169,0.72,228.7,796.1,18.3,839,9173,0.00,2.03,0.00,0.000,4,0.000,0.026,3071,2384,2081,0,0,0,0,0,0
$GC,9262,0.72,228.7,779.7,17.9,843,9266,0.00,2.08,0.00,0.000,6,0.000,0.037,3080,1022,2081,0,0,0,0,0,0
$GC,9590,0.72,228.7,719.6,18.2,859,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1022,2080,0,0,0,0,0,0
$GC,9900,0.72,228.7,664.6,17.2,874,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1022,2079,0,0,0,0,0,0
$GC,10210,0.72,228.7,613.0,15.8,889,10214,0.00,2.03,0.00,0.000,4,0.000,0.025,3080,2394,2080,0,0,0,0,0,0
$GC,10288,0.72,228.7,600.4,15.5,892,10293,0.10,2.12,0.00,0.000,6,0.158,0.037,3057,1022,2079,0,0,0,0,0,0
$GC,10619,0.72,228.7,550.0,16.0,923,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1023,2078,0,0,0,0,0,0
$GC,10939,0.72,228.7,503.7,14.0,953,10943,0.00,2.00,0.00,0.000,4,0.000,0.024,3058,2394,2078,0,0,0,0,0,0
$GC,10975,0.72,228.7,498.6,14.1,956,10983,0.00,2.15,0.00,0.000,6,0.000,0.038,3065,1011,2078,0,0,0,0,0,0
$GC,11318,0.72,228.7,448.6,13.6,1017,11325,0.00,2.00,0.00,0.000,4,0.000,0.024,3065,2400,2078,0,0,0,0,0,0
$GC,11368,0.72,228.7,441.7,14.3,1025,11374,0.00,2.08,0.00,0.000,6,0.000,0.036,3074,1025,2077,0,0,0,0,0,0
$GC,11705,0.72,228.7,396.8,13.0,1086,11713,0.00,1.27,0.00,0.000,4,0.000,0.047,3081,190,2077,0,0,0,0,0,0
$GC,11731,0.72,228.7,393.0,14.0,1090,11740,0.00,1.17,0.00,0.000,6,0.000,0.024,3081,1043,2078,0,0,0,0,0,0
$GC,12077,0.72,228.7,345.5,14.2,1151,12083,0.00,1.92,0.00,0.000,4,0.000,0.024,3081,2380,2077,0,0,0,0,0,0
$GC,12160,0.72,228.7,335.0,12.8,1165,12168,0.12,2.08,0.00,0.000,6,0.176,0.036,3057,1016,2078,0,0,0,0,0,0
$GC,12504,0.76,257.1,294.0,10.2,1226,12532,0.00,2.00,21.75,0.860,4,0.000,0.021,3057,2385,1979,0,0,0,0,0,0
$GC,12641,0.76,257.1,278.4,11.6,1249,12648,0.00,2.03,0.00,0.000,6,0.000,0.036,3060,1052,1976,0,0,0,0,0,0
$GC,12982,0.76,257.1,239.7,11.6,1310,12991,0.00,1.30,0.00,0.000,4,0.000,0.044,3067,190,1976,0,0,0,0,0,0
$GC,13228,0.77,266.1,211.9,10.8,1353,13243,0.00,1.15,8.57,0.708,6,0.000,0.021,3068,1059,1943,0,0,0,0,0,0
$GC,13580,0.82,306.2,173.6,9.8,1415,13621,0.00,1.92,33.90,0.751,4,0.000,0.018,3067,2388,1780,0,0,0,0,0,0
$GC,13683,0.86,342.6,163.3,9.9,1431,13723,0.00,2.08,30.23,0.728,6,0.000,0.034,3074,1031,1632,0,0,0,0,0,0
$GC,14047,0.90,370.9,126.6,10.2,1497,14078,0.10,1.25,23.88,0.689,4,0.102,0.041,3127,183,1515,0,0,0,0,0,0
$GC,14284,0.93,400.7,97.5,10.1,1539,14314,0.00,1.15,24.98,0.662,6,0.000,0.019,3127,1073,1394,0,0,0,0,0,0
$GC,14634,0.93,400.7,56.5,11.9,1603,14642,0.00,1.33,0.00,0.000,4,0.000,0.042,3133,196,1391,0,0,0,0,0,0
$GC,14697,0.93,400.7,48.2,12.4,1614,14705,0.00,1.12,0.00,0.000,6,0.000,0.020,3133,1073,1390,0,0,0,0,0,0
$GC,15026,0.93,400.7,8.6,13.3,1675,15034,0.00,1.33,0.00,0.000,4,0.000,0.041,3134,190,1391,0,0,0,0,0,0
$GC,15047,0.93,400.7,5.1,14.7,1678,15056,0.00,1.12,0.00,0.000,6,0.000,0.020,3134,1065,1391,0,0,0,0,0,0
$STATE,15062,end climb,SURFACE_DEPTH_REACHED
$STATE,15062,begin surface coast
$FINISH,0.6,1.021783
$STATE,15085,end surface coast,CONTROL_FINISHED_OK
$STATE,15085,begin surface
$SM_CCo,15165,0.00,0.000,0,0,1387,402.78
$SM_GC,1.54,7.65,0.00,0.00,0.033,0.000,0.000,129,759,1387,-8.35,-0.85,402.78
$IRIDIUM_FIX,2113.32,12559.43,031110,080851
$TT8_MAMPS,0.028462
$HUMID,39.88
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,22.9,54.145
$10V_AH,10.3,49.952
$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,19.075,96.250,523.325,0.000,0.000,89.232,105.942,212.677,0.000,0.000,13.737,4083.434,6591.289,592.769,4095.667,515.024,0.000,2066.627,0.000,3703.856,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,52.020,1404.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.633,1487.533,1974.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333784
$DATA_FILE_SIZE,96668,1684
$CAP_FILE_SIZE,169415,0
$CFSIZE,260165632,147599360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012, 35.7,1
$GPS,031110,124506,2123.418,12600.933,36,1.0,42,-2.9