version: 66.09
glider: 166
mission: 6
dive: 261
start: 9 21 111 12 26 24
data:
$ID,166
$MISSION,6
$DIVE,261
$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,-24727.266
$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,45
$R_STBD_OVSHOOT,60
$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
$GPS1,210911,121906,2142.687,12326.814,40,0.9,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.0
$GPS2,210911,122602,2142.652,12326.819,14,1.1,14,-2.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,2145.447,12315.588
$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,4922
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.64,-243.3,0.0,0.0,0,127,0.00,0.00,-105.53,0.000,2,0.000,0.000,149,1537,3090,0,0,0,0,0,0
$GC,130,-0.64,-243.3,5.5,-8.2,15,160,9.35,1.10,-14.73,0.000,4,0.220,0.066,2519,2249,3878,0,0,0,0,0,0
$GC,262,-0.50,-243.3,60.3,-33.0,38,271,0.20,1.05,0.00,0.000,6,0.154,0.037,2576,1538,3881,0,0,0,0,0,0
$GC,585,-0.44,-243.3,138.1,-20.4,99,593,0.00,1.02,0.00,0.000,4,0.000,0.041,2572,2231,3882,0,0,0,0,0,0
$GC,645,-0.42,-243.3,148.7,-16.6,109,654,0.10,1.00,0.00,0.000,6,0.129,0.037,2608,1553,3882,0,0,0,0,0,0
$GC,970,-0.45,-243.3,187.5,-10.7,170,978,0.00,1.00,0.00,0.000,4,0.000,0.041,2605,2233,3882,0,0,0,0,0,0
$GC,1195,-0.50,-243.3,207.2,-7.8,212,1203,0.00,1.00,0.00,0.000,6,0.000,0.037,2605,1547,3882,0,0,0,0,0,0
$GC,1518,-0.56,-243.3,239.0,-9.2,273,1527,0.12,1.02,0.00,0.000,4,0.080,0.041,2514,2234,3882,0,0,0,0,0,0
$GC,1635,-0.52,-243.3,256.4,-16.8,290,1643,0.17,1.00,0.00,0.000,6,0.127,0.038,2573,1555,3882,0,0,0,0,0,0
$GC,1962,-0.55,-243.3,290.6,-9.0,321,1965,0.00,1.02,0.00,0.000,4,0.000,0.044,2571,2237,3881,0,0,0,0,0,0
$GC,2057,-0.59,-243.3,299.1,-9.0,329,2064,0.00,1.02,0.00,0.000,6,0.000,0.041,2583,1553,3881,0,0,0,0,0,0
$GC,2385,-0.62,-243.3,327.1,-7.2,360,2390,0.12,1.02,0.00,0.000,4,0.081,0.045,2502,2228,3879,0,0,0,0,0,0
$GC,2536,-0.58,-243.3,348.3,-15.2,373,2543,0.15,1.02,0.00,0.000,6,0.129,0.043,2552,1547,3878,0,0,0,0,0,0
$GC,2862,-0.58,-243.3,388.0,-11.0,404,2866,0.00,1.02,0.00,0.000,4,0.000,0.048,2550,2224,3876,0,0,0,0,0,0
$GC,2912,-0.58,-243.3,393.6,-10.8,408,2918,0.00,1.00,0.00,0.000,6,0.000,0.044,2550,1553,3876,0,0,0,0,0,0
$GC,3237,-0.58,-243.3,429.1,-11.3,439,3240,0.00,1.02,0.00,0.000,4,0.000,0.050,2545,2226,3873,0,0,0,0,0,0
$GC,3317,-0.59,-243.3,437.6,-10.3,446,3321,0.00,1.02,0.00,0.000,6,0.000,0.044,2546,1549,3873,0,0,0,0,0,0
$GC,3648,-0.59,-243.3,477.1,-12.4,477,3651,0.00,1.02,0.00,0.000,4,0.000,0.051,2541,2220,3870,0,0,0,0,0,0
$GC,3798,-0.60,-243.3,495.2,-13.0,490,3802,0.00,1.02,0.00,0.000,6,0.000,0.047,2541,1547,3869,0,0,0,0,0,0
$GC,4129,-0.60,-243.3,539.5,-11.6,521,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1547,3867,0,0,0,0,0,0
$GC,4450,-0.61,-243.3,572.4,-9.8,551,4454,0.00,1.05,0.00,0.000,4,0.000,0.054,2535,2226,3863,0,0,0,0,0,0
$GC,4536,-0.63,-243.3,580.5,-9.0,558,4543,0.00,1.02,0.00,0.000,6,0.000,0.047,2536,1555,3863,0,0,0,0,0,0
$GC,4869,-0.65,-243.3,616.4,-11.4,583,4873,0.00,1.02,0.00,0.000,4,0.000,0.054,2531,2218,3860,0,0,0,0,0,0
$GC,4917,-0.66,-243.3,622.0,-11.5,585,4921,0.00,1.02,0.00,0.000,6,0.000,0.048,2531,1553,3859,0,0,0,0,0,0
$GC,5250,-0.66,-243.3,663.0,-12.3,601,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1553,3856,0,0,0,0,0,0
$GC,5562,-0.67,-243.3,699.2,-11.4,616,5566,0.00,1.05,0.00,0.000,4,0.000,0.056,2526,2226,3854,0,0,0,0,0,0
$GC,5631,-0.69,-243.3,706.7,-10.3,619,5635,0.00,1.05,0.00,0.000,6,0.000,0.048,2526,1546,3853,0,0,0,0,0,0
$GC,5964,-0.69,-243.3,739.3,-10.1,635,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1545,3851,0,0,0,0,0,0
$GC,6276,-0.70,-243.3,772.8,-10.8,650,6280,0.00,1.05,0.00,0.000,4,0.000,0.058,2521,2219,3848,0,0,0,0,0,0
$GC,6390,-0.72,-243.3,784.6,-10.4,655,6394,0.00,1.02,0.00,0.000,6,0.000,0.052,2521,1557,3847,0,0,0,0,0,0
$GC,6725,-0.72,-243.3,820.3,-10.5,671,6729,0.00,1.05,0.00,0.000,4,0.000,0.059,2516,2226,3846,0,0,0,0,0,0
$GC,6764,-0.73,-243.3,824.4,-9.7,672,6771,0.00,1.05,0.00,0.000,6,0.000,0.051,2516,1551,3844,0,0,0,0,0,0
$GC,7082,-0.73,-243.3,856.2,-9.7,688,7085,0.00,1.05,0.00,0.000,4,0.000,0.060,2511,2222,3842,0,0,0,0,0,0
$GC,7120,-0.73,-243.3,860.1,-9.1,689,7127,0.00,1.05,0.00,0.000,6,0.000,0.052,2511,1544,3842,0,0,0,0,0,0
$GC,7437,-0.73,-243.3,888.9,-8.9,705,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1543,3840,0,0,0,0,0,0
$GC,7748,-0.73,-243.3,916.4,-9.1,720,7752,0.00,1.08,0.00,0.000,4,0.000,0.062,2506,2220,3838,0,0,0,0,0,0
$GC,7839,-0.74,-243.3,924.6,-8.8,724,7843,0.00,1.05,0.00,0.000,6,0.000,0.054,2506,1552,3838,0,0,0,0,0,0
$GC,8174,-0.74,-243.3,957.2,-10.1,740,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1553,3836,0,0,0,0,0,0
$GC,8481,-0.74,-243.3,989.7,-10.8,755,8484,0.00,1.05,0.00,0.000,4,0.000,0.061,2502,2219,3834,0,0,0,0,0,0
$STATE,8489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8489,begin apogee
$GC,8495,-0.11,0.0,991.1,10.9,755,8707,0.62,0.00,206.12,1.447,6,0.121,0.000,2706,1815,2883,0,0,0,0,0,0
$STATE,8707,end apogee,CONTROL_FINISHED_OK
$STATE,8708,begin climb
$GC,8710,0.64,243.3,1002.8,0.0,765,8947,0.68,1.23,225.50,1.380,4,0.052,0.057,2963,1121,1892,0,0,0,0,0,0
$GC,9016,0.58,243.3,973.9,13.1,779,9020,0.08,1.10,0.00,0.000,6,0.145,0.050,2940,1789,1888,0,0,0,0,0,0
$GC,9339,0.54,243.3,934.2,12.2,795,9343,0.00,1.15,0.00,0.000,4,0.000,0.061,2939,2525,1884,0,0,0,0,0,0
$GC,9407,0.51,243.3,925.9,12.0,798,9411,0.08,1.10,0.00,0.000,6,0.149,0.050,2914,1820,1884,0,0,0,0,0,0
$GC,9742,0.50,243.3,889.5,11.2,814,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1820,1882,0,0,0,0,0,0
$GC,10051,0.48,243.3,852.8,12.2,829,10055,0.00,1.10,0.00,0.000,4,0.000,0.060,2908,2524,1880,0,0,0,0,0,0
$GC,10086,0.47,243.3,848.2,12.1,830,10090,0.00,1.10,0.00,0.000,6,0.000,0.047,2910,1812,1880,0,0,0,0,0,0
$GC,10408,0.45,243.3,806.0,13.3,846,10412,0.00,1.05,0.00,0.000,4,0.000,0.053,2915,1119,1880,0,0,0,0,0,0
$GC,10441,0.44,243.3,801.6,12.9,847,10445,0.08,1.10,0.00,0.000,6,0.139,0.048,2891,1835,1880,0,0,0,0,0,0
$GC,10764,0.47,268.5,766.9,10.2,863,10791,0.00,1.10,23.08,1.271,4,0.000,0.057,2890,2524,1789,0,0,0,0,0,0
$GC,10854,0.51,295.4,757.5,10.2,867,10885,0.00,1.10,26.90,1.258,6,0.000,0.046,2892,1816,1679,0,0,0,0,0,0
$GC,11197,0.60,357.7,725.7,9.1,883,11260,0.12,1.10,58.38,1.267,4,0.090,0.050,2963,1117,1424,0,0,0,0,0,0
$GC,11285,0.57,357.7,713.2,15.2,887,11289,0.10,1.12,0.00,0.000,6,0.138,0.047,2932,1825,1423,0,0,0,0,0,0
$GC,11619,0.57,357.7,669.5,13.4,903,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1825,1418,0,0,0,0,0,0
$GC,11926,0.57,357.7,627.5,13.6,918,11930,0.00,1.10,0.00,0.000,4,0.000,0.051,2935,1112,1417,0,0,0,0,0,0
$GC,11983,0.57,357.7,619.9,13.3,920,11987,0.00,1.10,0.00,0.000,6,0.000,0.046,2937,1824,1417,0,0,0,0,0,0
$GC,12311,0.57,357.7,573.9,14.3,944,12315,0.00,1.05,0.00,0.000,4,0.000,0.055,2937,2519,1417,0,0,0,0,0,0
$GC,12338,0.57,357.7,569.6,14.0,946,12345,0.00,1.08,0.00,0.000,6,0.000,0.044,2939,1814,1416,0,0,0,0,0,0
$GC,12664,0.57,357.7,522.5,14.5,977,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1814,1416,0,0,0,0,0,0
$GC,12987,0.57,357.7,482.0,12.5,1007,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1814,1415,0,0,0,0,0,0
$GC,13314,0.57,357.7,440.4,12.7,1038,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1814,1415,0,0,0,0,0,0
$GC,13636,0.57,363.8,402.9,10.8,1068,13643,0.00,0.00,5.32,0.771,6,0.000,0.000,2938,1814,1400,0,0,0,0,0,0
$GC,13961,0.59,374.4,366.2,10.7,1099,13975,0.00,0.00,11.43,0.917,6,0.000,0.000,2939,1814,1356,0,0,0,0,0,0
$GC,14290,0.72,467.8,335.3,8.2,1130,14380,0.10,0.00,81.88,0.970,6,0.105,0.000,2998,1814,974,0,0,0,0,0,0
$GC,14702,0.68,467.8,268.0,16.5,1169,14707,0.15,1.12,0.00,0.000,4,0.150,0.050,2960,2521,970,0,0,0,0,0,0
$GC,14759,0.79,523.8,261.6,9.3,1174,14818,0.08,1.08,47.92,0.889,6,0.057,0.041,3028,1817,746,0,0,0,0,0,0
$GC,15135,0.77,523.8,204.9,16.2,1236,15144,0.12,1.05,0.00,0.000,4,0.150,0.047,2998,1120,738,0,0,0,0,0,0
$GC,15218,0.86,562.8,194.6,9.8,1251,15262,0.00,1.05,34.47,0.813,6,0.000,0.039,2998,1828,586,0,0,0,0,0,0
$GC,15574,1.01,630.6,163.8,8.9,1317,15618,0.20,1.12,33.40,0.769,4,0.061,0.044,3115,1111,453,0,0,0,0,0,0
$GC,15734,0.95,630.6,126.5,24.2,1344,15743,0.20,1.08,0.00,0.000,6,0.132,0.037,3051,1829,444,0,0,0,0,0,0
$GC,16061,1.05,675.3,85.8,9.6,1405,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1829,437,0,0,0,0,0,0
$GC,16385,1.20,737.9,52.0,9.1,1466,16394,0.22,1.08,0.00,0.000,4,0.056,0.040,3182,1117,434,0,0,0,0,0,0
$GC,16555,1.13,737.9,13.2,25.1,1497,16564,0.20,1.02,0.00,0.000,6,0.142,0.037,3114,1827,434,0,0,0,0,0,0
$STATE,16600,end climb,SURFACE_DEPTH_REACHED
$STATE,16600,begin surface coast
$FINISH,1.3,1.021672
$STATE,16617,end surface coast,CONTROL_FINISHED_OK
$STATE,16617,begin surface
$SM_CCo,16695,0.00,0.000,0,0,432,601.23
$SM_GC,1.97,7.68,0.00,0.00,0.035,0.000,0.000,154,1540,432,-8.04,-0.28,601.23,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12326.61,210911,070710
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.47
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,25.30
$XPDR_PINGS,93
$24V_AH,22.6,62.007
$10V_AH,9.9,43.229
$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,20.925,61.425,754.400,0.000,0.000,28.277,38.656,180.008,23.250,0.000,15.364,3538.411,8698.966,764.598,3601.534,485.544,0.000,2216.626,0.000,3355.658,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,65.790,1446.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.333,1544.713,1651.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83593,1508
$CAP_FILE_SIZE,176118,0
$CFSIZE,260165632,124379136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,170600,2143.695,12323.762,37,1.2,42,-2.8