version: 66.08
glider: 167
mission: 6
dive: 339
start: 11 12 110 9 13 43
data:
$ID,167
$MISSION,6
$DIVE,339
$N_DIVES,356
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$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,120
$T_MISSION,180
$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,-54551.336
$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,46
$R_STBD_OVSHOOT,143
$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
$GPS1,121110,090656,2122.002,12600.068,12,1.4,12,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.6
$GPS2,121110,091319,2121.979,12600.059,11,1.4,16,-2.9
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,113.7,2090,-19.1,-13.889
$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,-0.81,-228.7,0.0,0.0,0,85,0.00,0.00,-65.60,0.000,2,0.000,0.000,104,769,3264,0,0,0,0,0,0
$GC,88,-0.81,-228.7,5.0,-10.9,9,113,9.62,0.88,-11.88,0.000,4,0.223,0.076,2553,192,3964,0,0,0,0,0,0
$GC,351,-0.81,-228.7,97.4,-31.9,57,359,0.00,0.70,0.00,0.000,6,0.000,0.021,2550,816,3966,0,0,0,0,0,0
$GC,683,-0.81,-228.7,172.9,-19.9,118,691,0.00,0.90,0.00,0.000,4,0.000,0.041,2550,201,3968,0,0,0,0,0,0
$GC,944,-0.81,-228.7,229.2,-20.9,164,952,0.00,0.60,0.00,0.000,6,0.000,0.022,2547,754,3968,0,0,0,0,0,0
$GC,1288,-0.81,-228.7,291.1,-18.4,225,1295,0.00,0.80,0.00,0.000,4,0.000,0.041,2547,202,3969,0,0,0,0,0,0
$GC,1456,-0.81,-228.7,323.8,-16.8,255,1463,0.00,0.60,0.00,0.000,6,0.000,0.023,2546,740,3969,0,0,0,0,0,0
$GC,1798,-0.81,-228.7,377.6,-15.0,316,1806,0.00,1.98,0.00,0.000,4,0.000,0.018,2544,2133,3969,0,0,0,0,0,0
$GC,1845,-0.81,-228.7,383.4,-12.8,323,1851,0.00,2.05,0.00,0.000,6,0.000,0.031,2544,753,3969,0,0,0,0,0,0
$GC,2183,-0.81,-228.7,433.5,-14.9,384,2191,0.00,0.80,0.00,0.000,4,0.000,0.042,2544,195,3968,0,0,0,0,0,0
$GC,2260,-0.81,-228.7,445.0,-14.9,397,2267,0.00,0.62,0.00,0.000,6,0.000,0.023,2543,746,3968,0,0,0,0,0,0
$GC,2606,-0.81,-228.7,493.0,-13.7,458,2614,0.00,1.98,0.00,0.000,4,0.000,0.018,2541,2129,3966,0,0,0,0,0,0
$STATE,2660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2667,-0.14,0.0,500.3,11.4,467,2850,0.68,0.00,173.93,0.967,4,0.116,0.000,2769,993,3028,0,0,0,0,0,0
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2851,begin climb
$GC,2853,0.81,228.7,512.1,0.0,484,3035,0.82,0.00,173.07,0.948,6,0.057,0.000,3088,993,2098,0,0,0,0,0,0
$GC,3367,0.81,228.7,447.8,16.5,559,3374,0.00,1.92,0.00,0.000,4,0.000,0.019,3088,2343,2090,0,0,0,0,0,0
$GC,3483,0.81,228.7,429.4,14.4,579,3490,0.00,2.00,0.00,0.000,6,0.000,0.033,3097,1013,2088,0,0,0,0,0,0
$GC,3823,0.81,228.7,375.8,15.4,640,3830,0.00,1.23,0.00,0.000,4,0.000,0.042,3103,189,2087,0,0,0,0,0,0
$GC,3883,0.81,228.7,366.0,16.7,650,3892,0.00,1.05,0.00,0.000,6,0.000,0.020,3104,1027,2087,0,0,0,0,0,0
$GC,4227,0.81,228.7,312.3,15.6,711,4234,0.00,1.85,0.00,0.000,4,0.000,0.020,3104,2339,2085,0,0,0,0,0,0
$GC,4264,0.82,239.4,306.7,13.5,717,4279,0.00,1.98,8.43,0.751,6,0.000,0.033,3113,1020,2052,0,0,0,0,0,0
$GC,4615,0.82,239.4,254.7,15.1,779,4621,0.00,1.23,0.00,0.000,4,0.000,0.042,3117,193,2049,0,0,0,0,0,0
$GC,4675,0.82,239.4,244.2,15.2,789,4682,0.08,1.05,0.00,0.000,6,0.166,0.021,3093,1002,2048,0,0,0,0,0,0
$GC,5015,0.89,292.7,202.1,11.7,850,5064,0.00,2.03,42.85,0.774,4,0.000,0.019,3093,2362,1835,0,0,0,0,0,0
$GC,5143,0.90,303.2,186.0,13.5,870,5158,0.00,2.03,9.70,0.680,6,0.000,0.032,3098,1043,1791,0,0,0,0,0,0
$GC,5492,0.93,322.1,140.3,13.1,932,5516,0.00,1.27,16.33,0.694,4,0.000,0.041,3106,179,1714,0,0,0,0,0,0
$GC,5626,0.93,327.5,122.8,13.7,955,5642,0.00,1.10,5.80,0.565,6,0.000,0.019,3106,1036,1692,0,0,0,0,0,0
$GC,5965,1.01,392.9,79.6,11.2,1017,6026,0.12,1.30,52.62,0.667,4,0.092,0.039,3176,190,1426,0,0,0,0,0,0
$GC,6130,1.01,392.9,53.6,18.0,1044,6138,0.00,1.05,0.00,0.000,6,0.000,0.018,3176,1031,1422,0,0,0,0,0,0
$STATE,6439,end climb,SURFACE_DEPTH_REACHED
$STATE,6439,begin surface coast
$FINISH,0.6,1.009682
$STATE,6459,end surface coast,CONTROL_FINISHED_OK
$STATE,6459,begin surface
$SM_CCo,6477,16.58,0.208,1,0,1398,400.08
$SM_GC,1.37,0.00,0.00,16.58,0.000,0.000,0.208,119,769,1398,-8.44,-0.59,400.08
$IRIDIUM_FIX,2113.32,12601.30,121110,070740
$TT8_MAMPS,0.028462
$HUMID,42.87
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,24.5,62.986
$10V_AH,10.2,58.938
$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,19.175,35.075,482.725,16.575,0.000,32.764,16.593,162.895,0.000,0.000,17.783,2561.263,773.021,520.806,2688.554,337.195,0.000,1435.001,0.000,2491.587,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,75.735,966.960,208.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.695,1112.463,1722.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,63636,1105
$CAP_FILE_SIZE,94595,0
$CFSIZE,260165632,143110144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,321.4,1
$GPS,121110,110325,2121.995,12600.900,41,1.5,41,-2.9