version: 66.09
glider: 166
mission: 6
dive: 11
start: 8 6 111 9 32 46
data:
$ID,166
$MISSION,6
$DIVE,11
$N_DIVES,15
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,1
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-24388.287
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$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,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,060811,092556,2103.824,12119.603,26,99.0,45,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.5
$GPS2,060811,093222,2103.886,12119.643,13,99.0,32,-2.5
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,NINNER
$TGT_LATLONG,2114.000,12117.000
$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,348.8,19278,-16.1,-11.786
$D_GRID,3009
$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,-0.75,-243.3,0.0,0.0,0,126,0.00,0.00,-106.85,0.000,2,0.000,0.000,146,1785,3158,0,0,0,0,0,0
$GC,129,-0.75,-243.3,6.4,-12.2,15,159,9.05,2.12,-12.23,0.000,4,0.224,0.053,2532,395,3878,0,0,0,0,0,0
$GC,302,-0.64,-243.3,71.2,-25.5,46,311,0.10,2.15,0.00,0.000,6,0.142,0.039,2549,1791,3880,0,0,0,0,0,0
$GC,623,-0.55,-243.3,141.3,-21.1,107,631,0.12,2.15,0.00,0.000,4,0.177,0.046,2603,403,3881,0,0,0,0,0,0
$GC,772,-0.59,-243.3,164.4,-13.3,134,780,0.00,2.12,0.00,0.000,6,0.000,0.037,2588,1803,3882,0,0,0,0,0,0
$GC,1096,-0.61,-243.3,209.8,-11.7,195,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1804,3883,0,0,0,0,0,0
$GC,1419,-0.64,-243.3,249.9,-12.5,256,1427,0.00,2.17,0.00,0.000,4,0.000,0.049,2583,400,3882,0,0,0,0,0,0
$GC,1593,-0.70,-243.3,270.2,-11.0,272,1601,0.08,2.12,0.00,0.000,6,0.053,0.039,2505,1801,3881,0,0,0,0,0,0
$GC,1918,-0.64,-243.3,325.4,-17.5,303,1923,0.17,2.15,0.00,0.000,4,0.156,0.050,2566,399,3880,0,0,0,0,0,0
$GC,2143,-0.70,-243.3,355.4,-11.8,322,2149,0.00,2.08,0.00,0.000,6,0.000,0.040,2554,1800,3879,0,0,0,0,0,0
$GC,2468,-0.74,-243.3,390.3,-10.0,353,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1801,3877,0,0,0,0,0,0
$GC,2790,-0.79,-243.3,421.7,-9.6,383,2795,0.15,2.17,0.00,0.000,4,0.076,0.050,2481,390,3875,0,0,0,0,0,0
$GC,2953,-0.73,-243.3,448.3,-17.0,397,2958,0.17,2.10,0.00,0.000,6,0.156,0.043,2522,1799,3874,0,0,0,0,0,0
$GC,3279,-0.73,-243.3,479.6,-10.4,427,3283,0.00,2.17,0.00,0.000,4,0.000,0.052,2521,395,3871,0,0,0,0,0,0
$GC,3468,-0.76,-243.3,499.8,-10.0,443,3475,0.00,2.10,0.00,0.000,6,0.000,0.042,2513,1798,3870,0,0,0,0,0,0
$GC,3794,-0.76,-243.3,534.5,-10.3,474,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1799,3868,0,0,0,0,0,0
$GC,4116,-0.76,-243.3,572.2,-12.3,504,4120,0.00,2.15,0.00,0.000,4,0.000,0.054,2512,401,3865,0,0,0,0,0,0
$GC,4195,-0.78,-243.3,583.1,-13.0,510,4201,0.00,2.10,0.00,0.000,6,0.000,0.044,2502,1801,3864,0,0,0,0,0,0
$GC,4514,-0.78,-243.3,626.8,-13.1,532,4518,0.00,2.15,0.00,0.000,4,0.000,0.054,2501,401,3862,0,0,0,0,0,0
$GC,4630,-0.78,-243.3,643.3,-13.8,537,4635,0.00,2.15,0.00,0.000,6,0.000,0.046,2490,1797,3860,0,0,0,0,0,0
$GC,4954,-0.78,-243.3,684.7,-12.3,553,4958,0.00,2.15,0.00,0.000,4,0.000,0.055,2490,399,3858,0,0,0,0,0,0
$GC,5087,-0.78,-243.3,703.4,-14.0,559,5092,0.00,2.15,0.00,0.000,6,0.000,0.048,2480,1795,3856,0,0,0,0,0,0
$GC,5416,-0.78,-243.3,753.3,-15.6,575,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1796,3855,0,0,0,0,0,0
$GC,5724,-0.78,-243.3,802.7,-16.1,590,5728,0.00,2.15,0.00,0.000,4,0.000,0.057,2479,402,3852,0,0,0,0,0,0
$GC,5914,-0.78,-243.3,835.1,-17.1,598,5922,0.08,2.17,0.00,0.000,6,0.158,0.049,2504,1804,3850,0,0,0,0,0,0
$GC,6232,-0.81,-243.3,879.5,-13.0,614,6236,0.00,2.15,0.00,0.000,4,0.000,0.057,2504,401,3848,0,0,0,0,0,0
$GC,6350,-0.84,-243.3,893.8,-10.7,619,6354,0.00,2.12,0.00,0.000,6,0.000,0.049,2496,1802,3847,0,0,0,0,0,0
$GC,6673,-0.86,-243.3,920.1,-7.4,635,6677,0.00,2.15,0.00,0.000,4,0.000,0.058,2496,402,3846,0,0,0,0,0,0
$GC,6728,-0.86,-243.3,924.7,-8.2,637,6732,0.00,2.12,0.00,0.000,6,0.000,0.048,2486,1808,3845,0,0,0,0,0,0
$GC,7051,-0.86,-243.3,953.0,-9.5,653,7055,0.00,2.17,0.00,0.000,4,0.000,0.057,2486,396,3843,0,0,0,0,0,0
$GC,7248,-0.86,-243.3,974.2,-10.9,662,7252,0.00,2.15,0.00,0.000,6,0.000,0.050,2476,1806,3842,0,0,0,0,0,0
$STATE,7413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7413,begin apogee
$GC,7420,-0.14,0.0,992.0,10.7,670,7625,0.73,0.00,199.05,1.430,6,0.139,0.000,2713,1981,2883,0,0,0,0,0,0
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7625,begin climb
$GC,7629,0.75,243.3,997.6,0.0,679,7862,0.77,2.47,217.12,1.366,4,0.047,0.057,3024,568,1891,0,0,0,0,0,0
$GC,7969,0.57,243.3,932.0,24.9,694,7976,0.28,2.25,0.00,0.000,6,0.187,0.051,2948,1960,1886,0,0,0,0,0,0
$GC,8286,0.47,243.3,874.2,17.8,710,8291,0.12,2.28,0.00,0.000,4,0.208,0.063,2907,3382,1884,0,0,0,0,0,0
$GC,8326,0.43,243.3,867.6,15.4,712,8331,0.00,2.17,0.00,0.000,6,0.000,0.045,2915,1976,1883,0,0,0,0,0,0
$GC,8655,0.38,243.3,821.8,13.4,728,8660,0.12,2.20,0.00,0.000,4,0.193,0.057,2893,565,1882,0,0,0,0,0,0
$GC,8727,0.45,299.7,813.5,10.0,731,8784,0.00,2.22,51.25,1.304,6,0.000,0.047,2893,1972,1662,0,0,0,0,0,0
$GC,9113,0.54,369.0,776.9,9.5,750,9184,0.12,2.40,63.28,1.281,4,0.097,0.056,2958,567,1378,0,0,0,0,0,0
$GC,9225,0.50,369.0,760.0,15.6,755,9230,0.15,2.30,0.00,0.000,6,0.179,0.047,2922,1987,1376,0,0,0,0,0,0
$GC,9547,0.50,369.0,716.0,14.0,771,9552,0.00,2.25,0.00,0.000,4,0.000,0.057,2930,556,1374,0,0,0,0,0,0
$GC,9569,0.50,369.0,712.5,14.3,772,9573,0.00,2.25,0.00,0.000,6,0.000,0.046,2930,1970,1373,0,0,0,0,0,0
$GC,9897,0.48,369.0,660.8,16.7,788,9901,0.00,2.25,0.00,0.000,4,0.000,0.063,2930,3389,1373,0,0,0,0,0,0
$GC,9920,0.46,369.0,656.7,17.6,789,9924,0.12,2.17,0.00,0.000,6,0.189,0.044,2910,1970,1372,0,0,0,0,0,0
$GC,10241,0.47,369.0,613.3,12.9,805,10245,0.00,2.17,0.00,0.000,4,0.000,0.057,2918,564,1372,0,0,0,0,0,0
$GC,10333,0.50,369.0,601.2,13.0,809,10337,0.00,2.17,0.00,0.000,6,0.000,0.047,2912,1982,1371,0,0,0,0,0,0
$GC,10664,0.52,369.0,559.7,12.8,839,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1983,1371,0,0,0,0,0,0
$GC,10986,0.55,374.4,520.4,11.6,869,10998,0.00,2.22,4.90,0.811,4,0.000,0.057,2921,563,1356,0,0,0,0,0,0
$GC,11049,0.59,377.6,512.5,11.7,874,11059,0.00,2.17,4.72,0.787,6,0.000,0.046,2917,1974,1344,0,0,0,0,0,0
$GC,11386,0.65,411.7,473.2,10.7,906,11423,0.15,2.30,30.77,1.077,4,0.088,0.055,2996,568,1204,0,0,0,0,0,0
$GC,11443,0.57,411.7,464.7,17.1,911,11448,0.17,2.22,0.00,0.000,6,0.172,0.044,2949,1976,1203,0,0,0,0,0,0
$GC,11768,0.57,411.7,410.0,18.0,941,11772,0.00,2.20,0.00,0.000,4,0.000,0.054,2959,561,1203,0,0,0,0,0,0
$GC,11798,0.55,411.7,404.9,17.7,943,11802,0.00,2.20,0.00,0.000,6,0.000,0.046,2951,1973,1202,0,0,0,0,0,0
$GC,12123,0.55,411.7,353.5,13.5,973,12127,0.00,2.17,0.00,0.000,4,0.000,0.059,2941,3377,1202,0,0,0,0,0,0
$GC,12165,0.57,411.7,348.4,12.6,976,12169,0.00,2.12,0.00,0.000,6,0.000,0.043,2950,1968,1202,0,0,0,0,0,0
$GC,12490,0.57,411.7,299.0,17.7,1006,12494,0.00,2.15,0.00,0.000,4,0.000,0.053,2961,563,1202,0,0,0,0,0,0
$GC,12567,0.60,411.7,285.4,17.2,1012,12575,0.00,2.17,0.00,0.000,6,0.000,0.043,2957,1970,1201,0,0,0,0,0,0
$GC,12891,0.60,411.7,234.0,14.4,1053,12899,0.00,2.17,0.00,0.000,4,0.000,0.057,2957,3374,1202,0,0,0,0,0,0
$GC,12935,0.64,411.7,228.4,13.9,1060,12943,0.00,2.15,0.00,0.000,6,0.000,0.041,2964,1962,1201,0,0,0,0,0,0
$GC,13260,0.66,415.2,187.0,11.7,1121,13269,0.00,2.20,4.30,0.556,4,0.000,0.050,2974,559,1191,0,0,0,0,0,0
$GC,13338,0.73,455.2,177.9,10.5,1135,13382,0.00,2.15,34.17,0.818,6,0.000,0.039,2974,1968,1026,0,0,0,0,0,0
$GC,13695,0.77,455.2,137.3,11.9,1201,13704,0.10,2.22,0.00,0.000,4,0.103,0.050,3038,560,1025,0,0,0,0,0,0
$GC,13725,0.77,455.2,133.6,13.0,1205,13734,0.08,2.17,0.00,0.000,6,0.142,0.039,3011,1972,1024,0,0,0,0,0,0
$GC,14052,0.78,455.2,85.3,13.5,1266,14060,0.00,2.15,0.00,0.000,4,0.000,0.051,3000,3371,1025,0,0,0,0,0,0
$GC,14109,0.88,470.4,77.8,11.3,1276,14132,0.05,2.12,13.70,0.666,6,0.073,0.037,3060,1970,964,0,0,0,0,0,0
$GC,14446,0.88,470.4,30.9,13.5,1339,14454,0.00,2.17,0.00,0.000,4,0.000,0.045,3072,561,964,0,0,0,0,0,0
$GC,14534,0.88,470.4,19.5,13.5,1355,14542,0.00,2.12,0.00,0.000,6,0.000,0.035,3071,1967,964,0,0,0,0,0,0
$STATE,14642,end climb,SURFACE_DEPTH_REACHED
$STATE,14642,begin surface coast
$FINISH,0.8,1.009435
$STATE,14660,end surface coast,CONTROL_FINISHED_OK
$STATE,14660,begin surface
$SM_CCo,14738,0.00,0.000,0,0,963,471.22
$SM_GC,1.80,7.72,0.00,0.00,0.048,0.000,0.000,136,1796,963,-8.10,-0.11,471.22,0,0,0,0,0,0
$IRIDIUM_FIX,2050.21,12121.18,060811,050529
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.98
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.50
$XPDR_PINGS,111
$24V_AH,23.3,4.783
$10V_AH,10.2,3.454
$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,20.625,131.350,623.275,0.000,0.000,24.256,25.529,162.578,27.750,0.000,34.742,3285.295,7229.140,667.466,3538.957,389.529,0.000,2077.217,0.000,3289.248,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,76.500,1429.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.074,1408.784,1605.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,76778,1378
$CAP_FILE_SIZE,168012,0
$CFSIZE,260165632,146214912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060811,134006,2107.626,12118.410,57,1.9,62,-2.6