version: 66.09
glider: 166
mission: 6
dive: 211
start: 9 12 111 3 57 28
data:
$ID,166
$MISSION,6
$DIVE,211
$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,290
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,595.83368
$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,-24664.363
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,120911,034427,2103.373,12351.435,33,99.0,52,-2.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.5
$GPS2,120911,035706,2103.281,12351.501,38,1.9,42,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2103.281,12339.930
$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,272.7,20000,-17.2,-12.692
$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,17,-0.68,-243.3,0.0,0.0,0,126,0.00,0.00,-106.62,0.000,2,0.000,0.000,132,1482,3016,0,0,0,0,0,0
$GC,129,-0.68,-243.3,5.5,-7.9,15,160,9.30,2.22,-16.17,0.000,4,0.220,0.055,2509,2901,3879,0,0,0,0,0,0
$GC,261,-0.60,-243.3,53.2,-28.1,37,270,0.12,2.15,0.00,0.000,6,0.146,0.035,2543,1502,3881,0,0,0,0,0,0
$GC,588,-0.54,-243.3,136.6,-22.7,98,596,0.00,2.03,0.00,0.000,4,0.000,0.044,2545,202,3882,0,0,0,0,0,0
$GC,637,-0.52,-243.3,147.7,-20.5,106,646,0.10,1.95,0.00,0.000,6,0.134,0.034,2572,1487,3882,0,0,0,0,0,0
$GC,962,-0.52,-243.3,200.6,-13.9,167,970,0.00,2.17,0.00,0.000,4,0.000,0.047,2564,2910,3882,0,0,0,0,0,0
$GC,1097,-0.56,-243.3,215.3,-10.1,191,1105,0.00,2.12,0.00,0.000,6,0.000,0.036,2564,1508,3882,0,0,0,0,0,0
$GC,1427,-0.56,-243.3,261.0,-14.8,246,1431,0.00,2.12,0.00,0.000,4,0.000,0.047,2554,2913,3882,0,0,0,0,0,0
$GC,1507,-0.61,-243.3,271.4,-11.7,253,1512,0.00,2.12,0.00,0.000,6,0.000,0.037,2555,1494,3881,0,0,0,0,0,0
$GC,1838,-0.61,-243.3,315.4,-13.5,284,1842,0.00,2.12,0.00,0.000,4,0.000,0.048,2547,2906,3880,0,0,0,0,0,0
$GC,1907,-0.66,-243.3,322.5,-9.3,290,1911,0.00,2.12,0.00,0.000,6,0.000,0.037,2547,1490,3879,0,0,0,0,0,0
$GC,2232,-0.66,-243.3,364.7,-13.4,320,2236,0.00,2.17,0.00,0.000,4,0.000,0.049,2538,2915,3877,0,0,0,0,0,0
$GC,2295,-0.69,-243.3,371.8,-10.7,325,2299,0.00,2.12,0.00,0.000,6,0.000,0.039,2544,1501,3877,0,0,0,0,0,0
$GC,2620,-0.69,-243.3,411.8,-12.7,355,2624,0.00,2.17,0.00,0.000,4,0.000,0.051,2543,2909,3876,0,0,0,0,0,0
$GC,2699,-0.74,-243.3,421.0,-10.6,361,2707,0.12,2.15,0.00,0.000,6,0.080,0.039,2469,1490,3875,0,0,0,0,0,0
$GC,3025,-0.67,-243.3,486.4,-19.3,392,3030,0.20,1.98,0.00,0.000,4,0.161,0.047,2534,202,3873,0,0,0,0,0,0
$GC,3068,-0.67,-243.3,493.8,-14.7,395,3075,0.00,1.98,0.00,0.000,6,0.000,0.037,2526,1504,3873,0,0,0,0,0,0
$GC,3394,-0.67,-243.3,536.4,-13.0,426,3398,0.00,2.15,0.00,0.000,4,0.000,0.051,2516,2914,3870,0,0,0,0,0,0
$GC,3479,-0.70,-243.3,546.3,-11.1,433,3483,0.00,2.15,0.00,0.000,6,0.000,0.039,2516,1490,3870,0,0,0,0,0,0
$GC,3805,-0.70,-243.3,587.3,-12.0,463,3809,0.00,2.22,0.00,0.000,4,0.000,0.052,2505,2909,3868,0,0,0,0,0,0
$GC,3873,-0.72,-243.3,595.2,-11.1,468,3879,0.00,2.15,0.00,0.000,6,0.000,0.041,2506,1499,3867,0,0,0,0,0,0
$GC,4192,-0.72,-243.3,637.7,-14.0,486,4196,0.00,2.00,0.00,0.000,4,0.000,0.053,2505,195,3864,0,0,0,0,0,0
$GC,4224,-0.72,-243.3,642.9,-14.6,487,4228,0.00,2.00,0.00,0.000,6,0.000,0.041,2496,1495,3863,0,0,0,0,0,0
$GC,4547,-0.71,-243.3,685.2,-13.0,503,4551,0.00,2.15,0.00,0.000,4,0.000,0.053,2485,2912,3860,0,0,0,0,0,0
$GC,4644,-0.72,-243.3,696.5,-11.2,507,4648,0.00,2.15,0.00,0.000,6,0.000,0.041,2485,1496,3859,0,0,0,0,0,0
$GC,4960,-0.71,-243.3,738.6,-13.5,522,4964,0.10,2.00,0.00,0.000,4,0.174,0.054,2512,205,3856,0,0,0,0,0,0
$GC,4994,-0.71,-243.3,743.1,-12.9,523,4998,0.00,1.98,0.00,0.000,6,0.000,0.041,2505,1502,3857,0,0,0,0,0,0
$GC,5316,-0.72,-243.3,780.1,-11.7,539,5320,0.00,2.15,0.00,0.000,4,0.000,0.054,2494,2903,3853,0,0,0,0,0,0
$GC,5345,-0.73,-243.3,783.6,-11.7,540,5349,0.00,2.15,0.00,0.000,6,0.000,0.042,2494,1490,3853,0,0,0,0,0,0
$GC,5663,-0.73,-243.3,823.2,-12.4,555,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1489,3850,0,0,0,0,0,0
$GC,5971,-0.73,-243.3,861.6,-12.1,570,5975,0.00,2.22,0.00,0.000,4,0.000,0.058,2482,2906,3847,0,0,0,0,0,0
$GC,6006,-0.75,-243.3,865.6,-11.5,571,6013,0.00,2.15,0.00,0.000,6,0.000,0.044,2478,1498,3847,0,0,0,0,0,0
$GC,6324,-0.75,-243.3,903.6,-11.9,587,6329,0.12,2.25,0.00,0.000,4,0.162,0.060,2497,2908,3844,0,0,0,0,0,0
$GC,6357,-0.77,-243.3,907.4,-11.5,588,6364,0.00,2.15,0.00,0.000,6,0.000,0.044,2498,1503,3843,0,0,0,0,0,0
$GC,6676,-0.79,-243.3,938.6,-9.8,604,6680,0.00,2.20,0.00,0.000,4,0.000,0.059,2486,2901,3842,0,0,0,0,0,0
$GC,6703,-0.82,-243.3,941.5,-9.6,605,6707,0.00,2.15,0.00,0.000,6,0.000,0.044,2487,1499,3841,0,0,0,0,0,0
$GC,7022,-0.84,-243.3,974.4,-10.5,620,7026,0.00,2.22,0.00,0.000,4,0.000,0.063,2475,2910,3839,0,0,0,0,0,0
$GC,7069,-0.86,-243.3,979.0,-9.9,622,7073,0.00,2.17,0.00,0.000,6,0.000,0.044,2475,1490,3838,0,0,0,0,0,0
$STATE,7188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7188,begin apogee
$GC,7194,-0.11,0.0,992.0,10.7,628,7406,0.70,0.00,202.07,1.440,6,0.121,0.000,2705,1859,2883,0,0,0,0,0,0
$STATE,7406,end apogee,CONTROL_FINISHED_OK
$STATE,7407,begin climb
$GC,7409,0.68,243.3,999.9,0.0,638,7644,0.70,2.47,220.77,1.376,4,0.041,0.057,2996,452,1891,0,0,0,0,0,0
$GC,7670,0.61,243.3,965.4,19.6,650,7675,0.17,2.30,0.00,0.000,6,0.163,0.048,2946,1834,1888,0,0,0,0,0,0
$GC,7999,0.57,243.3,911.9,16.4,666,8003,0.00,2.25,0.00,0.000,4,0.000,0.062,2941,3278,1884,0,0,0,0,0,0
$GC,8119,0.55,243.3,892.4,15.7,671,8124,0.12,2.17,0.00,0.000,6,0.183,0.043,2922,1849,1883,0,0,0,0,0,0
$GC,8440,0.53,243.3,846.6,13.8,687,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1849,1881,0,0,0,0,0,0
$GC,8750,0.52,243.3,803.0,13.9,702,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1849,1880,0,0,0,0,0,0
$GC,9061,0.53,252.1,762.8,12.4,717,9070,0.00,0.00,7.45,1.076,6,0.000,0.000,2922,1849,1856,0,0,0,0,0,0
$GC,9368,0.53,252.1,722.4,13.3,732,9372,0.00,2.15,0.00,0.000,4,0.000,0.052,2928,440,1855,0,0,0,0,0,0
$GC,9400,0.53,252.1,717.6,13.7,733,9404,0.00,2.20,0.00,0.000,6,0.000,0.043,2927,1853,1854,0,0,0,0,0,0
$GC,9724,0.53,252.8,674.9,12.7,749,9728,0.00,2.17,0.00,0.000,4,0.000,0.058,2927,3258,1854,0,0,0,0,0,0
$GC,9790,0.56,280.3,666.3,11.7,752,9822,0.00,2.15,27.27,1.224,6,0.000,0.041,2936,1849,1741,0,0,0,0,0,0
$GC,10132,0.55,280.3,621.1,13.6,768,10136,0.00,2.17,0.00,0.000,4,0.000,0.050,2944,442,1737,0,0,0,0,0,0
$GC,10166,0.55,280.3,616.2,14.0,769,10173,0.00,2.17,0.00,0.000,6,0.000,0.041,2944,1856,1736,0,0,0,0,0,0
$GC,10492,0.54,280.3,570.5,14.5,794,10496,0.00,2.15,0.00,0.000,4,0.000,0.055,2944,3263,1736,0,0,0,0,0,0
$GC,10588,0.54,280.3,557.0,12.9,802,10593,0.12,2.15,0.00,0.000,6,0.173,0.039,2922,1839,1736,0,0,0,0,0,0
$GC,10913,0.61,329.0,520.8,11.0,832,10965,0.00,2.22,43.90,1.125,4,0.000,0.050,2930,439,1541,0,0,0,0,0,0
$GC,10993,0.72,391.0,512.0,10.5,839,11055,0.15,2.20,55.83,1.093,6,0.074,0.037,3009,1854,1290,0,0,0,0,0,0
$GC,11372,0.66,391.0,423.6,24.0,875,11377,0.17,2.17,0.00,0.000,4,0.161,0.054,2952,3254,1284,0,0,0,0,0,0
$GC,11465,0.74,421.9,410.2,11.6,882,11497,0.00,2.15,26.65,0.996,6,0.000,0.037,2960,1840,1163,0,0,0,0,0,0
$GC,11825,0.77,422.5,361.4,12.7,916,11829,0.00,2.15,0.00,0.000,4,0.000,0.049,2974,435,1160,0,0,0,0,0,0
$GC,11857,0.81,432.5,357.4,12.3,918,11873,0.00,2.15,10.27,0.859,6,0.000,0.036,2976,1853,1120,0,0,0,0,0,0
$GC,12198,0.82,432.5,309.1,14.7,950,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1853,1119,0,0,0,0,0,0
$GC,12519,0.89,463.3,269.0,11.6,980,12556,0.15,2.22,26.88,0.861,4,0.074,0.050,3054,3258,994,0,0,0,0,0,0
$GC,12571,0.84,463.3,259.8,21.2,984,12576,0.17,2.15,0.00,0.000,6,0.161,0.036,3015,1851,993,0,0,0,0,0,0
$GC,12893,0.84,463.3,206.4,15.1,1039,12902,0.00,2.17,0.00,0.000,4,0.000,0.045,3024,443,991,0,0,0,0,0,0
$GC,12951,0.87,463.3,198.2,13.6,1049,12959,0.00,2.15,0.00,0.000,6,0.000,0.033,3024,1856,990,0,0,0,0,0,0
$GC,13278,0.87,463.3,143.3,16.4,1110,13286,0.00,2.17,0.00,0.000,4,0.000,0.047,3020,3255,990,0,0,0,0,0,0
$GC,13299,0.88,463.3,139.7,16.7,1113,13308,0.00,2.15,0.00,0.000,6,0.000,0.034,3029,1840,990,0,0,0,0,0,0
$GC,13625,0.90,465.2,92.3,12.6,1174,13633,0.00,2.15,0.00,0.000,4,0.000,0.044,3039,449,990,0,0,0,0,0,0
$GC,13701,1.04,538.3,84.2,10.1,1187,13775,0.08,2.12,62.22,0.709,6,0.051,0.032,3114,1866,687,0,0,0,0,0,0
$GC,14095,1.03,538.3,10.7,18.0,1257,14104,0.12,2.15,0.00,0.000,4,0.155,0.044,3071,3252,682,0,0,0,0,0,0
$GC,14126,1.07,538.3,6.1,17.5,1261,14134,0.00,2.12,0.00,0.000,6,0.000,0.034,3079,1853,682,0,0,0,0,0,0
$STATE,14156,end climb,SURFACE_DEPTH_REACHED
$STATE,14156,begin surface coast
$FINISH,1.1,1.022253
$STATE,14193,end surface coast,CONTROL_FINISHED_OK
$STATE,14193,begin surface
$SM_CCo,14210,56.72,0.490,1,0,454,595.83
$SM_GC,1.66,0.00,0.00,56.72,0.000,0.000,0.490,139,1464,454,-8.11,-1.02,595.83,0,0,0,0,1,0
$IRIDIUM_FIX,2052.52,12349.73,120911,030350
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.55
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.30
$XPDR_PINGS,71
$24V_AH,23.0,49.234
$10V_AH,10.0,35.239
$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,20.200,138.750,683.325,56.725,0.000,151.382,173.993,0.000,17.750,0.000,43.253,3014.973,7547.901,771.512,3256.511,425.120,0.000,2071.336,0.000,2886.215,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,62.730,1440.495,490.365,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.406,1304.459,1412.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330216
$DATA_FILE_SIZE,73483,1273
$CAP_FILE_SIZE,163627,0
$CFSIZE,260165632,128811008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120911,075721,2102.919,12350.328,60,99.0,79,-2.7