version: 66.09
glider: 166
mission: 6
dive: 230
start: 9 15 111 12 0 46
data:
$ID,166
$MISSION,6
$DIVE,230
$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,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,-24688.281
$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,20
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,59
$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
$GPS1,150911,115337,2107.563,12340.262,36,1.2,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.3
$GPS2,150911,120022,2107.558,12340.280,16,99.0,35,-2.7
$SPEED_LIMITS,0.220,0.354
$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,289.2,314115,-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,16,-0.68,-243.3,0.0,0.0,0,115,0.00,0.00,-96.45,0.000,2,0.000,0.000,150,1489,3035,0,0,0,0,0,0
$GC,119,-0.68,-243.3,5.6,-9.1,13,150,9.32,1.02,-15.57,0.000,4,0.223,0.063,2509,2192,3879,0,0,0,0,0,0
$GC,276,-0.54,-243.3,72.3,-34.6,40,285,0.20,1.05,0.00,0.000,6,0.143,0.038,2561,1490,3881,0,0,0,0,0,0
$GC,604,-0.50,-243.3,139.9,-18.1,101,611,0.00,1.02,0.00,0.000,4,0.000,0.041,2558,2183,3882,0,0,0,0,0,0
$GC,752,-0.48,-243.3,166.0,-16.4,127,761,0.08,1.00,0.00,0.000,6,0.132,0.037,2584,1506,3883,0,0,0,0,0,0
$GC,1082,-0.50,-243.3,213.4,-12.7,188,1090,0.00,1.02,0.00,0.000,4,0.000,0.042,2580,2194,3883,0,0,0,0,0,0
$GC,1219,-0.53,-243.3,228.1,-9.7,213,1228,0.00,1.02,0.00,0.000,6,0.000,0.039,2581,1507,3882,0,0,0,0,0,0
$GC,1551,-0.56,-243.3,264.7,-10.4,262,1554,0.00,1.00,0.00,0.000,4,0.000,0.044,2576,2182,3882,0,0,0,0,0,0
$GC,1710,-0.60,-243.3,281.2,-10.6,276,1713,0.00,1.02,0.00,0.000,6,0.000,0.041,2578,1499,3882,0,0,0,0,0,0
$GC,2041,-0.64,-243.3,318.9,-11.3,307,2045,0.15,1.05,0.00,0.000,4,0.073,0.047,2496,2186,3881,0,0,0,0,0,0
$GC,2172,-0.58,-243.3,342.7,-19.7,318,2179,0.17,1.02,0.00,0.000,6,0.131,0.043,2552,1506,3880,0,0,0,0,0,0
$GC,2497,-0.58,-243.3,385.3,-11.6,349,2501,0.00,1.02,0.00,0.000,4,0.000,0.047,2553,2188,3878,0,0,0,0,0,0
$GC,2572,-0.60,-243.3,393.2,-10.7,355,2580,0.00,1.05,0.00,0.000,6,0.000,0.043,2555,1491,3878,0,0,0,0,0,0
$GC,2898,-0.61,-243.3,433.8,-13.1,386,2901,0.00,1.02,0.00,0.000,4,0.000,0.047,2550,2175,3877,0,0,0,0,0,0
$GC,2969,-0.64,-243.3,442.3,-11.7,392,2973,0.00,1.02,0.00,0.000,6,0.000,0.044,2550,1496,3876,0,0,0,0,0,0
$GC,3301,-0.66,-243.3,482.9,-11.9,423,3305,0.00,1.02,0.00,0.000,4,0.000,0.048,2546,2180,3874,0,0,0,0,0,0
$GC,3475,-0.69,-243.3,501.3,-11.2,438,3478,0.00,1.02,0.00,0.000,6,0.000,0.044,2546,1500,3873,0,0,0,0,0,0
$GC,3806,-0.72,-243.3,541.6,-11.0,469,3810,0.00,1.08,0.00,0.000,4,0.000,0.051,2546,806,3871,0,0,0,0,0,0
$GC,3864,-0.75,-243.3,547.7,-10.6,474,3869,0.08,1.02,0.00,0.000,6,0.052,0.042,2482,1486,3871,0,0,0,0,0,0
$GC,4195,-0.72,-243.3,596.7,-14.8,505,4200,0.10,1.08,0.00,0.000,4,0.174,0.051,2504,2194,3869,0,0,0,0,0,0
$GC,4384,-0.72,-243.3,620.5,-12.3,515,4388,0.00,1.05,0.00,0.000,6,0.000,0.047,2504,1505,3867,0,0,0,0,0,0
$GC,4709,-0.72,-243.3,660.4,-12.6,531,4712,0.00,1.08,0.00,0.000,4,0.000,0.054,2505,795,3863,0,0,0,0,0,0
$GC,4786,-0.72,-243.3,671.3,-12.9,534,4791,0.00,1.08,0.00,0.000,6,0.000,0.045,2499,1499,3863,0,0,0,0,0,0
$GC,5110,-0.72,-243.3,714.8,-14.3,550,5114,0.00,1.05,0.00,0.000,4,0.000,0.053,2494,2199,3860,0,0,0,0,0,0
$GC,5223,-0.72,-243.3,730.7,-13.7,555,5227,0.00,1.08,0.00,0.000,6,0.000,0.047,2494,1494,3859,0,0,0,0,0,0
$GC,5558,-0.72,-243.3,778.1,-14.0,571,5562,0.00,1.08,0.00,0.000,4,0.000,0.055,2489,2191,3855,0,0,0,0,0,0
$GC,5604,-0.72,-243.3,784.3,-12.8,573,5607,0.00,1.05,0.00,0.000,6,0.000,0.049,2489,1507,3855,0,0,0,0,0,0
$GC,5939,-0.72,-243.3,828.7,-12.8,589,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1507,3853,0,0,0,0,0,0
$GC,6249,-0.72,-243.3,868.0,-12.5,604,6252,0.00,1.08,0.00,0.000,4,0.000,0.057,2484,2197,3850,0,0,0,0,0,0
$GC,6299,-0.72,-243.3,874.5,-11.9,606,6303,0.00,1.08,0.00,0.000,6,0.000,0.051,2484,1497,3850,0,0,0,0,0,0
$GC,6626,-0.72,-243.3,914.3,-12.5,622,6630,0.00,1.08,0.00,0.000,4,0.000,0.058,2479,2187,3847,0,0,0,0,0,0
$GC,6667,-0.72,-243.3,919.2,-12.3,623,6675,0.08,1.05,0.00,0.000,6,0.137,0.051,2505,1508,3847,0,0,0,0,0,0
$GC,6985,-0.75,-243.3,954.1,-11.1,639,6989,0.00,1.05,0.00,0.000,4,0.000,0.058,2502,2186,3844,0,0,0,0,0,0
$GC,7033,-0.77,-243.3,959.2,-10.9,641,7037,0.00,1.05,0.00,0.000,6,0.000,0.050,2502,1504,3844,0,0,0,0,0,0
$STATE,7322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7322,begin apogee
$GC,7328,-0.11,0.0,991.3,11.0,655,7542,0.62,0.00,204.23,1.433,6,0.117,0.000,2701,1849,2883,0,0,0,0,0,0
$STATE,7543,end apogee,CONTROL_FINISHED_OK
$STATE,7543,begin climb
$GC,7545,0.68,243.3,999.8,0.0,665,7773,0.75,0.00,222.57,1.369,6,0.047,0.000,2978,1849,1892,0,0,0,0,0,0
$GC,8080,0.62,243.3,917.0,18.2,691,8084,0.12,1.12,0.00,0.000,4,0.178,0.064,2943,2553,1884,0,0,0,0,0,0
$GC,8131,0.61,243.3,908.7,15.3,693,8134,0.00,1.10,0.00,0.000,6,0.000,0.050,2946,1854,1883,0,0,0,0,0,0
$GC,8458,0.58,243.3,860.3,14.2,709,8462,0.00,1.10,0.00,0.000,4,0.000,0.060,2945,2555,1881,0,0,0,0,0,0
$GC,8504,0.56,243.3,853.6,14.3,711,8508,0.00,1.10,0.00,0.000,6,0.000,0.050,2948,1848,1881,0,0,0,0,0,0
$GC,8839,0.53,243.3,806.2,14.2,727,8842,0.00,1.10,0.00,0.000,4,0.000,0.059,2946,2554,1879,0,0,0,0,0,0
$GC,8894,0.51,243.3,798.0,13.6,729,8899,0.10,1.10,0.00,0.000,6,0.153,0.048,2917,1841,1879,0,0,0,0,0,0
$GC,9219,0.56,283.0,761.5,11.3,745,9260,0.00,1.15,36.10,1.280,4,0.000,0.058,2916,2548,1730,0,0,0,0,0,0
$GC,9288,0.62,329.3,753.0,11.1,748,9337,0.00,1.10,44.08,1.261,6,0.000,0.046,2919,1844,1541,0,0,0,0,0,0
$GC,9647,0.67,357.7,711.2,11.7,765,9676,0.12,0.00,26.45,1.213,6,0.088,0.000,2986,1844,1425,0,0,0,0,0,0
$GC,9976,0.64,357.7,653.1,17.7,781,9980,0.12,1.12,0.00,0.000,4,0.168,0.056,2952,2553,1421,0,0,0,0,0,0
$GC,10038,0.65,357.7,644.0,13.4,783,10046,0.00,1.10,0.00,0.000,6,0.000,0.046,2955,1844,1420,0,0,0,0,0,0
$GC,10354,0.65,357.7,598.9,14.9,799,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1844,1419,0,0,0,0,0,0
$GC,10676,0.65,357.7,545.7,17.4,829,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1844,1418,0,0,0,0,0,0
$GC,11003,0.65,357.7,493.4,14.8,860,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1844,1417,0,0,0,0,0,0
$GC,11323,0.65,357.7,449.5,12.8,890,11327,0.00,1.10,0.00,0.000,4,0.000,0.053,2954,2555,1417,0,0,0,0,0,0
$GC,11418,0.72,401.5,437.9,11.2,898,11461,0.00,1.08,38.40,1.053,6,0.000,0.044,2958,1847,1246,0,0,0,0,0,0
$GC,11787,0.74,402.8,393.1,12.6,933,11791,0.00,1.05,0.00,0.000,4,0.000,0.047,2969,1145,1244,0,0,0,0,0,0
$GC,11856,0.77,408.8,384.5,12.5,939,11870,0.00,1.08,7.50,0.829,6,0.000,0.041,2968,1860,1217,0,0,0,0,0,0
$GC,12187,0.80,408.8,339.8,12.8,970,12191,0.10,1.10,0.00,0.000,4,0.104,0.045,3035,1144,1216,0,0,0,0,0,0
$GC,12248,0.77,408.8,329.2,18.4,975,12256,0.12,1.05,0.00,0.000,6,0.135,0.041,2994,1851,1216,0,0,0,0,0,0
$GC,12573,0.77,408.8,278.9,14.3,1006,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1852,1216,0,0,0,0,0,0
$GC,12897,0.77,408.8,236.5,13.3,1045,12905,0.00,1.08,0.00,0.000,4,0.000,0.044,2998,1146,1216,0,0,0,0,0,0
$GC,12981,0.79,408.8,225.5,13.1,1060,12989,0.00,1.05,0.00,0.000,6,0.000,0.039,2995,1848,1216,0,0,0,0,0,0
$GC,13311,0.80,408.8,183.8,13.2,1121,13319,0.00,1.08,0.00,0.000,4,0.000,0.043,2999,1139,1216,0,0,0,0,0,0
$GC,13397,0.83,408.8,173.0,12.9,1136,13406,0.00,1.05,0.00,0.000,6,0.000,0.038,2995,1847,1216,0,0,0,0,0,0
$GC,13726,0.90,439.1,132.3,11.6,1197,13758,0.12,1.12,27.27,0.744,4,0.086,0.042,3075,1139,1093,0,0,0,0,0,0
$GC,13793,0.87,439.1,121.2,17.8,1207,13802,0.15,1.08,0.00,0.000,6,0.131,0.037,3026,1862,1091,0,0,0,0,0,0
$GC,14125,1.01,529.3,81.6,9.5,1268,14208,0.12,1.12,73.90,0.708,4,0.085,0.037,3105,1141,723,0,0,0,0,0,0
$GC,14304,1.02,536.5,55.5,12.4,1296,14320,0.08,1.05,6.80,0.536,6,0.127,0.036,3078,1844,695,0,0,0,0,0,0
$GC,14641,1.10,575.5,14.6,11.3,1358,14679,0.00,1.10,33.58,0.627,4,0.000,0.043,3082,1143,536,0,0,0,0,0,0
$STATE,14737,end climb,SURFACE_DEPTH_REACHED
$STATE,14737,begin surface coast
$FINISH,1.1,1.021500
$STATE,14768,end surface coast,CONTROL_FINISHED_OK
$STATE,14769,begin surface
$SM_CCo,14846,0.00,0.000,0,0,529,577.68
$SM_GC,1.85,7.65,0.00,0.00,0.033,0.000,0.000,154,1528,529,-8.04,0.79,577.68,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12349.09,150911,070706
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.33
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,26.00
$XPDR_PINGS,91
$24V_AH,22.9,54.180
$10V_AH,10.0,38.120
$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,20.375,61.775,720.875,0.000,0.000,30.618,25.256,170.271,22.750,0.000,37.598,3422.453,7223.087,733.266,3410.373,445.901,0.000,2079.724,0.000,3163.334,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,64.260,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,940.427,1413.029,1625.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330160
$DATA_FILE_SIZE,76827,1379
$CAP_FILE_SIZE,162503,0
$CFSIZE,260165632,127217664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274, 91.9,1
$GPS,150911,160931,2108.633,12339.953,41,1.0,41,-2.7