version: 66.09
glider: 166
mission: 6
dive: 31
start: 8 9 111 20 54 13
data:
$ID,166
$MISSION,6
$DIVE,31
$N_DIVES,0
$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,260
$T_MISSION,300
$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,275
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,285
$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,1
$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,-24416.705
$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,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,53
$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,100
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$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,4
$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
$GPS1,090811,204701,2231.967,12125.182,41,1.6,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.7
$GPS2,090811,205352,2232.213,12125.337,11,99.0,30,-2.9
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,HEADING
$TGT_LATLONG,2235.008,12114.039
$TGT_RADIUS,1852.000
$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,287.9,20000,-16.3,-12.692
$D_GRID,1005
$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,-0.91,-267.6,0.0,0.0,0,126,0.00,0.00,-106.78,0.000,2,0.000,0.000,157,1522,2976,0,0,0,0,0,0
$GC,129,-0.91,-267.6,5.1,-7.6,15,166,9.10,2.05,-18.55,0.000,4,0.236,0.054,2442,189,3964,0,0,0,0,0,0
$GC,300,-0.71,-267.6,80.1,-32.3,45,309,0.25,2.00,0.00,0.000,6,0.142,0.042,2512,1476,3966,0,0,0,0,0,0
$GC,623,-0.58,-267.6,164.6,-25.9,106,632,0.15,1.98,0.00,0.000,4,0.174,0.042,2564,200,3967,0,0,0,0,0,0
$GC,726,-0.56,-267.6,183.4,-16.4,124,734,0.00,1.98,0.00,0.000,6,0.000,0.032,2553,1514,3967,0,0,0,0,0,0
$GC,1048,-0.53,-267.6,233.4,-15.8,185,1056,0.00,2.00,0.00,0.000,4,0.000,0.042,2553,201,3967,0,0,0,0,0,0
$GC,1142,-0.55,-267.6,246.4,-12.6,202,1150,0.00,1.95,0.00,0.000,6,0.000,0.032,2541,1503,3967,0,0,0,0,0,0
$GC,1478,-0.55,-267.6,293.5,-14.0,235,1482,0.00,2.12,0.00,0.000,4,0.000,0.044,2530,2910,3967,0,0,0,0,0,0
$GC,1550,-0.59,-267.6,303.5,-12.6,241,1557,0.00,2.10,0.00,0.000,6,0.000,0.033,2530,1491,3967,0,0,0,0,0,0
$GC,1877,-0.59,-267.6,346.5,-12.0,272,1881,0.00,1.92,0.00,0.000,4,0.000,0.044,2530,201,3966,0,0,0,0,0,0
$GC,1946,-0.61,-267.6,355.6,-12.6,278,1950,0.00,1.92,0.00,0.000,6,0.000,0.034,2521,1499,3966,0,0,0,0,0,0
$GC,2279,-0.60,-267.6,394.9,-13.2,309,2283,0.00,2.10,0.00,0.000,4,0.000,0.048,2514,2901,3963,0,0,0,0,0,0
$GC,2330,-0.62,-267.6,400.7,-10.7,313,2335,0.00,2.10,0.00,0.000,6,0.000,0.035,2515,1491,3963,0,0,0,0,0,0
$GC,2657,-0.62,-267.6,441.4,-13.2,343,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1491,3961,0,0,0,0,0,0
$GC,2975,-0.62,-267.6,477.4,-11.0,373,2979,0.00,2.15,0.00,0.000,4,0.000,0.051,2509,2899,3958,0,0,0,0,0,0
$GC,3055,-0.65,-267.6,486.3,-10.9,379,3062,0.00,2.10,0.00,0.000,6,0.000,0.038,2505,1501,3957,0,0,0,0,0,0
$GC,3381,-0.63,-267.6,529.8,-13.1,410,3385,0.15,1.98,0.00,0.000,4,0.158,0.052,2543,210,3955,0,0,0,0,0,0
$GC,3432,-0.70,-267.6,535.3,-10.4,414,3439,0.00,1.95,0.00,0.000,6,0.000,0.041,2533,1498,3955,0,0,0,0,0,0
$GC,3758,-0.75,-267.6,571.2,-11.1,445,3762,0.00,2.15,0.00,0.000,4,0.000,0.057,2522,2913,3952,0,0,0,0,0,0
$GC,3829,-0.83,-267.6,577.9,-9.5,451,3834,0.12,2.12,0.00,0.000,6,0.084,0.040,2451,1496,3951,0,0,0,0,0,0
$GC,4151,-0.75,-267.6,629.3,-17.0,473,4156,0.17,1.98,0.00,0.000,4,0.164,0.058,2503,208,3948,0,0,0,0,0,0
$GC,4219,-0.77,-267.6,638.0,-11.1,476,4224,0.00,1.98,0.00,0.000,6,0.000,0.044,2495,1492,3947,0,0,0,0,0,0
$GC,4546,-0.77,-267.6,684.4,-15.8,492,4550,0.00,2.15,0.00,0.000,4,0.000,0.055,2484,2906,3945,0,0,0,0,0,0
$GC,4591,-0.80,-267.6,691.1,-14.6,494,4595,0.00,2.10,0.00,0.000,6,0.000,0.041,2484,1503,3944,0,0,0,0,0,0
$GC,4920,-0.80,-267.6,737.0,-12.9,510,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1503,3942,0,0,0,0,0,0
$GC,5227,-0.80,-267.6,779.3,-14.1,525,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1503,3940,0,0,0,0,0,0
$GC,5538,-0.80,-267.6,818.9,-13.3,540,5542,0.00,2.00,0.00,0.000,4,0.000,0.057,2484,201,3937,0,0,0,0,0,0
$GC,5584,-0.80,-267.6,826.0,-14.8,542,5588,0.00,1.98,0.00,0.000,6,0.000,0.044,2473,1499,3937,0,0,0,0,0,0
$GC,5917,-0.91,-267.6,855.1,-3.5,558,5921,0.00,2.00,0.00,0.000,4,0.000,0.054,2474,204,3936,0,0,0,0,0,0
$STATE,6167,end dive,NO_VERTICAL_VELOCITY
$STATE,6167,begin apogee
$GC,6176,-0.18,0.0,855.0,0.0,569,6392,0.60,0.00,212.07,1.339,6,0.103,0.000,2682,1846,2884,0,0,0,0,0,0
$STATE,6393,end apogee,CONTROL_FINISHED_OK
$STATE,6395,begin climb
$GC,6397,0.91,267.6,854.6,0.0,579,6642,1.00,2.40,234.32,1.269,4,0.066,0.057,3037,3255,1791,0,0,0,0,0,0
$GC,6883,0.69,267.6,746.9,29.4,602,6888,0.28,2.22,0.00,0.000,6,0.188,0.044,2973,1850,1785,0,0,0,0,0,0
$GC,7211,0.55,267.6,674.9,22.3,618,7216,0.17,2.25,0.00,0.000,4,0.184,0.055,2917,3259,1783,0,0,0,0,0,0
$GC,7235,0.45,267.6,669.6,22.1,619,7240,0.12,2.20,0.00,0.000,6,0.190,0.041,2894,1836,1782,0,0,0,0,0,0
$GC,7556,0.50,309.6,629.5,11.4,635,7600,0.00,2.22,36.67,1.176,4,0.000,0.050,2903,445,1621,0,0,0,0,0,0
$GC,7612,0.58,378.4,623.3,10.5,637,7679,0.00,2.25,61.92,1.151,6,0.000,0.040,2902,1859,1340,0,0,0,0,0,0
$GC,7998,0.63,394.6,576.7,12.2,663,8021,0.12,2.28,14.62,1.072,4,0.089,0.057,2961,3258,1274,0,0,0,0,0,0
$GC,8038,0.58,394.6,569.8,16.5,666,8045,0.15,2.20,0.00,0.000,6,0.181,0.041,2934,1851,1274,0,0,0,0,0,0
$GC,8363,0.54,394.6,515.9,16.1,697,8367,0.00,2.20,0.00,0.000,4,0.000,0.051,2943,437,1272,0,0,0,0,0,0
$GC,8396,0.52,394.6,510.3,15.3,699,8403,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,1869,1271,0,0,0,0,0,0
$GC,8722,0.47,394.6,453.4,18.8,730,8727,0.15,2.17,0.00,0.000,4,0.169,0.056,2895,3262,1271,0,0,0,0,0,0
$GC,8786,0.60,438.2,444.7,11.3,735,8832,0.10,2.15,37.70,1.071,6,0.102,0.041,2963,1847,1097,0,0,0,0,0,0
$GC,9149,0.53,438.2,368.7,22.7,769,9151,0.17,0.00,0.00,0.000,6,0.169,0.000,2916,1847,1094,0,0,0,0,0,0
$GC,9469,0.63,486.3,328.2,11.2,799,9516,0.00,2.28,40.60,0.978,4,0.000,0.051,2925,453,900,0,0,0,0,0,0
$GC,9549,0.85,594.2,320.3,9.3,806,9654,0.25,2.20,94.47,0.949,6,0.058,0.038,3036,1860,460,0,0,0,0,0,0
$GC,9966,0.77,594.2,210.6,26.1,859,9974,0.15,2.20,0.00,0.000,4,0.169,0.054,2986,3246,445,0,0,0,0,0,0
$GC,10123,0.84,594.2,183.7,13.1,887,10131,0.00,2.15,0.00,0.000,6,0.000,0.037,2995,1856,444,0,0,0,0,0,0
$GC,10450,0.84,594.2,129.8,14.8,948,10458,0.00,2.20,0.00,0.000,4,0.000,0.048,3005,438,443,0,0,0,0,0,0
$GC,10503,0.89,600.5,122.4,12.5,957,10511,0.00,2.15,0.00,0.000,6,0.000,0.036,3005,1844,442,0,0,0,0,0,0
$GC,10822,0.94,600.5,76.2,14.7,1018,10831,0.12,2.17,0.00,0.000,4,0.086,0.050,3079,3247,442,0,0,0,0,0,0
$GC,10891,0.94,600.5,63.1,21.2,1030,10900,0.10,2.12,0.00,0.000,6,0.145,0.035,3054,1846,442,0,0,0,0,0,0
$GC,11218,1.06,642.4,13.4,11.4,1091,11226,0.00,2.15,0.00,0.000,4,0.000,0.046,3070,443,441,0,0,0,0,0,0
$GC,11292,1.20,680.8,4.3,11.5,1104,11301,0.15,2.12,0.00,0.000,6,0.042,0.034,3161,1854,441,0,0,0,0,0,0
$STATE,11307,end climb,SURFACE_DEPTH_REACHED
$STATE,11307,begin surface coast
$FINISH,1.0,1.006193
$STATE,11329,end surface coast,CONTROL_FINISHED_OK
$STATE,11329,begin surface
$SM_CCo,11408,0.00,0.000,0,0,440,599.51
$SM_GC,1.86,7.85,0.00,0.00,0.039,0.000,0.000,149,1489,440,-8.04,-0.31,599.51,0,0,0,0,0,0
$IRIDIUM_FIX,2220.67,12126.22,090811,161654
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.76
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,23.70
$XPDR_PINGS,73
$24V_AH,23.5,9.742
$10V_AH,10.3,6.401
$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,21.450,102.475,732.400,0.000,0.000,30.631,56.944,151.015,18.250,0.000,32.469,2599.883,5258.445,722.729,2870.800,352.715,0.000,1886.871,0.000,2595.359,0.000,1.312,0.000
$DEVICE_MAMPS,236.385,58.140,1338.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.123,1136.513,1296.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324508
$DATA_FILE_SIZE,63496,1110
$CAP_FILE_SIZE,136650,0
$CFSIZE,260165632,144543744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100811,000557,2234.749,12124.910,40,2.5,59,-2.9