version: 66.09
glider: 166
mission: 6
dive: 236
start: 9 16 111 13 36 2
data:
$ID,166
$MISSION,6
$DIVE,236
$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,-24695.824
$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,1550
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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,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
$GPS1,160911,132907,2111.949,12339.228,32,1.1,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.3
$GPS2,160911,133538,2111.910,12339.320,14,1.5,14,-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,284.1,307444,-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,-243.3,0.0,0.0,0,122,0.00,0.00,-101.85,0.000,2,0.000,0.000,154,1563,3192,0,0,0,0,0,0
$GC,125,-0.68,-243.3,6.3,-10.3,14,156,9.25,1.05,-12.12,0.000,4,0.220,0.070,2511,2260,3879,0,0,0,0,0,0
$GC,182,-0.45,-243.3,36.7,-53.2,22,191,0.30,1.08,0.00,0.000,6,0.163,0.038,2593,1534,3881,0,0,0,0,0,0
$GC,509,-0.43,-243.3,110.4,-16.1,83,517,0.00,1.05,0.00,0.000,4,0.000,0.041,2587,2249,3882,0,0,0,0,0,0
$GC,559,-0.43,-243.3,117.3,-13.2,91,567,0.00,1.02,0.00,0.000,6,0.000,0.037,2581,1549,3883,0,0,0,0,0,0
$GC,886,-0.43,-243.3,167.5,-15.3,152,895,0.00,1.05,0.00,0.000,4,0.000,0.044,2576,2255,3883,0,0,0,0,0,0
$GC,1049,-0.45,-243.3,190.1,-13.2,181,1057,0.00,1.05,0.00,0.000,6,0.000,0.041,2576,1551,3883,0,0,0,0,0,0
$GC,1379,-0.47,-243.3,231.2,-11.3,242,1387,0.00,1.08,0.00,0.000,4,0.000,0.046,2571,2254,3883,0,0,0,0,0,0
$GC,1453,-0.50,-243.3,238.6,-9.1,255,1461,0.00,1.05,0.00,0.000,6,0.000,0.041,2572,1550,3883,0,0,0,0,0,0
$GC,1784,-0.52,-243.3,277.1,-12.9,296,1788,0.00,1.08,0.00,0.000,4,0.000,0.047,2568,2243,3882,0,0,0,0,0,0
$GC,1943,-0.57,-243.3,294.8,-11.2,310,1947,0.00,1.05,0.00,0.000,6,0.000,0.042,2572,1547,3882,0,0,0,0,0,0
$GC,2275,-0.59,-243.3,337.0,-13.1,341,2279,0.00,1.05,0.00,0.000,4,0.000,0.047,2580,2242,3880,0,0,0,0,0,0
$GC,2450,-0.64,-243.3,356.4,-10.4,356,2459,0.08,1.05,0.00,0.000,6,0.051,0.043,2510,1552,3879,0,0,0,0,0,0
$GC,2776,-0.60,-243.3,411.6,-16.0,387,2778,0.15,0.00,0.00,0.000,6,0.157,0.000,2552,1552,3878,0,0,0,0,0,0
$GC,3095,-0.62,-243.3,454.4,-12.7,417,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1552,3876,0,0,0,0,0,0
$GC,3415,-0.65,-243.3,489.9,-10.0,447,3418,0.00,1.08,0.00,0.000,4,0.000,0.049,2549,2243,3874,0,0,0,0,0,0
$GC,3486,-0.69,-243.3,496.3,-8.9,453,3490,0.00,1.08,0.00,0.000,6,0.000,0.044,2549,1544,3874,0,0,0,0,0,0
$GC,3820,-0.72,-243.3,530.2,-10.6,484,3824,0.10,1.10,0.00,0.000,4,0.096,0.051,2481,2243,3871,0,0,0,0,0,0
$GC,3934,-0.70,-243.3,547.9,-16.4,494,3938,0.10,1.05,0.00,0.000,6,0.133,0.047,2516,1557,3871,0,0,0,0,0,0
$GC,4264,-0.70,-243.3,594.5,-13.8,525,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1557,3869,0,0,0,0,0,0
$GC,4575,-0.70,-243.3,636.3,-13.2,542,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1557,3866,0,0,0,0,0,0
$GC,4885,-0.71,-243.3,674.4,-11.5,557,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1557,3863,0,0,0,0,0,0
$GC,5196,-0.73,-243.3,707.3,-10.5,572,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1557,3860,0,0,0,0,0,0
$GC,5503,-0.74,-243.3,739.8,-10.5,587,5507,0.00,1.08,0.00,0.000,4,0.000,0.054,2513,2242,3857,0,0,0,0,0,0
$GC,5567,-0.77,-243.3,746.5,-10.5,589,5574,0.00,1.08,0.00,0.000,6,0.000,0.047,2513,1547,3856,0,0,0,0,0,0
$GC,5884,-0.79,-243.3,782.5,-11.9,605,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1547,3854,0,0,0,0,0,0
$GC,6193,-0.81,-243.3,819.0,-11.9,620,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1547,3852,0,0,0,0,0,0
$GC,6505,-0.83,-243.3,855.7,-11.8,635,6509,0.00,1.08,0.00,0.000,4,0.000,0.058,2508,2234,3849,0,0,0,0,0,0
$GC,6560,-0.86,-243.3,862.3,-10.7,637,6564,0.08,1.05,0.00,0.000,6,0.057,0.050,2452,1556,3848,0,0,0,0,0,0
$GC,6884,-0.82,-243.3,913.0,-16.1,653,6888,0.00,1.10,0.00,0.000,4,0.000,0.056,2452,842,3846,0,0,0,0,0,0
$GC,6979,-0.79,-243.3,929.2,-16.5,657,6984,0.12,1.10,0.00,0.000,6,0.151,0.049,2486,1551,3845,0,0,0,0,0,0
$GC,7309,-0.79,-243.3,970.9,-12.4,673,7313,0.00,1.08,0.00,0.000,4,0.000,0.058,2471,2252,3843,0,0,0,0,0,0
$GC,7365,-0.80,-243.3,977.9,-11.6,675,7369,0.00,1.10,0.00,0.000,6,0.000,0.050,2472,1540,3843,0,0,0,0,0,0
$STATE,7479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7479,begin apogee
$GC,7487,-0.11,0.0,991.4,11.9,681,7696,0.70,0.00,204.40,1.432,6,0.122,0.000,2699,1826,2884,0,0,0,0,0,0
$STATE,7697,end apogee,CONTROL_FINISHED_OK
$STATE,7697,begin climb
$GC,7699,0.68,243.3,999.8,0.0,690,7935,0.73,1.20,222.27,1.369,4,0.046,0.060,2979,2509,1891,0,0,0,0,0,0
$GC,8029,0.62,243.3,951.7,18.9,705,8033,0.10,1.10,0.00,0.000,6,0.161,0.050,2954,1828,1887,0,0,0,0,0,0
$GC,8363,0.58,243.3,897.0,16.0,721,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1828,1884,0,0,0,0,0,0
$GC,8673,0.55,243.3,847.4,16.1,736,8677,0.12,1.08,0.00,0.000,4,0.181,0.057,2915,2514,1882,0,0,0,0,0,0
$GC,8813,0.56,257.1,828.4,12.2,742,8831,0.00,1.08,12.43,1.200,6,0.000,0.047,2918,1819,1836,0,0,0,0,0,0
$GC,9143,0.59,277.7,787.7,12.0,758,9166,0.00,0.00,20.75,1.250,6,0.000,0.000,2918,1819,1751,0,0,0,0,0,0
$GC,9469,0.61,299.4,748.6,11.9,774,9496,0.00,1.15,21.35,1.229,4,0.000,0.055,2916,2516,1663,0,0,0,0,0,0
$GC,9538,0.66,325.9,740.4,11.8,777,9570,0.08,1.10,26.17,1.224,6,0.061,0.045,2970,1816,1554,0,0,0,0,0,0
$GC,9889,0.63,325.9,677.3,18.2,794,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1816,1549,0,0,0,0,0,0
$GC,10200,0.60,325.9,623.6,17.7,809,10204,0.12,1.08,0.00,0.000,4,0.175,0.051,2942,1114,1548,0,0,0,0,0,0
$GC,10248,0.60,325.9,615.6,14.0,811,10252,0.00,1.08,0.00,0.000,6,0.000,0.045,2939,1821,1548,0,0,0,0,0,0
$GC,10575,0.60,325.9,570.5,14.1,836,10579,0.00,1.05,0.00,0.000,4,0.000,0.054,2935,2518,1547,0,0,0,0,0,0
$GC,10608,0.60,325.9,565.6,13.4,839,10612,0.00,1.08,0.00,0.000,6,0.000,0.044,2937,1814,1547,0,0,0,0,0,0
$GC,10939,0.60,325.9,520.5,13.5,870,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1814,1547,0,0,0,0,0,0
$GC,11261,0.62,334.4,479.0,12.4,900,11274,0.00,1.10,7.65,0.918,4,0.000,0.049,2943,1108,1520,0,0,0,0,0,0
$GC,11324,0.68,364.8,471.6,11.6,905,11359,0.00,1.08,28.50,1.064,6,0.000,0.043,2940,1817,1395,0,0,0,0,0,0
$GC,11678,0.76,408.9,429.3,11.1,938,11720,0.15,0.00,39.40,1.027,6,0.082,0.000,3021,1819,1217,0,0,0,0,0,0
$GC,12035,0.71,408.9,352.6,21.3,972,12040,0.17,1.08,0.00,0.000,4,0.160,0.050,2977,2515,1214,0,0,0,0,0,0
$GC,12081,0.71,408.9,344.3,16.1,976,12085,0.00,1.05,0.00,0.000,6,0.000,0.041,2982,1820,1214,0,0,0,0,0,0
$GC,12413,0.71,408.9,294.7,13.8,1007,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1820,1213,0,0,0,0,0,0
$GC,12735,0.76,440.0,255.9,11.6,1037,12771,0.00,1.10,26.88,0.851,4,0.000,0.046,2988,1112,1089,0,0,0,0,0,0
$GC,12858,0.84,472.5,241.5,11.6,1054,12896,0.00,1.08,28.85,0.833,6,0.000,0.039,2985,1827,955,0,0,0,0,0,0
$GC,13217,0.89,479.5,197.0,12.4,1119,13234,0.15,1.10,6.80,0.646,4,0.074,0.045,3073,1114,928,0,0,0,0,0,0
$GC,13326,0.84,479.5,175.6,23.5,1137,13335,0.15,1.05,0.00,0.000,6,0.143,0.040,3024,1822,927,0,0,0,0,0,0
$GC,13659,0.86,479.5,119.4,14.8,1198,13667,0.00,1.00,0.00,0.000,4,0.000,0.044,3023,2504,927,0,0,0,0,0,0
$GC,13701,0.89,479.5,113.4,13.2,1205,13710,0.00,1.02,0.00,0.000,6,0.000,0.038,3026,1814,927,0,0,0,0,0,0
$GC,14032,0.99,520.7,74.9,11.2,1266,14071,0.10,1.08,35.15,0.691,4,0.096,0.044,3101,1115,760,0,0,0,0,0,0
$GC,14213,1.00,520.7,47.6,12.8,1297,14222,0.10,1.05,0.00,0.000,6,0.124,0.037,3067,1831,756,0,0,0,0,0,0
$GC,14546,1.14,592.5,12.6,10.2,1358,14608,0.12,0.00,58.20,0.631,2,0.082,0.000,3143,1833,476,0,0,0,0,0,0
$STATE,14608,end climb,SURFACE_DEPTH_REACHED
$STATE,14609,begin surface coast
$FINISH,1.0,1.008918
$STATE,14625,end surface coast,CONTROL_FINISHED_OK
$STATE,14626,begin surface
$SM_CCo,14705,0.00,0.000,0,0,469,592.40
$SM_GC,1.80,7.93,0.00,0.00,0.036,0.000,0.000,153,1541,469,-8.03,-0.23,592.40,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,12338.84,160911,090916
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.36
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.80
$XPDR_PINGS,82
$24V_AH,22.9,55.730
$10V_AH,10.0,39.025
$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,20.900,50.250,738.800,0.000,0.000,25.956,40.696,166.292,20.500,0.000,14.831,3377.253,7218.247,723.835,3324.972,434.353,0.000,2041.474,0.000,3092.054,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,69.615,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.430,1401.190,1628.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330180
$DATA_FILE_SIZE,76872,1369
$CAP_FILE_SIZE,158003,0
$CFSIZE,260165632,126713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.294, 92.1,1
$GPS,160911,174225,2112.727,12339.127,42,1.3,42,-2.7