version: 66.09
glider: 166
mission: 6
dive: 205
start: 9 11 111 3 2 42
data:
$ID,166
$MISSION,6
$DIVE,205
$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,-24656.814
$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,42
$R_STBD_OVSHOOT,47
$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
$GPS1,110911,025607,2106.475,12358.659,37,0.9,37,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-71.0
$GPS2,110911,030220,2106.385,12358.665,14,1.3,14,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2106.385,12347.089
$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,272.7,20000,-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,-243.3,0.0,0.0,0,112,0.00,0.00,-92.50,0.000,2,0.000,0.000,148,1493,3033,0,0,0,0,0,0
$GC,115,-0.68,-243.3,5.6,-8.2,13,146,9.25,2.20,-15.77,0.000,4,0.221,0.054,2499,2906,3879,0,0,0,0,0,0
$GC,248,-0.59,-243.3,56.1,-29.3,36,257,0.20,2.15,0.00,0.000,6,0.135,0.034,2550,1499,3882,0,0,0,0,0,0
$GC,570,-0.52,-243.3,137.3,-23.7,97,578,0.00,1.98,0.00,0.000,4,0.000,0.040,2550,202,3883,0,0,0,0,0,0
$GC,619,-0.47,-243.3,148.8,-21.6,105,627,0.12,1.95,0.00,0.000,6,0.130,0.031,2585,1501,3883,0,0,0,0,0,0
$GC,948,-0.48,-243.3,197.2,-12.1,166,956,0.00,2.10,0.00,0.000,4,0.000,0.041,2577,2898,3884,0,0,0,0,0,0
$GC,1060,-0.54,-243.3,207.9,-8.5,186,1068,0.00,2.10,0.00,0.000,6,0.000,0.031,2576,1496,3884,0,0,0,0,0,0
$GC,1387,-0.56,-243.3,246.5,-11.9,247,1395,0.00,2.15,0.00,0.000,4,0.000,0.041,2567,2906,3883,0,0,0,0,0,0
$GC,1458,-0.61,-243.3,254.1,-9.3,255,1462,0.00,2.10,0.00,0.000,6,0.000,0.031,2567,1488,3883,0,0,0,0,0,0
$GC,1785,-0.64,-243.3,291.4,-11.7,285,1789,0.00,2.12,0.00,0.000,4,0.000,0.041,2557,2902,3883,0,0,0,0,0,0
$GC,1859,-0.69,-243.3,299.1,-9.4,291,1864,0.12,2.10,0.00,0.000,6,0.080,0.033,2478,1491,3883,0,0,0,0,0,0
$GC,2185,-0.62,-243.3,364.0,-20.2,321,2189,0.17,1.95,0.00,0.000,4,0.159,0.041,2540,209,3882,0,0,0,0,0,0
$GC,2201,-0.57,-243.3,367.3,-19.6,322,2207,0.00,1.92,0.00,0.000,6,0.000,0.034,2541,1498,3882,0,0,0,0,0,0
$GC,2527,-0.57,-243.3,414.7,-14.9,353,2531,0.00,2.10,0.00,0.000,4,0.000,0.045,2532,2907,3880,0,0,0,0,0,0
$GC,2660,-0.60,-243.3,430.6,-11.1,364,2664,0.00,2.10,0.00,0.000,6,0.000,0.034,2532,1503,3879,0,0,0,0,0,0
$GC,2985,-0.60,-243.3,472.2,-11.4,394,2989,0.00,2.12,0.00,0.000,4,0.000,0.047,2522,2901,3878,0,0,0,0,0,0
$GC,3041,-0.62,-243.3,478.1,-10.0,398,3047,0.00,2.10,0.00,0.000,6,0.000,0.036,2522,1499,3877,0,0,0,0,0,0
$GC,3366,-0.62,-243.3,518.1,-13.2,429,3370,0.00,2.15,0.00,0.000,4,0.000,0.049,2512,2901,3875,0,0,0,0,0,0
$GC,3429,-0.64,-243.3,526.2,-12.2,434,3433,0.00,2.12,0.00,0.000,6,0.000,0.038,2512,1491,3874,0,0,0,0,0,0
$GC,3754,-0.64,-243.3,575.5,-15.8,464,3758,0.00,2.17,0.00,0.000,4,0.000,0.050,2502,2906,3873,0,0,0,0,0,0
$GC,3794,-0.64,-243.3,581.4,-14.6,467,3798,0.12,2.12,0.00,0.000,6,0.147,0.039,2538,1499,3872,0,0,0,0,0,0
$GC,4118,-0.67,-243.3,619.7,-11.4,489,4122,0.00,2.15,0.00,0.000,4,0.000,0.052,2530,2900,3870,0,0,0,0,0,0
$GC,4145,-0.71,-243.3,623.2,-11.2,490,4149,0.00,2.12,0.00,0.000,6,0.000,0.039,2530,1493,3870,0,0,0,0,0,0
$GC,4469,-0.74,-243.3,656.2,-9.8,506,4473,0.00,2.17,0.00,0.000,4,0.000,0.054,2520,2898,3867,0,0,0,0,0,0
$GC,4498,-0.77,-243.3,659.1,-9.6,507,4502,0.00,2.12,0.00,0.000,6,0.000,0.041,2520,1494,3867,0,0,0,0,0,0
$GC,4814,-0.79,-243.3,693.4,-11.5,522,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1493,3863,0,0,0,0,0,0
$GC,5126,-0.81,-243.3,730.3,-12.1,537,5130,0.10,2.20,0.00,0.000,4,0.101,0.056,2454,2898,3861,0,0,0,0,0,0
$GC,5158,-0.79,-243.3,735.5,-14.3,538,5166,0.12,2.12,0.00,0.000,6,0.165,0.043,2488,1497,3860,0,0,0,0,0,0
$GC,5476,-0.79,-243.3,779.4,-13.9,554,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1497,3858,0,0,0,0,0,0
$GC,5784,-0.79,-243.3,820.2,-13.0,569,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1497,3855,0,0,0,0,0,0
$GC,6093,-0.79,-243.3,859.4,-12.5,584,6097,0.00,2.20,0.00,0.000,4,0.000,0.059,2468,2900,3853,0,0,0,0,0,0
$GC,6121,-0.79,-243.3,863.1,-11.9,585,6125,0.00,2.15,0.00,0.000,6,0.000,0.045,2468,1498,3852,0,0,0,0,0,0
$GC,6443,-0.79,-243.3,904.6,-13.1,601,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1497,3850,0,0,0,0,0,0
$GC,6752,-0.79,-243.3,944.4,-12.8,616,6756,0.00,2.22,0.00,0.000,4,0.000,0.061,2458,2905,3847,0,0,0,0,0,0
$GC,6786,-0.79,-243.3,948.6,-12.3,617,6794,0.12,2.17,0.00,0.000,6,0.157,0.046,2492,1494,3847,0,0,0,0,0,0
$GC,7103,-0.81,-243.3,981.6,-10.1,633,7107,0.00,2.22,0.00,0.000,4,0.000,0.061,2484,2900,3845,0,0,0,0,0,0
$GC,7138,-0.84,-243.3,985.2,-10.2,634,7145,0.00,2.15,0.00,0.000,6,0.000,0.045,2484,1500,3845,0,0,0,0,0,0
$STATE,7183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7184,begin apogee
$GC,7190,-0.11,0.0,990.4,10.7,637,7402,0.65,0.00,203.43,1.432,6,0.118,0.000,2700,1852,2883,0,0,0,0,0,0
$STATE,7403,end apogee,CONTROL_FINISHED_OK
$STATE,7403,begin climb
$GC,7407,0.68,243.3,998.9,0.0,647,7642,0.73,2.42,220.35,1.375,4,0.047,0.060,2975,3245,1891,0,0,0,0,0,0
$GC,7675,0.63,243.3,964.1,18.4,659,7680,0.15,2.28,0.00,0.000,6,0.178,0.043,2952,1854,1889,0,0,0,0,0,0
$GC,7993,0.58,243.3,913.0,16.2,674,7997,0.00,2.20,0.00,0.000,4,0.000,0.059,2945,3249,1884,0,0,0,0,0,0
$GC,8026,0.55,243.3,907.0,16.3,675,8031,0.00,2.17,0.00,0.000,6,0.000,0.041,2954,1838,1883,0,0,0,0,0,0
$GC,8343,0.51,243.3,855.1,16.6,690,8348,0.17,2.20,0.00,0.000,4,0.166,0.057,2901,3250,1881,0,0,0,0,0,0
$GC,8377,0.51,243.3,850.3,14.0,691,8384,0.00,2.15,0.00,0.000,6,0.000,0.040,2909,1839,1880,0,0,0,0,0,0
$GC,8693,0.58,298.8,815.5,10.8,707,8746,0.00,0.00,50.97,1.317,6,0.000,0.000,2909,1839,1665,0,0,0,0,0,0
$GC,9044,0.64,327.3,775.3,11.7,724,9074,0.12,0.00,26.98,1.258,6,0.087,0.000,2972,1839,1549,0,0,0,0,0,0
$GC,9371,0.60,327.3,714.1,19.2,740,9376,0.12,2.25,0.00,0.000,4,0.174,0.055,2939,3254,1545,0,0,0,0,0,0
$GC,9395,0.58,327.3,709.8,19.4,741,9399,0.00,2.15,0.00,0.000,6,0.000,0.039,2947,1848,1545,0,0,0,0,0,0
$GC,9723,0.58,327.3,658.7,15.0,757,9727,0.00,2.17,0.00,0.000,4,0.000,0.050,2957,436,1543,0,0,0,0,0,0
$GC,9755,0.58,327.3,653.3,14.9,758,9762,0.00,2.17,0.00,0.000,6,0.000,0.040,2957,1859,1542,0,0,0,0,0,0
$GC,10074,0.57,327.3,608.8,13.3,774,10078,0.00,2.17,0.00,0.000,4,0.000,0.058,2957,3258,1542,0,0,0,0,0,0
$GC,10174,0.62,352.1,596.3,11.8,779,10203,0.00,2.15,22.52,1.161,6,0.000,0.041,2965,1844,1448,0,0,0,0,0,0
$GC,10521,0.60,352.1,547.0,14.8,812,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1844,1444,0,0,0,0,0,0
$GC,10841,0.60,352.1,501.2,14.0,842,10845,0.00,2.20,0.00,0.000,4,0.000,0.055,2965,3252,1444,0,0,0,0,0,0
$GC,10882,0.60,352.1,495.5,13.8,845,10887,0.12,2.15,0.00,0.000,6,0.170,0.040,2940,1836,1444,0,0,0,0,0,0
$GC,11208,0.67,387.2,458.7,11.5,875,11245,0.00,2.17,31.50,1.060,4,0.000,0.051,2948,447,1304,0,0,0,0,0,0
$GC,11283,0.78,435.6,450.2,11.0,881,11334,0.15,2.17,43.30,1.044,6,0.074,0.039,3029,1848,1107,0,0,0,0,0,0
$GC,11653,0.72,435.6,366.4,23.7,916,11658,0.17,2.20,0.00,0.000,4,0.159,0.054,2970,3255,1103,0,0,0,0,0,0
$GC,11697,0.75,435.6,357.8,15.1,919,11707,0.00,2.15,0.00,0.000,6,0.000,0.037,2977,1836,1103,0,0,0,0,0,0
$GC,12024,0.76,435.6,311.1,14.2,950,12028,0.00,2.12,0.00,0.000,4,0.000,0.049,2989,446,1102,0,0,0,0,0,0
$GC,12057,0.78,435.6,306.1,13.6,952,12064,0.00,2.15,0.00,0.000,6,0.000,0.037,2991,1859,1101,0,0,0,0,0,0
$GC,12383,0.78,435.6,255.4,15.8,983,12387,0.00,2.12,0.00,0.000,4,0.000,0.050,2994,3255,1101,0,0,0,0,0,0
$GC,12414,0.81,435.6,251.2,14.3,985,12418,0.00,2.12,0.00,0.000,6,0.000,0.037,3004,1838,1101,0,0,0,0,0,0
$GC,12734,0.84,451.4,209.8,12.1,1044,12756,0.00,2.17,14.10,0.779,4,0.000,0.047,3015,443,1041,0,0,0,0,0,0
$GC,12787,0.90,473.8,203.5,11.9,1052,12817,0.00,2.15,20.02,0.789,6,0.000,0.035,3015,1851,950,0,0,0,0,0,0
$GC,13134,0.92,473.8,155.1,14.4,1116,13142,0.00,2.17,0.00,0.000,4,0.000,0.048,3015,3261,948,0,0,0,0,0,0
$GC,13151,0.94,473.8,152.8,14.5,1118,13158,0.00,2.15,0.00,0.000,6,0.000,0.034,3024,1845,949,0,0,0,0,0,0
$GC,13476,1.01,501.2,112.3,11.7,1179,13507,0.12,2.12,23.90,0.715,4,0.084,0.044,3111,446,838,0,0,0,0,0,0
$GC,13587,1.00,501.2,93.4,17.3,1197,13596,0.12,2.15,0.00,0.000,6,0.128,0.034,3066,1851,836,0,0,0,0,0,0
$GC,13911,1.06,526.1,49.2,11.8,1258,13941,0.00,2.20,21.38,0.653,4,0.000,0.044,3074,444,736,0,0,0,0,0,0
$GC,13955,1.17,579.3,44.1,10.8,1264,14006,0.10,2.15,45.33,0.661,6,0.043,0.032,3155,1865,521,0,0,0,0,0,0
$STATE,14170,end climb,SURFACE_DEPTH_REACHED
$STATE,14170,begin surface coast
$FINISH,1.1,1.020799
$STATE,14187,end surface coast,CONTROL_FINISHED_OK
$STATE,14187,begin surface
$SM_CCo,14264,0.00,0.000,0,0,512,582.10
$SM_GC,1.96,7.88,0.00,0.00,0.036,0.000,0.000,152,1492,512,-8.04,-0.23,582.10,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12402.55,100911,222216
$TT8_MAMPS,0.026964,0.026964
$HUMID,36.25
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.60
$XPDR_PINGS,64
$24V_AH,22.9,47.676
$10V_AH,10.1,34.354
$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,20.975,134.300,723.775,0.000,0.000,28.497,20.744,164.508,16.000,0.000,15.466,3065.174,7243.608,742.452,3140.132,427.194,0.000,2028.639,0.000,2924.042,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,61.200,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.849,1335.829,1534.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73481,1305
$CAP_FILE_SIZE,163455,0
$CFSIZE,260165632,129363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,070137,2105.975,12357.448,33,1.0,33,-2.7