version: 66.09
glider: 166
mission: 6
dive: 253
start: 9 19 111 22 23 26
data:
$ID,166
$MISSION,6
$DIVE,253
$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,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,285
$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,-24717.203
$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,52
$R_STBD_OVSHOOT,56
$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
$GPS1,190911,221630,2129.793,12338.919,38,1.8,43,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.2
$GPS2,190911,222304,2129.787,12339.017,9,99.0,28,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2132.582,12327.802
$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,287.8,20000,-15.2,-11.000
$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,-0.64,-243.3,0.0,0.0,0,133,0.00,0.00,-113.90,0.000,2,0.000,0.000,147,1537,3204,0,0,0,0,0,0
$GC,137,-0.64,-243.3,6.1,-9.4,16,167,9.57,1.08,-12.02,0.000,4,0.227,0.063,2521,2247,3879,0,0,0,0,0,0
$GC,278,-0.49,-243.3,64.5,-32.1,40,287,0.20,1.05,0.00,0.000,6,0.148,0.039,2579,1548,3881,0,0,0,0,0,0
$GC,602,-0.43,-243.3,140.9,-18.4,101,610,0.00,1.02,0.00,0.000,4,0.000,0.041,2576,2239,3882,0,0,0,0,0,0
$GC,757,-0.40,-243.3,168.1,-17.5,129,766,0.10,1.02,0.00,0.000,6,0.136,0.038,2608,1546,3882,0,0,0,0,0,0
$GC,1083,-0.42,-243.3,205.2,-11.1,190,1091,0.00,1.02,0.00,0.000,4,0.000,0.043,2605,2232,3883,0,0,0,0,0,0
$GC,1193,-0.47,-243.3,215.8,-9.1,210,1201,0.00,1.00,0.00,0.000,6,0.000,0.040,2606,1560,3883,0,0,0,0,0,0
$GC,1515,-0.52,-243.3,246.3,-8.8,271,1523,0.00,1.00,0.00,0.000,4,0.000,0.044,2603,2233,3882,0,0,0,0,0,0
$GC,1642,-0.59,-243.3,255.2,-6.6,286,1646,0.10,1.02,0.00,0.000,6,0.040,0.041,2514,1545,3882,0,0,0,0,0,0
$GC,1972,-0.54,-243.3,307.4,-14.8,317,1976,0.17,1.08,0.00,0.000,4,0.148,0.047,2570,845,3881,0,0,0,0,0,0
$GC,2003,-0.54,-243.3,310.8,-12.8,319,2010,0.00,1.05,0.00,0.000,6,0.000,0.041,2568,1543,3881,0,0,0,0,0,0
$GC,2329,-0.56,-243.3,342.7,-10.3,350,2332,0.00,1.02,0.00,0.000,4,0.000,0.046,2572,2241,3880,0,0,0,0,0,0
$GC,2433,-0.60,-243.3,352.0,-8.6,359,2438,0.00,1.02,0.00,0.000,6,0.000,0.042,2576,1557,3879,0,0,0,0,0,0
$GC,2765,-0.63,-243.3,382.3,-8.7,390,2769,0.10,1.05,0.00,0.000,4,0.098,0.047,2498,2243,3877,0,0,0,0,0,0
$GC,2881,-0.60,-243.3,398.7,-14.9,400,2886,0.15,1.05,0.00,0.000,6,0.127,0.043,2549,1547,3876,0,0,0,0,0,0
$GC,3214,-0.60,-243.3,438.8,-12.2,431,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1547,3874,0,0,0,0,0,0
$GC,3532,-0.61,-243.3,475.8,-10.8,461,3536,0.00,1.08,0.00,0.000,4,0.000,0.050,2546,2240,3871,0,0,0,0,0,0
$GC,3661,-0.63,-243.3,488.2,-9.7,472,3665,0.00,1.05,0.00,0.000,6,0.000,0.045,2546,1553,3870,0,0,0,0,0,0
$GC,3992,-0.65,-243.3,524.5,-11.2,503,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1553,3868,0,0,0,0,0,0
$GC,4315,-0.67,-243.3,559.5,-11.6,533,4318,0.00,1.05,0.00,0.000,4,0.000,0.051,2542,2238,3864,0,0,0,0,0,0
$GC,4479,-0.69,-243.3,578.6,-11.4,547,4486,0.00,1.05,0.00,0.000,6,0.000,0.047,2542,1554,3862,0,0,0,0,0,0
$GC,4814,-0.71,-243.3,616.3,-11.0,572,4818,0.00,1.05,0.00,0.000,4,0.000,0.052,2537,2240,3859,0,0,0,0,0,0
$GC,4865,-0.73,-243.3,622.0,-10.4,574,4868,0.00,1.05,0.00,0.000,6,0.000,0.047,2537,1554,3859,0,0,0,0,0,0
$GC,5194,-0.74,-243.3,655.9,-10.2,590,5198,0.00,1.08,0.00,0.000,4,0.000,0.054,2532,2246,3856,0,0,0,0,0,0
$GC,5234,-0.76,-243.3,660.0,-9.6,591,5243,0.00,1.08,0.00,0.000,6,0.000,0.047,2532,1548,3856,0,0,0,0,0,0
$GC,5552,-0.77,-243.3,690.5,-9.4,607,5557,0.10,1.10,0.00,0.000,4,0.100,0.057,2468,2237,3854,0,0,0,0,0,0
$GC,5624,-0.74,-243.3,700.0,-13.3,610,5628,0.10,1.08,0.00,0.000,6,0.139,0.050,2502,1544,3853,0,0,0,0,0,0
$GC,5954,-0.72,-243.3,737.8,-11.6,626,5958,0.00,1.08,0.00,0.000,4,0.000,0.057,2499,2231,3850,0,0,0,0,0,0
$GC,6026,-0.72,-243.3,746.7,-11.6,629,6031,0.00,1.05,0.00,0.000,6,0.000,0.050,2499,1551,3849,0,0,0,0,0,0
$GC,6354,-0.71,-243.3,786.5,-12.5,645,6357,0.00,1.08,0.00,0.000,4,0.000,0.056,2499,849,3847,0,0,0,0,0,0
$GC,6389,-0.70,-243.3,791.1,-13.4,646,6393,0.00,1.08,0.00,0.000,6,0.000,0.049,2494,1542,3847,0,0,0,0,0,0
$GC,6711,-0.68,-243.3,834.9,-13.6,662,6715,0.12,1.10,0.00,0.000,4,0.168,0.059,2525,2246,3844,0,0,0,0,0,0
$GC,6760,-0.70,-243.3,840.9,-10.9,664,6764,0.00,1.08,0.00,0.000,6,0.000,0.050,2525,1552,3844,0,0,0,0,0,0
$GC,7090,-0.72,-243.3,875.7,-10.5,680,7094,0.00,1.10,0.00,0.000,4,0.000,0.058,2520,2252,3842,0,0,0,0,0,0
$GC,7124,-0.74,-243.3,879.5,-10.1,681,7127,0.00,1.10,0.00,0.000,6,0.000,0.050,2521,1546,3841,0,0,0,0,0,0
$GC,7448,-0.75,-243.3,911.6,-9.6,697,7452,0.00,1.10,0.00,0.000,4,0.000,0.060,2515,2243,3840,0,0,0,0,0,0
$GC,7504,-0.77,-243.3,917.2,-9.3,699,7507,0.00,1.08,0.00,0.000,6,0.000,0.052,2515,1552,3839,0,0,0,0,0,0
$GC,7827,-0.77,-243.3,948.0,-9.5,715,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1552,3838,0,0,0,0,0,0
$GC,8135,-0.78,-243.3,977.9,-9.9,730,8139,0.00,1.10,0.00,0.000,4,0.000,0.061,2510,2241,3835,0,0,0,0,0,0
$GC,8174,-0.79,-243.3,981.9,-9.8,731,8181,0.00,1.10,0.00,0.000,6,0.000,0.052,2510,1542,3835,0,0,0,0,0,0
$STATE,8261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8261,begin apogee
$GC,8269,-0.11,0.0,991.2,10.7,736,8480,0.60,0.00,204.55,1.441,6,0.119,0.000,2706,1817,2884,0,0,0,0,0,0
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8485,0.64,243.3,1001.6,0.0,746,8722,0.68,1.23,224.70,1.379,4,0.053,0.063,2957,2514,1891,0,0,0,0,0,0
$GC,8774,0.58,243.3,971.2,14.6,759,8778,0.00,1.15,0.00,0.000,6,0.000,0.053,2961,1822,1888,0,0,0,0,0,0
$GC,9096,0.52,243.3,920.7,15.8,775,9098,0.17,0.00,0.00,0.000,6,0.164,0.000,2915,1823,1884,0,0,0,0,0,0
$GC,9408,0.51,243.3,884.1,11.6,790,9411,0.00,1.10,0.00,0.000,4,0.000,0.060,2908,2522,1882,0,0,0,0,0,0
$GC,9491,0.51,243.3,873.6,11.7,793,9498,0.00,1.10,0.00,0.000,6,0.000,0.048,2908,1816,1882,0,0,0,0,0,0
$GC,9810,0.49,243.3,836.2,11.9,809,9813,0.00,1.08,0.00,0.000,4,0.000,0.055,2912,1116,1880,0,0,0,0,0,0
$GC,9833,0.47,243.3,833.2,12.4,810,9837,0.00,1.10,0.00,0.000,6,0.000,0.051,2912,1821,1880,0,0,0,0,0,0
$GC,10169,0.45,243.3,793.9,11.5,826,10172,0.00,1.08,0.00,0.000,4,0.000,0.059,2912,2519,1879,0,0,0,0,0,0
$GC,10243,0.44,243.3,784.7,11.7,829,10247,0.00,1.10,0.00,0.000,6,0.000,0.047,2916,1808,1879,0,0,0,0,0,0
$GC,10570,0.41,243.3,745.2,11.9,845,10574,0.12,1.05,0.00,0.000,4,0.169,0.052,2886,1120,1878,0,0,0,0,0,0
$GC,10633,0.50,297.5,739.0,9.4,847,10686,0.00,1.08,49.40,1.287,6,0.000,0.047,2885,1821,1670,0,0,0,0,0,0
$GC,11009,0.60,362.4,705.3,9.0,866,11074,0.15,1.15,59.72,1.254,4,0.080,0.057,2957,2517,1406,0,0,0,0,0,0
$GC,11107,0.56,362.4,690.7,16.2,870,11112,0.10,1.10,0.00,0.000,6,0.142,0.045,2931,1823,1404,0,0,0,0,0,0
$GC,11431,0.56,362.4,646.3,14.0,886,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1823,1399,0,0,0,0,0,0
$GC,11738,0.56,362.4,602.1,14.0,901,11742,0.00,1.08,0.00,0.000,4,0.000,0.050,2934,1113,1399,0,0,0,0,0,0
$GC,11773,0.56,362.4,597.4,13.5,903,11776,0.00,1.08,0.00,0.000,6,0.000,0.045,2935,1816,1398,0,0,0,0,0,0
$GC,12103,0.56,362.4,551.9,13.7,934,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1816,1397,0,0,0,0,0,0
$GC,12424,0.56,362.4,509.5,13.6,964,12427,0.00,1.08,0.00,0.000,4,0.000,0.048,2940,1113,1397,0,0,0,0,0,0
$GC,12449,0.56,362.4,506.1,13.7,966,12453,0.00,1.08,0.00,0.000,6,0.000,0.045,2940,1819,1397,0,0,0,0,0,0
$GC,12779,0.56,362.4,457.5,15.2,997,12783,0.00,1.08,0.00,0.000,4,0.000,0.049,2946,1115,1397,0,0,0,0,0,0
$GC,12827,0.56,362.4,450.8,14.3,1001,12831,0.00,1.08,0.00,0.000,6,0.000,0.044,2947,1824,1396,0,0,0,0,0,0
$GC,13158,0.56,362.4,404.3,13.6,1032,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1825,1396,0,0,0,0,0,0
$GC,13480,0.59,379.8,368.8,10.5,1062,13503,0.00,1.12,15.40,0.956,4,0.000,0.050,2954,1109,1335,0,0,0,0,0,0
$GC,13554,0.61,385.9,360.2,10.8,1068,13565,0.00,1.08,7.00,0.815,6,0.000,0.044,2960,1814,1310,0,0,0,0,0,0
$GC,13886,0.62,385.9,322.0,11.5,1099,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1814,1309,0,0,0,0,0,0
$GC,14210,0.67,406.4,285.1,10.4,1129,14234,0.00,1.12,19.20,0.888,4,0.000,0.047,2965,1110,1226,0,0,0,0,0,0
$GC,14350,0.81,487.4,271.9,8.5,1141,14426,0.08,1.08,69.47,0.900,6,0.055,0.039,3026,1820,896,0,0,0,0,0,0
$GC,14739,0.78,487.4,203.1,18.9,1202,14747,0.12,0.00,0.00,0.000,6,0.155,0.000,2993,1824,890,0,0,0,0,0,0
$GC,15069,0.86,521.2,166.1,10.0,1263,15106,0.00,1.10,28.52,0.777,4,0.000,0.041,2996,1115,757,0,0,0,0,0,0
$GC,15186,1.04,611.2,155.8,8.3,1282,15260,0.20,1.08,68.88,0.770,6,0.034,0.036,3121,1837,455,0,0,0,0,0,0
$GC,15579,0.99,611.2,63.2,19.2,1352,15588,0.20,1.00,0.00,0.000,4,0.146,0.041,3059,2508,438,0,0,0,0,0,0
$GC,15644,1.04,611.2,54.0,11.0,1363,15652,0.00,1.05,0.00,0.000,6,0.000,0.040,3061,1811,436,0,0,0,0,0,0
$GC,15967,1.20,683.4,26.4,8.8,1424,15976,0.17,1.05,0.00,0.000,4,0.067,0.045,3175,1115,434,0,0,0,0,0,0
$STATE,16080,end climb,SURFACE_DEPTH_REACHED
$STATE,16080,begin surface coast
$FINISH,1.1,1.001299
$STATE,16093,end surface coast,CONTROL_FINISHED_OK
$STATE,16093,begin surface
$SM_CCo,16172,0.00,0.000,0,0,432,601.48
$SM_GC,1.89,7.90,0.00,0.00,0.038,0.000,0.000,153,1573,432,-8.06,0.65,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2117.95,12341.40,190911,171724
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.02
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.60
$XPDR_PINGS,86
$24V_AH,22.7,59.822
$10V_AH,9.9,41.888
$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,21.225,68.700,746.850,0.000,0.000,27.612,16.315,170.932,21.500,0.000,30.212,3423.493,8419.081,720.534,3508.197,471.960,0.000,2177.519,0.000,3268.086,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,63.495,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.152,1481.884,1541.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330304
$DATA_FILE_SIZE,80192,1447
$CAP_FILE_SIZE,177109,0
$CFSIZE,260165632,125120512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,025407,2131.577,12338.221,30,1.0,30,-2.8