version: 66.09
glider: 166
mission: 6
dive: 184
start: 9 7 111 13 34 26
data:
$ID,166
$MISSION,6
$DIVE,184
$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,280
$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,-9
$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,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,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,-24630.371
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,46
$R_STBD_OVSHOOT,39
$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,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
$GPS1,070911,131107,2118.115,12409.254,31,1.2,31,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.9
$GPS2,070911,133401,2117.917,12409.799,14,1.4,31,-2.8
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,294.8,341125,-16.1,-11.786
$D_GRID,5000
$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,18,-0.76,-243.3,0.0,0.0,0,131,0.00,0.00,-110.15,0.000,2,0.000,0.000,121,1485,3140,0,0,0,0,0,0
$GC,134,-0.76,-243.3,5.5,-8.1,15,165,9.18,2.17,-13.77,0.000,4,0.219,0.054,2481,2910,3878,0,0,0,0,0,0
$GC,290,-0.76,-243.3,60.7,-26.1,42,298,0.00,2.15,0.00,0.000,6,0.000,0.034,2480,1509,3880,0,0,0,0,0,0
$GC,616,-0.76,-243.3,155.8,-27.4,103,623,0.00,2.00,0.00,0.000,4,0.000,0.039,2478,199,3879,0,0,0,0,0,0
$GC,689,-0.76,-243.3,174.3,-23.4,115,698,0.08,1.98,0.00,0.000,6,0.160,0.031,2494,1518,3880,0,0,0,0,0,0
$GC,1019,-0.76,-243.3,247.2,-20.8,176,1027,0.00,2.08,0.00,0.000,4,0.000,0.041,2485,2895,3879,0,0,0,0,0,0
$GC,1048,-0.76,-243.3,253.9,-19.2,179,1056,0.00,2.10,0.00,0.000,6,0.000,0.033,2485,1497,3880,0,0,0,0,0,0
$GC,1375,-0.76,-243.3,322.5,-21.5,210,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1497,3878,0,0,0,0,0,0
$GC,1694,-0.76,-243.3,385.2,-17.9,240,1698,0.00,2.12,0.00,0.000,4,0.000,0.044,2494,2900,3876,0,0,0,0,0,0
$GC,1718,-0.76,-243.3,389.6,-17.3,241,1725,0.00,2.10,0.00,0.000,6,0.000,0.034,2496,1499,3876,0,0,0,0,0,0
$GC,2043,-0.76,-243.3,448.5,-18.4,272,2047,0.00,1.98,0.00,0.000,4,0.000,0.044,2496,209,3874,0,0,0,0,0,0
$GC,2088,-0.76,-243.3,457.1,-18.5,276,2092,0.00,1.92,0.00,0.000,6,0.000,0.037,2489,1495,3874,0,0,0,0,0,0
$GC,2419,-0.76,-243.3,514.0,-16.1,307,2423,0.00,2.12,0.00,0.000,4,0.000,0.047,2478,2907,3871,0,0,0,0,0,0
$GC,2485,-0.76,-243.3,523.6,-13.6,312,2492,0.00,2.12,0.00,0.000,6,0.000,0.037,2478,1494,3870,0,0,0,0,0,0
$GC,2810,-0.76,-243.3,577.9,-16.2,343,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1494,3867,0,0,0,0,0,0
$GC,3134,-0.76,-243.3,633.1,-17.5,365,3138,0.00,2.20,0.00,0.000,4,0.000,0.054,2467,2900,3864,0,0,0,0,0,0
$GC,3158,-0.76,-243.3,637.1,-17.2,366,3163,0.12,2.12,0.00,0.000,6,0.161,0.041,2494,1504,3863,0,0,0,0,0,0
$GC,3480,-0.76,-243.3,684.0,-13.6,382,3484,0.00,2.17,0.00,0.000,4,0.000,0.055,2484,2901,3860,0,0,0,0,0,0
$GC,3529,-0.76,-243.3,690.5,-12.0,384,3534,0.00,2.15,0.00,0.000,6,0.000,0.041,2483,1506,3859,0,0,0,0,0,0
$GC,3853,-0.76,-243.3,731.1,-12.8,400,3857,0.00,2.03,0.00,0.000,4,0.000,0.052,2483,196,3855,0,0,0,0,0,0
$GC,3880,-0.76,-243.3,735.4,-13.4,401,3884,0.00,2.00,0.00,0.000,6,0.000,0.041,2473,1493,3854,0,0,0,0,0,0
$GC,4210,-0.76,-243.3,778.4,-13.2,417,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1493,3851,0,0,0,0,0,0
$GC,4517,-0.76,-243.3,817.5,-12.4,432,4521,0.00,2.17,0.00,0.000,4,0.000,0.056,2464,2904,3848,0,0,0,0,0,0
$GC,4550,-0.76,-243.3,821.5,-11.7,433,4555,0.12,2.15,0.00,0.000,6,0.155,0.041,2498,1491,3847,0,0,0,0,0,0
$GC,4868,-0.76,-243.3,852.3,-9.4,448,4872,0.00,2.22,0.00,0.000,4,0.000,0.057,2490,2913,3844,0,0,0,0,0,0
$GC,4896,-0.76,-243.3,855.3,-9.3,449,4900,0.00,2.17,0.00,0.000,6,0.000,0.042,2492,1488,3844,0,0,0,0,0,0
$GC,5217,-0.76,-243.3,890.1,-10.9,465,5221,0.00,2.22,0.00,0.000,4,0.000,0.056,2482,2910,3841,0,0,0,0,0,0
$GC,5260,-0.76,-243.3,894.5,-10.8,467,5264,0.00,2.15,0.00,0.000,6,0.000,0.043,2483,1499,3840,0,0,0,0,0,0
$GC,5587,-0.76,-243.3,937.3,-13.4,483,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1499,3837,0,0,0,0,0,0
$GC,5897,-0.76,-243.3,978.4,-13.3,498,5901,0.00,2.22,0.00,0.000,4,0.000,0.061,2478,2906,3835,0,0,0,0,0,0
$GC,5926,-0.76,-243.3,982.3,-13.1,499,5930,0.00,2.17,0.00,0.000,6,0.000,0.045,2478,1491,3835,0,0,0,0,0,0
$STATE,5992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5992,begin apogee
$GC,5998,-0.14,0.0,991.2,13.2,502,6205,0.65,0.00,199.95,1.428,6,0.123,0.000,2690,1858,2883,0,0,0,0,0,0
$STATE,6206,end apogee,CONTROL_FINISHED_OK
$STATE,6206,begin climb
$GC,6208,0.76,243.3,1000.4,0.0,511,6438,0.82,2.42,219.12,1.363,4,0.053,0.061,2992,3245,1892,0,0,0,0,0,0
$GC,6478,0.76,243.3,961.0,21.4,524,6482,0.00,2.28,0.00,0.000,6,0.000,0.043,3000,1843,1888,0,0,0,0,0,0
$GC,6807,0.76,243.3,888.7,22.0,540,6811,0.00,2.25,0.00,0.000,4,0.000,0.060,3000,3251,1883,0,0,0,0,0,0
$GC,6907,0.76,243.3,866.7,21.0,544,6915,0.00,2.15,0.00,0.000,6,0.000,0.043,3008,1846,1882,0,0,0,0,0,0
$GC,7226,0.76,243.3,800.5,20.2,560,7230,0.00,2.20,0.00,0.000,4,0.000,0.057,3000,3258,1881,0,0,0,0,0,0
$GC,7298,0.76,243.3,785.3,19.5,563,7302,0.00,2.17,0.00,0.000,6,0.000,0.042,3009,1835,1880,0,0,0,0,0,0
$GC,7625,0.76,243.3,717.5,21.2,579,7629,0.00,2.22,0.00,0.000,4,0.000,0.057,3001,3252,1878,0,0,0,0,0,0
$GC,7670,0.76,243.3,708.0,20.5,581,7675,0.00,2.15,0.00,0.000,6,0.000,0.040,3009,1838,1878,0,0,0,0,0,0
$GC,7992,0.76,243.3,640.1,20.9,597,7996,0.00,2.20,0.00,0.000,4,0.000,0.054,3001,3254,1877,0,0,0,0,0,0
$GC,8057,0.76,243.3,626.4,20.2,600,8061,0.00,2.12,0.00,0.000,6,0.000,0.040,3009,1851,1877,0,0,0,0,0,0
$GC,8383,0.76,243.3,559.0,20.8,624,8387,0.00,2.17,0.00,0.000,4,0.000,0.053,3001,3255,1876,0,0,0,0,0,0
$GC,8491,0.76,243.3,537.6,18.3,633,8495,0.00,2.12,0.00,0.000,6,0.000,0.039,3009,1849,1876,0,0,0,0,0,0
$GC,8816,0.76,243.3,482.0,16.1,663,8820,0.00,2.17,0.00,0.000,4,0.000,0.050,3001,3257,1875,0,0,0,0,0,0
$GC,8912,0.76,243.3,468.1,14.1,671,8916,0.00,2.12,0.00,0.000,6,0.000,0.038,3009,1848,1875,0,0,0,0,0,0
$GC,9237,0.76,243.3,416.1,16.2,701,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1848,1875,0,0,0,0,0,0
$GC,9560,0.76,243.3,363.1,17.1,731,9564,0.00,2.17,0.00,0.000,4,0.000,0.049,3001,3266,1875,0,0,0,0,0,0
$GC,9589,0.76,243.3,357.6,16.7,733,9593,0.00,2.12,0.00,0.000,6,0.000,0.037,3006,1849,1875,0,0,0,0,0,0
$GC,9915,0.76,243.3,304.7,15.2,763,9919,0.00,2.12,0.00,0.000,4,0.000,0.046,3015,443,1875,0,0,0,0,0,0
$GC,10027,0.76,243.3,286.9,15.7,772,10035,0.00,2.15,0.00,0.000,6,0.000,0.037,3005,1860,1875,0,0,0,0,0,0
$GC,10356,0.76,243.3,240.3,14.4,809,10364,0.00,2.15,0.00,0.000,4,0.000,0.050,2997,3255,1874,0,0,0,0,0,0
$GC,10493,0.76,243.3,221.9,13.5,834,10502,0.00,2.12,0.00,0.000,6,0.000,0.037,3006,1850,1874,0,0,0,0,0,0
$GC,10823,0.76,243.3,177.9,13.3,895,10831,0.00,2.17,0.00,0.000,4,0.000,0.048,2999,3257,1874,0,0,0,0,0,0
$GC,10855,0.76,243.3,173.5,13.8,900,10863,0.00,2.12,0.00,0.000,6,0.000,0.036,3011,1851,1874,0,0,0,0,0,0
$GC,11183,0.78,256.3,133.5,11.4,961,11199,0.00,0.00,10.62,0.682,6,0.000,0.000,3012,1851,1838,0,0,0,0,0,0
$GC,11520,0.80,276.2,96.9,11.1,1023,11551,0.00,2.17,19.15,0.692,4,0.000,0.044,3022,447,1756,0,0,0,0,0,0
$GC,11646,0.86,323.7,83.4,10.2,1044,11692,0.00,2.12,40.80,0.699,6,0.000,0.034,3014,1847,1564,0,0,0,0,0,0
$GC,12013,0.94,388.6,47.8,9.7,1110,12072,0.00,2.28,54.17,0.662,4,0.000,0.043,3023,433,1298,0,0,0,0,0,0
$GC,12104,1.07,499.3,39.9,8.2,1123,12203,0.15,2.17,89.50,0.650,6,0.039,0.031,3125,1856,846,0,0,0,0,0,0
$STATE,12326,end climb,SURFACE_DEPTH_REACHED
$STATE,12326,begin surface coast
$FINISH,1.2,1.021527
$STATE,12343,end surface coast,CONTROL_FINISHED_OK
$STATE,12343,begin surface
$SM_CCo,12423,0.00,0.000,0,0,842,500.90
$SM_GC,1.97,7.80,0.00,0.00,0.033,0.000,0.000,151,1477,842,-8.06,-0.65,500.90,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12408.35,070911,131307
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.70
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,25.40
$XPDR_PINGS,60
$24V_AH,23.1,42.303
$10V_AH,10.1,31.275
$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,18.925,112.825,633.325,0.000,0.000,141.717,207.558,570.766,15.000,0.000,32.573,2838.690,6275.411,630.756,3572.573,462.482,0.000,1815.515,0.000,2677.927,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,61.200,1428.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.402,1190.162,1450.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330276
$DATA_FILE_SIZE,66829,1162
$CAP_FILE_SIZE,140704,0
$CFSIZE,260165632,131153920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.403,123.4,1
$GPS,070911,170257,2117.056,12409.958,32,99.0,51,-2.8