version: 66.11
glider: 166
mission: 7
dive: 3
start: 6 27 112 18 49 33
data:
$ID,166
$MISSION,7
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1030
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,2
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0228
$MASS,52243
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,340
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25883.809
$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,2460
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,1857
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-28.661125
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270612,184514,4742.580,-12224.718,12,1.3,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-67.9
$GPS2,270612,184837,4742.568,-12224.695,15,1.3,15,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,0.235
$KALMAN_X,-5.6,8.6,0.8,82.6,9.4
$KALMAN_Y,-278.7,-332.8,-304.4,796.6,-223.9
$MHEAD_RNG_PITCHd_Wd,339.0,2470,-20.4,-10.000
$D_GRID,172
$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,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.83,-117.3,0.0,0.0,0,91,0.00,0.00,-71.03,0.000,2,0.000,0.000,159,2109,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.83,-117.3,3.8,-3.8,7,116,8.02,1.48,-6.28,0.000,4,0.252,0.060,2185,1107,2336,0,0,0,0,0,0,25.94,26.27,26.56
$GC,343,-0.83,-117.3,40.5,-14.3,31,350,0.00,1.52,0.00,0.000,6,0.000,0.047,2180,2100,2337,0,0,0,0,0,0,28.83,26.36,28.83
$GC,380,-0.83,-117.3,46.5,-14.9,35,385,0.00,1.48,0.00,0.000,4,0.000,0.042,2181,1077,2336,0,0,0,0,0,0,28.83,26.39,28.83
$GC,417,-0.83,-117.3,49.9,-11.5,38,423,0.00,1.52,0.00,0.000,6,0.000,0.046,2178,2105,2337,0,0,0,0,0,0,28.83,26.39,28.83
$GC,453,-0.83,-117.3,52.9,-7.5,42,458,0.00,1.50,0.00,0.000,4,0.000,0.059,2169,3101,2337,0,0,0,0,0,0,28.83,26.37,28.83
$GC,510,-0.83,-117.3,57.4,-8.8,47,517,0.00,1.50,0.00,0.000,6,0.000,0.039,2167,2092,2337,0,0,0,0,0,0,28.83,26.45,28.83
$GC,546,-0.83,-117.3,61.3,-9.7,51,551,0.00,1.42,0.00,0.000,4,0.000,0.043,2167,1123,2337,0,0,0,0,0,0,28.83,26.44,28.83
$GC,779,-0.83,-117.3,82.7,-10.7,74,784,0.00,1.48,0.00,0.000,6,0.000,0.047,2167,2092,2337,0,0,0,0,0,0,28.83,26.48,28.83
$GC,822,-0.83,-117.3,87.7,-11.7,78,827,0.00,1.45,0.00,0.000,4,0.000,0.043,2165,1118,2337,0,0,0,0,0,0,28.83,26.51,28.83
$GC,880,-0.83,-117.3,94.7,-12.9,83,887,0.12,1.50,0.00,0.000,6,0.207,0.047,2186,2133,2337,0,0,0,0,0,0,26.28,26.48,28.83
$GC,916,-0.83,-117.3,100.0,-13.2,87,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2132,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,946,-0.83,-117.3,103.8,-12.8,90,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2133,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.83,-117.3,107.4,-12.1,93,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2138,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1008,-0.83,-117.3,110.9,-11.7,96,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2133,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.83,-117.3,115.1,-10.5,100,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2133,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1076,-0.83,-117.3,118.3,-10.4,103,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2133,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-0.83,-117.3,121.6,-11.0,106,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2133,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.83,-117.3,124.9,-11.0,109,1141,0.00,1.50,0.00,0.000,4,0.000,0.044,2180,1098,2337,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1178,-0.83,-117.3,129.4,-11.0,113,1183,0.00,1.50,0.00,0.000,6,0.000,0.047,2176,2112,2337,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1221,-0.83,-117.3,134.3,-11.1,117,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2112,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.83,-117.3,137.7,-11.6,120,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2112,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1281,-0.83,-117.3,141.1,-11.3,123,1286,0.00,1.48,0.00,0.000,4,0.000,0.044,2174,1121,2337,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1348,-0.83,-117.3,147.7,-10.7,129,1354,0.00,1.50,0.00,0.000,6,0.000,0.048,2168,2135,2337,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,1372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1377,-0.19,0.0,150.9,-10.9,132,1489,0.70,0.00,104.03,0.629,6,0.161,0.000,2384,2136,1853,0,0,0,0,0,0,26.36,28.83,24.89
$STATE,1490,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1493,0.83,117.3,156.1,0.0,143,1606,1.02,1.60,104.47,0.604,4,0.113,0.063,2723,3085,1373,0,0,0,0,0,0,25.41,25.10,24.58
$GC,1669,0.83,117.3,142.1,12.1,161,1674,0.00,1.50,0.00,0.000,6,0.000,0.041,2723,2091,1366,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1711,0.83,117.3,137.1,11.8,165,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2091,1366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1741,0.83,117.3,133.6,11.8,168,1746,0.00,1.50,0.00,0.000,4,0.000,0.047,2734,1084,1365,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1768,0.83,117.3,130.8,11.9,170,1774,0.00,1.55,0.00,0.000,6,0.000,0.050,2734,2095,1366,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1804,0.83,117.3,125.8,12.3,174,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2095,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1834,0.83,117.3,122.0,12.9,177,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2096,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1864,0.83,117.3,118.2,12.6,180,1869,0.00,1.55,0.00,0.000,4,0.000,0.064,2735,3097,1365,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1920,0.83,117.3,110.9,14.2,185,1927,0.00,1.50,0.00,0.000,6,0.000,0.042,2741,2084,1364,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1956,0.83,117.3,105.8,12.9,189,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2084,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1986,0.83,117.3,102.1,12.3,192,1991,0.00,1.58,0.00,0.000,4,0.000,0.063,2742,3089,1364,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2059,0.83,117.3,93.4,12.1,199,2064,0.00,1.50,0.00,0.000,6,0.000,0.041,2749,2071,1364,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2102,0.83,117.3,88.5,11.8,203,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2071,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,0.83,117.3,85.1,11.3,206,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2071,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2162,0.83,117.3,81.5,11.7,209,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2071,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,0.83,117.3,78.1,11.6,212,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2071,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,0.83,117.3,74.3,12.3,215,2227,0.00,1.42,0.00,0.000,4,0.000,0.047,2756,1120,1364,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2274,0.83,117.3,67.8,12.4,220,2279,0.00,1.50,0.00,0.000,6,0.000,0.050,2756,2119,1362,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2317,0.83,117.3,62.7,11.9,224,2322,0.00,1.50,0.00,0.000,4,0.000,0.046,2762,1101,1364,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2359,0.83,117.3,57.9,11.4,228,2365,0.12,1.50,0.00,0.000,6,0.204,0.050,2733,2101,1364,0,0,0,0,0,0,26.14,26.32,28.83
$GC,2403,0.83,117.3,53.3,10.2,232,2408,0.00,1.50,0.00,0.000,4,0.000,0.064,2733,3086,1364,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2497,0.83,117.3,43.7,10.4,241,2502,0.00,1.48,0.00,0.000,6,0.000,0.041,2738,2103,1364,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2539,0.83,117.3,38.7,11.2,245,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2102,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,0.83,117.3,35.2,11.7,248,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2103,1364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,0.83,117.3,32.0,10.8,251,2604,0.00,1.52,0.00,0.000,4,0.000,0.063,2739,3095,1364,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2635,0.83,117.3,28.2,11.4,254,2642,0.00,1.50,0.00,0.000,6,0.000,0.043,2745,2069,1364,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2672,0.83,117.3,23.8,10.9,258,2677,0.00,1.42,0.00,0.000,4,0.000,0.047,2752,1116,1364,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2754,0.83,117.3,14.8,10.6,266,2760,0.00,1.50,0.00,0.000,6,0.000,0.050,2752,2123,1363,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2797,0.84,128.9,10.8,9.3,270,2809,0.00,1.55,7.07,0.155,4,0.000,0.046,2759,1115,1327,0,0,0,0,0,0,28.83,26.44,26.25
$GC,2852,0.84,129.4,5.6,10.0,275,2857,0.12,1.50,0.00,0.000,6,0.199,0.050,2731,2121,1335,0,0,0,0,0,0,26.25,26.43,28.83
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2893,begin surface coast
$FINISH,1.2,1.019339
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2936,begin surface
$SM_CCo,2952,86.65,0.142,0,0,467,340.23
$SM_GC,1.76,7.07,0.00,86.65,0.076,0.000,0.142,149,2121,467,-7.17,0.59,340.23,0,0,0,0,0,0,26.44,28.83,26.08
$IRIDIUM_FIX,4726.11,-12225.08,270612,181828
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.53
$INTERNAL_PRESSURE,9.17252
$TCM_TEMP,20.10
$XPDR_PINGS,36
$SC_FREEKB,7768832
$24V_AH,24.6,0.415
$10V_AH,9.8,0.246
$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,17.200,51.000,215.575,86.650,0.000,0.000,0.000,0.000,10.750,0.000,16.144,915.326,971.106,412.710,706.831,112.415,31.300,862.372,0.000,671.898,0.000,11.906,0.000
$DEVICE_MAMPS,251.685,64.260,628.830,141.525,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.053,0.000,0.000,0.000
$MEM,323404
$DATA_FILE_SIZE,10164,283
$CAP_FILE_SIZE,116818,0
$CFSIZE,260165632,257728512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,194107,4742.840,-12224.837,8,1.1,14,18.2