version: 66.09
glider: 166
mission: 6
dive: 198
start: 9 9 111 22 24 58
data:
$ID,166
$MISSION,6
$DIVE,198
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,-24648.004
$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,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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
$GPS1,090911,221621,2111.927,12405.713,44,99.0,63,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.0
$GPS2,090911,222434,2111.850,12405.835,61,99.0,80,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2111.850,12354.252
$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,272.8,20000,-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,-243.3,0.0,0.0,0,119,0.00,0.00,-99.45,0.000,2,0.000,0.000,143,1493,2960,0,0,0,0,0,0
$GC,122,-0.68,-243.3,5.2,-8.0,14,159,9.35,2.00,-17.73,0.000,4,0.223,0.053,2507,195,3879,0,0,0,0,0,0
$GC,349,-0.58,-243.3,78.4,-28.9,55,358,0.17,2.00,0.00,0.000,6,0.135,0.036,2555,1505,3881,0,0,0,0,0,0
$GC,671,-0.54,-243.3,150.9,-18.9,116,679,0.00,2.15,0.00,0.000,4,0.000,0.042,2547,2906,3883,0,0,0,0,0,0
$GC,757,-0.54,-243.3,165.7,-15.4,131,765,0.00,2.12,0.00,0.000,6,0.000,0.032,2544,1496,3883,0,0,0,0,0,0
$GC,1085,-0.51,-243.3,227.7,-16.7,192,1093,0.12,0.00,0.00,0.000,6,0.161,0.000,2578,1494,3883,0,0,0,0,0,0
$GC,1411,-0.54,-243.3,267.3,-11.1,239,1415,0.00,2.17,0.00,0.000,4,0.000,0.041,2570,2916,3883,0,0,0,0,0,0
$GC,1501,-0.62,-243.3,275.9,-8.4,246,1510,0.00,2.12,0.00,0.000,6,0.000,0.031,2571,1504,3883,0,0,0,0,0,0
$GC,1827,-0.64,-243.3,310.3,-10.7,277,1831,0.00,2.12,0.00,0.000,4,0.000,0.041,2562,2916,3881,0,0,0,0,0,0
$GC,1937,-0.71,-243.3,320.0,-8.2,286,1942,0.17,2.10,0.00,0.000,6,0.063,0.032,2474,1497,3881,0,0,0,0,0,0
$GC,2264,-0.62,-243.3,390.0,-21.3,316,2269,0.22,2.15,0.00,0.000,4,0.158,0.041,2531,2916,3880,0,0,0,0,0,0
$GC,2293,-0.58,-243.3,395.7,-18.8,318,2297,0.00,2.10,0.00,0.000,6,0.000,0.033,2531,1500,3880,0,0,0,0,0,0
$GC,2622,-0.57,-243.3,444.6,-15.0,348,2626,0.00,1.98,0.00,0.000,4,0.000,0.044,2531,201,3878,0,0,0,0,0,0
$GC,2651,-0.57,-243.3,449.6,-15.4,350,2659,0.12,1.95,0.00,0.000,6,0.153,0.034,2557,1511,3879,0,0,0,0,0,0
$GC,2977,-0.61,-243.3,484.0,-9.0,381,2981,0.00,2.10,0.00,0.000,4,0.000,0.046,2549,2908,3876,0,0,0,0,0,0
$GC,3122,-0.66,-243.3,494.4,-6.6,393,3126,0.00,2.10,0.00,0.000,6,0.000,0.034,2549,1496,3874,0,0,0,0,0,0
$GC,3453,-0.70,-243.3,523.0,-9.4,424,3457,0.00,2.15,0.00,0.000,4,0.000,0.047,2538,2904,3871,0,0,0,0,0,0
$GC,3494,-0.73,-243.3,526.7,-9.1,427,3498,0.00,2.10,0.00,0.000,6,0.000,0.036,2538,1502,3872,0,0,0,0,0,0
$GC,3820,-0.76,-243.3,561.1,-11.3,457,3825,0.10,2.17,0.00,0.000,4,0.097,0.049,2469,2906,3868,0,0,0,0,0,0
$GC,3860,-0.74,-243.3,566.4,-14.3,460,3865,0.12,2.12,0.00,0.000,6,0.158,0.037,2503,1494,3868,0,0,0,0,0,0
$GC,4193,-0.73,-243.3,615.3,-14.7,486,4197,0.00,2.17,0.00,0.000,4,0.000,0.051,2494,2906,3865,0,0,0,0,0,0
$GC,4220,-0.73,-243.3,619.6,-14.5,487,4224,0.00,2.15,0.00,0.000,6,0.000,0.038,2495,1480,3865,0,0,0,0,0,0
$GC,4548,-0.71,-243.3,666.8,-14.3,503,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1479,3861,0,0,0,0,0,0
$GC,4859,-0.71,-243.3,708.0,-12.8,518,4863,0.00,2.22,0.00,0.000,4,0.000,0.055,2484,2902,3859,0,0,0,0,0,0
$GC,4899,-0.71,-243.3,713.0,-12.3,520,4904,0.10,2.15,0.00,0.000,6,0.165,0.041,2510,1493,3858,0,0,0,0,0,0
$GC,5230,-0.73,-243.3,747.8,-10.7,536,5234,0.00,2.20,0.00,0.000,4,0.000,0.056,2501,2899,3856,0,0,0,0,0,0
$GC,5270,-0.75,-243.3,752.3,-10.1,538,5274,0.00,2.15,0.00,0.000,6,0.000,0.042,2502,1490,3855,0,0,0,0,0,0
$GC,5598,-0.75,-243.3,789.7,-11.7,554,5602,0.00,2.20,0.00,0.000,4,0.000,0.062,2489,2897,3852,0,0,0,0,0,0
$GC,5627,-0.75,-243.3,792.9,-11.5,555,5631,0.00,2.12,0.00,0.000,6,0.000,0.041,2486,1499,3852,0,0,0,0,0,0
$GC,5948,-0.75,-243.3,832.4,-12.6,571,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1499,3850,0,0,0,0,0,0
$GC,6260,-0.75,-243.3,871.3,-12.7,586,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1499,3847,0,0,0,0,0,0
$GC,6567,-0.75,-243.3,911.0,-12.7,601,6571,0.00,2.20,0.00,0.000,4,0.000,0.058,2468,2897,3845,0,0,0,0,0,0
$GC,6622,-0.77,-243.3,917.9,-11.8,603,6630,0.10,2.15,0.00,0.000,6,0.163,0.044,2494,1496,3845,0,0,0,0,0,0
$GC,6941,-0.79,-243.3,952.5,-10.7,619,6945,0.00,2.20,0.00,0.000,4,0.000,0.059,2486,2895,3842,0,0,0,0,0,0
$GC,6968,-0.82,-243.3,955.8,-10.6,620,6972,0.00,2.15,0.00,0.000,6,0.000,0.044,2486,1494,3842,0,0,0,0,0,0
$GC,7287,-0.83,-243.3,988.5,-10.0,635,7291,0.00,2.22,0.00,0.000,4,0.000,0.059,2477,2904,3840,0,0,0,0,0,0
$STATE,7300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7300,begin apogee
$GC,7307,-0.11,0.0,990.4,9.8,635,7517,0.68,0.00,202.55,1.444,6,0.113,0.000,2706,1842,2883,0,0,0,0,0,0
$STATE,7517,end apogee,CONTROL_FINISHED_OK
$STATE,7517,begin climb
$GC,7520,0.68,243.3,997.0,0.0,645,7754,0.70,2.47,221.45,1.373,4,0.041,0.060,2991,3230,1891,0,0,0,0,0,0
$GC,7851,0.61,243.3,945.5,19.7,661,7856,0.22,2.17,0.00,0.000,6,0.176,0.043,2946,1855,1887,0,0,0,0,0,0
$GC,8187,0.58,243.3,893.3,15.0,677,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1856,1883,0,0,0,0,0,0
$GC,8493,0.54,243.3,846.5,15.4,692,8497,0.00,2.20,0.00,0.000,4,0.000,0.058,2943,3246,1881,0,0,0,0,0,0
$GC,8567,0.52,243.3,835.1,14.8,695,8572,0.15,2.15,0.00,0.000,6,0.169,0.040,2912,1837,1881,0,0,0,0,0,0
$GC,8883,0.57,282.7,799.1,11.3,710,8926,0.00,2.30,35.72,1.303,4,0.000,0.055,2910,3251,1730,0,0,0,0,0,0
$GC,8945,0.64,325.5,791.9,11.2,712,8994,0.00,2.20,40.58,1.280,6,0.000,0.040,2918,1847,1556,0,0,0,0,0,0
$GC,9305,0.66,327.3,748.4,12.6,730,9306,0.10,0.00,0.00,0.000,6,0.100,0.000,2972,1847,1551,0,0,0,0,0,0
$GC,9614,0.61,327.3,691.5,19.0,745,9618,0.00,2.20,0.00,0.000,4,0.000,0.055,2972,3248,1550,0,0,0,0,0,0
$GC,9646,0.58,327.3,684.5,19.4,746,9654,0.17,2.15,0.00,0.000,6,0.171,0.039,2936,1834,1549,0,0,0,0,0,0
$GC,9962,0.58,327.3,640.0,13.2,762,9966,0.00,2.17,0.00,0.000,4,0.000,0.054,2934,3244,1549,0,0,0,0,0,0
$GC,9997,0.59,327.3,635.3,13.2,763,10004,0.00,2.12,0.00,0.000,6,0.000,0.038,2942,1840,1548,0,0,0,0,0,0
$GC,10314,0.60,329.6,595.0,12.6,780,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1840,1547,0,0,0,0,0,0
$GC,10636,0.60,329.6,553.4,13.2,810,10640,0.00,2.20,0.00,0.000,4,0.000,0.055,2942,3249,1547,0,0,0,0,0,0
$GC,10695,0.62,329.6,545.4,13.1,815,10699,0.00,2.10,0.00,0.000,6,0.000,0.037,2952,1840,1547,0,0,0,0,0,0
$GC,11020,0.62,329.6,497.4,14.1,845,11024,0.00,2.12,0.00,0.000,4,0.000,0.049,2962,448,1546,0,0,0,0,0,0
$GC,11048,0.62,329.6,493.5,14.0,847,11052,0.00,2.12,0.00,0.000,6,0.000,0.040,2962,1849,1545,0,0,0,0,0,0
$GC,11373,0.62,329.6,447.8,13.9,877,11377,0.00,2.20,0.00,0.000,4,0.000,0.056,2961,3260,1545,0,0,0,0,0,0
$GC,11404,0.62,329.6,443.7,14.5,879,11408,0.00,2.12,0.00,0.000,6,0.000,0.040,2969,1852,1545,0,0,0,0,0,0
$GC,11731,0.60,329.6,393.6,15.1,909,11735,0.00,2.15,0.00,0.000,4,0.000,0.049,2979,434,1545,0,0,0,0,0,0
$GC,11804,0.62,329.6,382.4,13.9,915,11811,0.12,2.15,0.00,0.000,6,0.151,0.040,2943,1855,1544,0,0,0,0,0,0
$GC,12131,0.69,368.7,345.8,11.3,946,12176,0.00,2.20,36.70,0.973,4,0.000,0.054,2939,3251,1380,0,0,0,0,0,0
$GC,12206,0.85,450.1,337.9,9.8,952,12288,0.20,2.15,70.97,0.956,6,0.060,0.037,3050,1849,1047,0,0,0,0,0,0
$GC,12610,0.79,450.1,247.4,22.2,991,12618,0.17,2.25,0.00,0.000,4,0.162,0.052,2993,3255,1044,0,0,0,0,0,0
$GC,12685,0.86,478.2,236.3,11.7,1004,12715,0.00,2.17,23.90,0.844,6,0.000,0.037,3002,1845,933,0,0,0,0,0,0
$GC,13034,0.87,478.2,186.5,13.5,1068,13042,0.00,2.17,0.00,0.000,4,0.000,0.047,3019,446,929,0,0,0,0,0,0
$GC,13121,1.02,561.5,177.0,9.8,1084,13203,0.12,2.15,70.22,0.799,6,0.042,0.036,3104,1854,592,0,0,0,0,0,0
$GC,13523,1.00,561.5,96.4,18.1,1155,13531,0.12,2.15,0.00,0.000,4,0.158,0.048,3061,3243,584,0,0,0,0,0,0
$GC,13603,1.11,589.0,85.0,11.7,1169,13632,0.00,2.12,24.42,0.692,6,0.000,0.035,3069,1849,481,0,0,0,0,0,0
$GC,13949,1.17,602.9,40.0,12.2,1233,13965,0.15,2.12,7.75,0.553,4,0.071,0.044,3167,443,453,0,0,0,0,0,0
$GC,14043,1.17,602.9,23.6,17.9,1249,14052,0.12,2.12,0.00,0.000,6,0.129,0.033,3125,1842,447,0,0,0,0,0,0
$STATE,14166,end climb,SURFACE_DEPTH_REACHED
$STATE,14166,begin surface coast
$FINISH,1.1,1.008211
$STATE,14183,end surface coast,CONTROL_FINISHED_OK
$STATE,14183,begin surface
$SM_CCo,14262,0.00,0.000,0,0,444,598.53
$SM_GC,1.96,7.78,0.00,0.00,0.037,0.000,0.000,154,1492,444,-8.05,-0.23,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12358.72,090911,181849
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.04
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.20
$XPDR_PINGS,68
$24V_AH,22.9,45.872
$10V_AH,10.1,33.342
$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,21.425,129.150,734.275,0.000,0.000,30.301,28.035,202.533,17.000,0.000,84.671,2994.186,7407.935,724.094,3187.353,424.558,0.000,2024.879,0.000,2847.819,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,61.965,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.242,1305.955,1376.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,73640,1275
$CAP_FILE_SIZE,160570,0
$CFSIZE,260165632,129966080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,022401,2111.153,12404.499,43,1.2,43,-2.8