version: 66.09
glider: 166
mission: 6
dive: 218
start: 9 13 111 9 20 29
data:
$ID,166
$MISSION,6
$DIVE,218
$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,-24673.174
$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,64
$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
$GPS1,130911,091227,2100.350,12343.708,34,2.2,53,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.4
$GPS2,130911,092007,2100.272,12343.759,42,1.6,55,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,HEADING
$TGT_LATLONG,2100.272,12332.191
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.68,-243.3,0.0,0.0,0,132,0.00,0.00,-109.80,0.000,2,0.000,0.000,134,1463,3254,0,0,0,0,0,0
$GC,135,-0.68,-243.3,6.5,-11.0,16,165,9.27,2.20,-10.68,0.000,4,0.220,0.054,2505,2903,3880,0,0,0,0,0,0
$GC,206,-0.51,-243.3,43.6,-43.3,27,215,0.25,2.10,0.00,0.000,6,0.146,0.036,2574,1514,3881,0,0,0,0,0,0
$GC,528,-0.49,-243.3,112.9,-17.9,88,536,0.00,2.12,0.00,0.000,4,0.000,0.044,2565,2903,3883,0,0,0,0,0,0
$GC,561,-0.49,-243.3,118.7,-16.5,93,569,0.00,2.10,0.00,0.000,6,0.000,0.034,2564,1502,3883,0,0,0,0,0,0
$GC,886,-0.47,-243.3,176.8,-16.5,154,895,0.10,2.17,0.00,0.000,4,0.171,0.047,2582,2902,3884,0,0,0,0,0,0
$GC,956,-0.52,-243.3,185.8,-11.7,166,964,0.00,2.12,0.00,0.000,6,0.000,0.037,2583,1502,3883,0,0,0,0,0,0
$GC,1281,-0.53,-243.3,232.5,-13.3,227,1289,0.00,2.17,0.00,0.000,4,0.000,0.050,2575,2892,3883,0,0,0,0,0,0
$GC,1354,-0.59,-243.3,240.7,-9.6,240,1364,0.00,2.12,0.00,0.000,6,0.000,0.037,2574,1494,3883,0,0,0,0,0,0
$GC,1686,-0.61,-243.3,280.9,-12.3,278,1690,0.00,2.15,0.00,0.000,4,0.000,0.047,2566,2904,3882,0,0,0,0,0,0
$GC,1768,-0.67,-243.3,289.6,-9.4,285,1775,0.12,2.12,0.00,0.000,6,0.079,0.037,2475,1487,3882,0,0,0,0,0,0
$GC,2093,-0.60,-243.3,360.1,-20.7,316,2098,0.25,2.15,0.00,0.000,4,0.148,0.048,2548,2900,3881,0,0,0,0,0,0
$GC,2126,-0.60,-243.3,365.8,-15.4,318,2133,0.00,2.12,0.00,0.000,6,0.000,0.038,2551,1502,3881,0,0,0,0,0,0
$GC,2452,-0.63,-243.3,403.8,-10.3,349,2456,0.00,2.12,0.00,0.000,4,0.000,0.050,2556,2898,3880,0,0,0,0,0,0
$GC,2513,-0.68,-243.3,410.2,-9.7,354,2520,0.00,2.12,0.00,0.000,6,0.000,0.039,2556,1490,3879,0,0,0,0,0,0
$GC,2839,-0.70,-243.3,446.3,-11.1,385,2843,0.12,1.98,0.00,0.000,4,0.082,0.049,2482,207,3878,0,0,0,0,0,0
$GC,2900,-0.68,-243.3,456.5,-17.8,390,2907,0.17,1.95,0.00,0.000,6,0.151,0.041,2524,1492,3877,0,0,0,0,0,0
$GC,3225,-0.68,-243.3,500.4,-12.9,421,3229,0.00,2.12,0.00,0.000,4,0.000,0.050,2515,2905,3875,0,0,0,0,0,0
$GC,3350,-0.70,-243.3,514.2,-10.3,431,3356,0.00,2.12,0.00,0.000,6,0.000,0.040,2515,1495,3874,0,0,0,0,0,0
$GC,3675,-0.70,-243.3,557.5,-14.0,462,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1496,3872,0,0,0,0,0,0
$GC,3994,-0.70,-243.3,603.2,-14.0,491,3998,0.00,2.17,0.00,0.000,4,0.000,0.054,2505,2907,3869,0,0,0,0,0,0
$GC,4075,-0.73,-243.3,613.3,-11.5,494,4079,0.00,2.15,0.00,0.000,6,0.000,0.041,2505,1491,3868,0,0,0,0,0,0
$GC,4391,-0.73,-243.3,654.7,-13.0,509,4395,0.00,2.00,0.00,0.000,4,0.000,0.052,2505,201,3865,0,0,0,0,0,0
$GC,4431,-0.73,-243.3,660.1,-13.7,510,4438,0.00,1.98,0.00,0.000,6,0.000,0.041,2495,1502,3865,0,0,0,0,0,0
$GC,4747,-0.73,-243.3,698.5,-11.9,526,4751,0.00,2.15,0.00,0.000,4,0.000,0.052,2483,2910,3862,0,0,0,0,0,0
$GC,4813,-0.73,-243.3,707.1,-12.2,529,4818,0.12,2.12,0.00,0.000,6,0.155,0.041,2510,1500,3861,0,0,0,0,0,0
$GC,5144,-0.75,-243.3,740.6,-10.4,545,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1500,3858,0,0,0,0,0,0
$GC,5450,-0.77,-243.3,774.8,-11.0,560,5454,0.00,2.22,0.00,0.000,4,0.000,0.057,2500,2911,3855,0,0,0,0,0,0
$GC,5518,-0.82,-243.3,782.5,-10.9,563,5522,0.00,2.15,0.00,0.000,6,0.000,0.044,2500,1500,3854,0,0,0,0,0,0
$GC,5841,-0.84,-243.3,820.6,-11.6,579,5845,0.00,2.20,0.00,0.000,4,0.000,0.059,2490,2903,3852,0,0,0,0,0,0
$GC,5881,-0.87,-243.3,825.0,-11.0,580,5888,0.00,2.15,0.00,0.000,6,0.000,0.044,2490,1494,3851,0,0,0,0,0,0
$GC,6198,-0.88,-243.3,863.4,-11.6,596,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1494,3849,0,0,0,0,0,0
$GC,6507,-0.89,-243.3,899.1,-11.4,611,6511,0.00,2.22,0.00,0.000,4,0.000,0.060,2480,2907,3847,0,0,0,0,0,0
$GC,6543,-0.91,-243.3,902.8,-10.5,612,6550,0.00,2.17,0.00,0.000,6,0.000,0.046,2481,1490,3846,0,0,0,0,0,0
$GC,6859,-0.91,-243.3,941.0,-11.8,628,6863,0.00,2.25,0.00,0.000,4,0.000,0.062,2472,2906,3845,0,0,0,0,0,0
$GC,6882,-0.91,-243.3,943.8,-11.7,629,6886,0.00,2.17,0.00,0.000,6,0.000,0.046,2474,1490,3844,0,0,0,0,0,0
$GC,7211,-0.91,-243.3,985.0,-12.6,645,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1490,3842,0,0,0,0,0,0
$STATE,7247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7248,begin apogee
$GC,7254,-0.11,0.0,990.0,12.4,647,7462,0.70,0.00,202.73,1.435,6,0.123,0.000,2704,1855,2884,0,0,0,0,0,0
$STATE,7462,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7465,0.68,243.3,998.7,0.0,656,7698,0.70,2.42,220.88,1.369,4,0.050,0.063,2970,3249,1891,0,0,0,0,0,0
$GC,7731,0.64,243.3,964.5,17.8,668,7737,0.12,2.28,0.00,0.000,6,0.183,0.045,2952,1855,1889,0,0,0,0,0,0
$GC,8050,0.61,243.3,913.4,15.8,683,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1855,1884,0,0,0,0,0,0
$GC,8357,0.58,243.3,865.7,15.4,698,8361,0.00,2.20,0.00,0.000,4,0.000,0.060,2952,3262,1882,0,0,0,0,0,0
$GC,8415,0.56,243.3,856.7,15.1,700,8420,0.12,2.17,0.00,0.000,6,0.179,0.044,2930,1842,1881,0,0,0,0,0,0
$GC,8731,0.56,243.3,813.4,13.6,715,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1841,1880,0,0,0,0,0,0
$GC,9040,0.56,243.3,772.4,13.0,730,9044,0.00,2.20,0.00,0.000,4,0.000,0.058,2927,3253,1879,0,0,0,0,0,0
$GC,9081,0.57,251.1,767.2,12.4,731,9092,0.00,2.15,6.38,1.018,6,0.000,0.042,2935,1837,1860,0,0,0,0,0,0
$GC,9415,0.57,251.1,724.2,13.6,748,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1838,1860,0,0,0,0,0,0
$GC,9723,0.57,251.1,684.3,12.9,763,9727,0.00,2.22,0.00,0.000,4,0.000,0.057,2934,3260,1858,0,0,0,0,0,0
$GC,9818,0.59,269.1,672.1,12.1,767,9843,0.00,2.12,18.23,1.191,6,0.000,0.041,2942,1852,1787,0,0,0,0,0,0
$GC,10163,0.59,270.6,628.1,12.6,784,10167,0.00,2.15,0.00,0.000,4,0.000,0.050,2952,443,1784,0,0,0,0,0,0
$GC,10191,0.59,271.2,623.9,12.7,785,10195,0.00,2.17,0.00,0.000,6,0.000,0.041,2952,1856,1783,0,0,0,0,0,0
$GC,10512,0.58,271.2,581.1,13.9,806,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1857,1783,0,0,0,0,0,0
$GC,10833,0.57,271.2,538.6,13.3,836,10837,0.00,2.20,0.00,0.000,4,0.000,0.057,2952,3261,1782,0,0,0,0,0,0
$GC,10998,0.59,284.6,516.4,12.2,850,11022,0.00,2.15,15.45,1.071,6,0.000,0.041,2959,1843,1722,0,0,0,0,0,0
$GC,11340,0.57,284.6,466.4,14.9,882,11341,0.12,0.00,0.00,0.000,6,0.175,0.000,2929,1843,1720,0,0,0,0,0,0
$GC,11658,0.66,328.3,429.0,11.2,912,11704,0.00,2.28,39.22,1.048,4,0.000,0.050,2930,443,1544,0,0,0,0,0,0
$GC,11778,0.81,411.3,416.4,9.8,922,11864,0.25,2.20,73.03,1.024,6,0.057,0.038,3041,1860,1206,0,0,0,0,0,0
$GC,12183,0.75,411.3,329.5,21.7,960,12188,0.17,2.17,0.00,0.000,4,0.161,0.053,2981,3268,1202,0,0,0,0,0,0
$GC,12283,0.79,411.3,314.5,13.0,968,12287,0.00,2.15,0.00,0.000,6,0.000,0.037,2991,1849,1201,0,0,0,0,0,0
$GC,12608,0.79,411.3,260.0,17.3,998,12612,0.00,2.12,0.00,0.000,4,0.000,0.047,3009,442,1200,0,0,0,0,0,0
$GC,12665,0.82,411.3,250.9,15.3,1003,12670,0.00,2.15,0.00,0.000,6,0.000,0.036,3010,1861,1199,0,0,0,0,0,0
$GC,12988,0.82,411.3,200.1,13.9,1063,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1862,1199,0,0,0,0,0,0
$GC,13315,0.82,411.3,153.2,15.4,1124,13323,0.00,2.12,0.00,0.000,4,0.000,0.048,3010,3252,1199,0,0,0,0,0,0
$GC,13346,0.84,411.3,148.6,14.7,1129,13354,0.00,2.12,0.00,0.000,6,0.000,0.034,3018,1841,1199,0,0,0,0,0,0
$GC,13669,0.84,411.3,100.3,15.0,1190,13677,0.00,2.12,0.00,0.000,4,0.000,0.045,3029,448,1199,0,0,0,0,0,0
$GC,13754,0.90,430.2,89.8,12.0,1205,13777,0.00,2.12,16.40,0.686,6,0.000,0.034,3029,1857,1130,0,0,0,0,0,0
$GC,14092,1.02,496.7,50.4,10.4,1268,14151,0.12,0.00,54.67,0.683,6,0.083,0.000,3106,1858,857,0,0,0,0,0,0
$STATE,14399,end climb,SURFACE_DEPTH_REACHED
$STATE,14402,begin surface coast
$FINISH,1.2,1.021482
$STATE,14420,end surface coast,CONTROL_FINISHED_OK
$STATE,14420,begin surface
$SM_CCo,14498,0.00,0.000,0,0,851,498.69
$SM_GC,1.84,7.70,0.00,0.00,0.034,0.000,0.000,153,1477,851,-8.04,-0.65,498.69,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,12346.53,130911,050533
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.71
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,24.90
$XPDR_PINGS,71
$24V_AH,23.0,51.025
$10V_AH,10.1,36.295
$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,20.450,117.375,646.975,0.000,0.000,25.832,23.001,196.920,17.750,0.000,55.873,3112.817,7406.545,669.136,3307.617,442.530,0.000,1983.101,0.000,3017.031,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,63.495,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.256,1358.682,1549.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330272
$DATA_FILE_SIZE,73510,1327
$CAP_FILE_SIZE,159431,0
$CFSIZE,260165632,128258048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,132336,2100.319,12342.665,39,1.6,50,-2.7