version: 66.09
glider: 166
mission: 6
dive: 247
start: 9 18 111 17 39 41
data:
$ID,166
$MISSION,6
$DIVE,247
$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,300
$T_MISSION,320
$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,200
$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,310
$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,-24709.664
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$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
$GPS1,180911,173206,2118.651,12337.311,38,1.5,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-70.3
$GPS2,180911,173921,2118.626,12337.436,12,1.8,13,-2.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2125.568,12328.549
$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,312.8,20000,-17.0,-11.000
$D_GRID,4982
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,104,0.00,0.00,-84.03,0.000,2,0.000,0.000,145,1559,3108,0,0,0,0,0,0
$GC,108,-0.62,-194.6,5.8,-8.4,12,138,9.77,1.05,-10.73,0.000,4,0.233,0.067,2532,2265,3680,0,0,0,0,0,0
$GC,183,-0.46,-194.6,38.9,-37.5,24,192,0.22,1.08,0.00,0.000,6,0.163,0.036,2589,1537,3681,0,0,0,0,0,0
$GC,507,-0.42,-194.6,115.2,-17.1,85,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1537,3682,0,0,0,0,0,0
$GC,835,-0.40,-194.6,169.0,-15.1,146,843,0.00,1.08,0.00,0.000,4,0.000,0.041,2586,2260,3683,0,0,0,0,0,0
$GC,897,-0.40,-194.6,178.5,-14.7,157,905,0.00,1.05,0.00,0.000,6,0.000,0.037,2585,1555,3683,0,0,0,0,0,0
$GC,1222,-0.41,-194.6,217.9,-11.5,218,1230,0.00,1.05,0.00,0.000,4,0.000,0.043,2581,2252,3683,0,0,0,0,0,0
$GC,1291,-0.44,-194.6,225.5,-10.5,230,1299,0.00,1.05,0.00,0.000,6,0.000,0.039,2582,1553,3683,0,0,0,0,0,0
$GC,1622,-0.46,-194.6,262.1,-10.6,282,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1553,3683,0,0,0,0,0,0
$GC,1944,-0.50,-194.6,294.9,-10.2,312,1948,0.00,1.05,0.00,0.000,4,0.000,0.045,2580,2243,3683,0,0,0,0,0,0
$GC,2056,-0.54,-194.6,306.2,-9.6,322,2060,0.00,1.05,0.00,0.000,6,0.000,0.041,2594,1548,3683,0,0,0,0,0,0
$GC,2388,-0.58,-194.6,340.3,-10.1,353,2390,0.12,0.00,0.00,0.000,6,0.084,0.000,2514,1548,3681,0,0,0,0,0,0
$GC,2706,-0.54,-194.6,389.2,-14.6,383,2710,0.20,1.08,0.00,0.000,4,0.149,0.043,2568,2251,3679,0,0,0,0,0,0
$GC,2740,-0.54,-194.6,393.0,-12.6,386,2744,0.00,1.05,0.00,0.000,6,0.000,0.042,2568,1557,3679,0,0,0,0,0,0
$GC,3071,-0.56,-194.6,422.0,-10.2,417,3075,0.00,1.05,0.00,0.000,4,0.000,0.047,2564,2249,3677,0,0,0,0,0,0
$GC,3174,-0.59,-194.6,432.5,-10.8,426,3177,0.00,1.08,0.00,0.000,6,0.000,0.043,2564,1540,3676,0,0,0,0,0,0
$GC,3505,-0.61,-194.6,469.3,-10.3,457,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1540,3674,0,0,0,0,0,0
$GC,3827,-0.63,-194.6,497.8,-8.3,487,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1540,3672,0,0,0,0,0,0
$GC,4158,-0.67,-194.6,525.1,-9.0,518,4161,0.00,1.08,0.00,0.000,4,0.000,0.050,2559,2240,3669,0,0,0,0,0,0
$GC,4186,-0.70,-194.6,528.3,-9.2,520,4193,0.08,1.05,0.00,0.000,6,0.050,0.044,2495,1553,3669,0,0,0,0,0,0
$GC,4511,-0.67,-194.6,573.2,-13.3,551,4516,0.12,1.10,0.00,0.000,4,0.166,0.052,2530,845,3666,0,0,0,0,0,0
$GC,4662,-0.67,-194.6,588.7,-10.3,564,4665,0.00,1.08,0.00,0.000,6,0.000,0.044,2527,1549,3666,0,0,0,0,0,0
$GC,4996,-0.67,-194.6,625.1,-10.9,585,5000,0.00,1.05,0.00,0.000,4,0.000,0.053,2522,2246,3663,0,0,0,0,0,0
$GC,5127,-0.69,-194.6,639.3,-11.1,590,5134,0.00,1.08,0.00,0.000,6,0.000,0.047,2522,1543,3662,0,0,0,0,0,0
$GC,5443,-0.69,-194.6,676.8,-12.2,606,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1544,3660,0,0,0,0,0,0
$GC,5752,-0.69,-194.6,711.1,-11.0,621,5756,0.00,1.05,0.00,0.000,4,0.000,0.054,2521,855,3657,0,0,0,0,0,0
$GC,5933,-0.70,-194.6,730.9,-10.9,629,5937,0.00,1.08,0.00,0.000,6,0.000,0.046,2516,1557,3655,0,0,0,0,0,0
$GC,6266,-0.70,-194.6,763.4,-9.3,645,6270,0.00,1.05,0.00,0.000,4,0.000,0.055,2511,2248,3652,0,0,0,0,0,0
$GC,6302,-0.70,-194.6,766.7,-9.2,646,6305,0.00,1.08,0.00,0.000,6,0.000,0.047,2511,1546,3652,0,0,0,0,0,0
$GC,6623,-0.70,-194.6,799.8,-10.5,662,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1546,3649,0,0,0,0,0,0
$GC,6933,-0.70,-194.6,831.3,-10.1,677,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1546,3647,0,0,0,0,0,0
$GC,7244,-0.70,-194.6,862.5,-9.8,692,7248,0.00,1.08,0.00,0.000,4,0.000,0.056,2511,850,3645,0,0,0,0,0,0
$GC,7283,-0.70,-194.6,866.8,-9.9,693,7289,0.00,1.08,0.00,0.000,6,0.000,0.047,2506,1548,3645,0,0,0,0,0,0
$GC,7601,-0.70,-194.6,898.0,-10.1,709,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1548,3643,0,0,0,0,0,0
$GC,7908,-0.70,-194.6,929.5,-10.2,724,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1548,3641,0,0,0,0,0,0
$GC,8218,-0.70,-194.6,960.2,-9.6,739,8221,0.00,1.08,0.00,0.000,4,0.000,0.060,2501,2244,3640,0,0,0,0,0,0
$GC,8266,-0.70,-194.6,964.4,-9.2,741,8270,0.00,1.08,0.00,0.000,6,0.000,0.051,2501,1550,3639,0,0,0,0,0,0
$STATE,8555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8561,-0.11,0.0,991.6,9.1,755,8732,0.62,0.00,162.90,1.444,6,0.125,0.000,2702,1818,2883,0,0,0,0,0,0
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8733,begin climb
$GC,8735,0.62,194.6,995.9,0.0,763,8921,0.70,0.00,180.23,1.382,6,0.069,0.000,2946,1818,2089,0,0,0,0,0,0
$GC,9223,0.58,194.6,936.6,13.9,787,9227,0.00,1.10,0.00,0.000,4,0.000,0.062,2945,2520,2081,0,0,0,0,0,0
$GC,9346,0.54,194.6,919.1,13.8,792,9350,0.00,1.10,0.00,0.000,6,0.000,0.050,2946,1814,2080,0,0,0,0,0,0
$GC,9670,0.50,194.6,874.7,13.6,808,9672,0.12,0.00,0.00,0.000,6,0.175,0.000,2909,1814,2078,0,0,0,0,0,0
$GC,9977,0.52,207.2,841.4,10.5,823,9992,0.00,1.08,10.82,1.197,4,0.000,0.055,2907,2515,2038,0,0,0,0,0,0
$GC,10069,0.54,224.4,831.9,10.3,827,10092,0.00,1.08,17.08,1.258,6,0.000,0.047,2909,1824,1969,0,0,0,0,0,0
$GC,10403,0.54,224.4,795.6,11.1,843,10407,0.00,1.10,0.00,0.000,4,0.000,0.057,2909,2527,1964,0,0,0,0,0,0
$GC,10436,0.54,224.4,791.5,11.1,844,10440,0.00,1.10,0.00,0.000,6,0.000,0.047,2914,1818,1965,0,0,0,0,0,0
$GC,10759,0.54,224.4,754.6,11.9,860,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1818,1963,0,0,0,0,0,0
$GC,11066,0.54,224.4,714.5,13.2,875,11070,0.00,1.10,0.00,0.000,4,0.000,0.056,2913,2520,1963,0,0,0,0,0,0
$GC,11168,0.54,224.4,701.2,13.1,879,11172,0.00,1.10,0.00,0.000,6,0.000,0.046,2917,1810,1963,0,0,0,0,0,0
$GC,11490,0.54,224.4,658.7,12.8,895,11493,0.00,1.05,0.00,0.000,4,0.000,0.051,2922,1117,1962,0,0,0,0,0,0
$GC,11528,0.54,224.4,653.4,12.8,896,11535,0.00,1.08,0.00,0.000,6,0.000,0.046,2922,1819,1962,0,0,0,0,0,0
$GC,11846,0.54,224.4,611.5,13.5,912,11850,0.00,1.05,0.00,0.000,4,0.000,0.055,2922,2513,1962,0,0,0,0,0,0
$GC,11952,0.54,224.4,597.1,12.7,917,11959,0.00,1.08,0.00,0.000,6,0.000,0.044,2926,1810,1962,0,0,0,0,0,0
$GC,12278,0.54,224.4,558.1,12.1,948,12281,0.00,1.10,0.00,0.000,4,0.000,0.054,2926,2523,1961,0,0,0,0,0,0
$GC,12323,0.54,224.4,552.5,12.1,952,12327,0.00,1.08,0.00,0.000,6,0.000,0.044,2930,1820,1961,0,0,0,0,0,0
$GC,12654,0.54,224.4,511.5,12.4,983,12658,0.00,1.10,0.00,0.000,4,0.000,0.053,2931,2522,1961,0,0,0,0,0,0
$GC,12760,0.54,224.4,497.5,12.7,992,12767,0.00,1.08,0.00,0.000,6,0.000,0.043,2935,1817,1959,0,0,0,0,0,0
$GC,13087,0.54,224.4,460.1,11.3,1023,13090,0.00,1.05,0.00,0.000,4,0.000,0.049,2942,1120,1959,0,0,0,0,0,0
$GC,13136,0.54,224.4,454.3,11.2,1027,13144,0.00,1.08,0.00,0.000,6,0.000,0.042,2942,1832,1960,0,0,0,0,0,0
$GC,13462,0.54,224.4,416.4,11.7,1058,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1831,1960,0,0,0,0,0,0
$GC,13782,0.54,224.4,378.1,12.1,1088,13786,0.00,1.08,0.00,0.000,4,0.000,0.047,2954,1120,1959,0,0,0,0,0,0
$GC,13807,0.54,224.4,375.3,12.0,1090,13811,0.10,1.05,0.00,0.000,6,0.134,0.041,2921,1827,1959,0,0,0,0,0,0
$GC,14138,0.67,306.0,348.6,7.9,1121,14215,0.12,1.08,72.43,0.968,4,0.089,0.042,2996,1117,1635,0,0,0,0,0,0
$GC,14235,0.65,306.0,336.0,13.3,1129,14243,0.10,1.08,0.00,0.000,6,0.135,0.039,2964,1818,1633,0,0,0,0,0,0
$GC,14563,0.66,306.0,296.7,11.6,1160,14566,0.00,1.08,0.00,0.000,4,0.000,0.044,2967,1116,1631,0,0,0,0,0,0
$GC,14657,0.70,316.5,286.0,10.6,1168,14675,0.00,1.08,10.05,0.793,6,0.000,0.040,2967,1827,1592,0,0,0,0,0,0
$GC,14994,0.78,360.5,252.6,9.3,1200,15037,0.00,1.15,38.80,0.859,4,0.000,0.045,2971,1113,1414,0,0,0,0,0,0
$GC,15115,0.86,393.1,240.9,9.8,1218,15154,0.10,1.08,29.48,0.828,6,0.049,0.037,3045,1823,1279,0,0,0,0,0,0
$GC,15472,0.82,393.1,173.0,20.1,1283,15480,0.12,1.05,0.00,0.000,4,0.158,0.045,3007,2513,1276,0,0,0,0,0,0
$GC,15509,0.82,393.1,166.3,16.5,1289,15517,0.00,1.05,0.00,0.000,6,0.000,0.037,3010,1818,1276,0,0,0,0,0,0
$GC,15833,0.84,393.1,123.1,11.5,1350,15841,0.00,1.02,0.00,0.000,4,0.000,0.044,3016,1124,1276,0,0,0,0,0,0
$GC,15866,0.87,393.1,119.2,11.1,1355,15874,0.00,1.02,0.00,0.000,6,0.000,0.036,3016,1825,1275,0,0,0,0,0,0
$GC,16192,0.97,434.5,84.2,9.4,1416,16230,0.12,0.00,35.05,0.698,6,0.082,0.000,3090,1825,1112,0,0,0,0,0,0
$GC,16544,0.97,434.5,33.8,13.4,1481,16553,0.12,1.08,0.00,0.000,4,0.154,0.043,3059,1120,1110,0,0,0,0,0,0
$GC,16635,1.09,491.2,24.8,8.9,1497,16686,0.08,1.02,46.85,0.642,6,0.054,0.035,3126,1818,880,0,0,0,0,0,0
$STATE,16777,end climb,SURFACE_DEPTH_REACHED
$STATE,16777,begin surface coast
$FINISH,1.1,1.021457
$STATE,16793,end surface coast,CONTROL_FINISHED_OK
$STATE,16794,begin surface
$SM_CCo,16873,0.00,0.000,0,0,875,492.81
$SM_GC,1.98,7.78,0.00,0.00,0.033,0.000,0.000,154,1526,875,-8.04,-0.68,492.81,0,0,0,0,0,0
$IRIDIUM_FIX,2113.32,12338.20,180911,121211
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.16
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,26.00
$XPDR_PINGS,103
$24V_AH,22.8,58.327
$10V_AH,10.0,40.875
$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,20.625,62.875,603.675,0.000,0.000,25.746,39.820,194.583,25.750,0.000,14.573,3591.037,8959.283,636.367,3614.867,476.578,0.000,2063.584,0.000,3350.899,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,67.320,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.272,1559.834,1623.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330312
$DATA_FILE_SIZE,86873,1524
$CAP_FILE_SIZE,174167,0
$CFSIZE,260165632,125673472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,222207,2120.611,12338.207,35,1.0,35,-2.8