version: 66.09
glider: 166
mission: 6
dive: 229
start: 9 15 111 7 44 44
data:
$ID,166
$MISSION,6
$DIVE,229
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,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,-24687.021
$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,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,72
$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
$GPS1,150911,073737,2106.423,12340.763,30,0.9,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.7
$GPS2,150911,074420,2106.426,12340.841,12,1.2,12,-2.7
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,289.8,316247,-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,-243.3,0.0,0.0,0,129,0.00,0.00,-109.15,0.000,2,0.000,0.000,152,1522,3071,0,0,0,0,0,0
$GC,132,-0.68,-243.3,5.9,-9.2,15,164,9.35,0.98,-14.75,0.000,4,0.224,0.071,2515,2174,3878,0,0,0,0,0,0
$GC,383,-0.57,-243.3,100.0,-26.5,60,392,0.17,1.00,0.00,0.000,6,0.146,0.037,2553,1494,3880,0,0,0,0,0,0
$GC,712,-0.53,-243.3,167.6,-18.5,121,721,0.00,1.00,0.00,0.000,4,0.000,0.041,2548,2178,3882,0,0,0,0,0,0
$GC,765,-0.49,-243.3,177.2,-18.4,129,775,0.10,1.00,0.00,0.000,6,0.134,0.036,2580,1493,3882,0,0,0,0,0,0
$GC,1096,-0.49,-243.3,227.7,-15.2,190,1104,0.00,1.02,0.00,0.000,4,0.000,0.042,2578,2172,3882,0,0,0,0,0,0
$GC,1270,-0.51,-243.3,250.1,-12.2,222,1274,0.00,0.98,0.00,0.000,6,0.000,0.039,2577,1510,3882,0,0,0,0,0,0
$GC,1603,-0.53,-243.3,286.8,-10.6,253,1606,0.00,0.98,0.00,0.000,4,0.000,0.043,2573,2169,3881,0,0,0,0,0,0
$GC,1764,-0.57,-243.3,303.7,-10.0,267,1771,0.00,1.00,0.00,0.000,6,0.000,0.042,2577,1501,3881,0,0,0,0,0,0
$GC,2091,-0.60,-243.3,343.6,-12.2,298,2094,0.00,1.00,0.00,0.000,4,0.000,0.046,2581,2168,3880,0,0,0,0,0,0
$GC,2195,-0.64,-243.3,355.7,-10.9,307,2199,0.10,1.00,0.00,0.000,6,0.044,0.043,2502,1503,3879,0,0,0,0,0,0
$GC,2526,-0.60,-243.3,415.7,-16.7,338,2530,0.15,1.02,0.00,0.000,4,0.158,0.047,2543,2174,3878,0,0,0,0,0,0
$GC,2585,-0.60,-243.3,422.9,-11.0,343,2588,0.00,1.02,0.00,0.000,6,0.000,0.044,2544,1495,3877,0,0,0,0,0,0
$GC,2917,-0.61,-243.3,456.1,-9.1,374,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1495,3876,0,0,0,0,0,0
$GC,3240,-0.62,-243.3,490.2,-12.0,404,3243,0.00,1.02,0.00,0.000,4,0.000,0.048,2540,2168,3874,0,0,0,0,0,0
$GC,3402,-0.65,-243.3,510.1,-12.1,418,3406,0.00,1.02,0.00,0.000,6,0.000,0.045,2540,1499,3873,0,0,0,0,0,0
$GC,3734,-0.67,-243.3,553.8,-12.5,449,3738,0.00,1.02,0.00,0.000,4,0.000,0.050,2535,2172,3871,0,0,0,0,0,0
$GC,3773,-0.70,-243.3,558.5,-11.7,452,3780,0.00,1.02,0.00,0.000,6,0.000,0.046,2535,1502,3870,0,0,0,0,0,0
$GC,4099,-0.72,-243.3,594.5,-10.3,483,4103,0.00,1.05,0.00,0.000,4,0.000,0.052,2530,2174,3867,0,0,0,0,0,0
$GC,4280,-0.75,-243.3,612.8,-10.2,494,4284,0.00,1.02,0.00,0.000,6,0.000,0.047,2530,1504,3865,0,0,0,0,0,0
$GC,4613,-0.77,-243.3,646.4,-10.0,510,4618,0.10,1.10,0.00,0.000,4,0.102,0.054,2473,791,3862,0,0,0,0,0,0
$GC,4684,-0.74,-243.3,655.7,-14.9,513,4688,0.10,1.02,0.00,0.000,6,0.145,0.047,2501,1461,3862,0,0,0,0,0,0
$GC,5017,-0.74,-243.3,696.5,-11.7,529,5021,0.00,1.10,0.00,0.000,4,0.000,0.054,2498,2193,3858,0,0,0,0,0,0
$GC,5074,-0.74,-243.3,703.4,-11.1,531,5078,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1490,3858,0,0,0,0,0,0
$GC,5396,-0.74,-243.3,742.0,-12.1,547,5399,0.00,1.10,0.00,0.000,4,0.000,0.054,2493,2197,3855,0,0,0,0,0,0
$GC,5491,-0.74,-243.3,753.1,-11.6,551,5494,0.00,1.08,0.00,0.000,6,0.000,0.048,2493,1501,3855,0,0,0,0,0,0
$GC,5820,-0.74,-243.3,795.8,-13.3,567,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1501,3852,0,0,0,0,0,0
$GC,6128,-0.74,-243.3,836.2,-12.6,582,6132,0.00,1.08,0.00,0.000,4,0.000,0.057,2488,2188,3849,0,0,0,0,0,0
$GC,6174,-0.74,-243.3,841.7,-11.9,584,6177,0.00,1.08,0.00,0.000,6,0.000,0.050,2488,1494,3849,0,0,0,0,0,0
$GC,6509,-0.74,-243.3,881.8,-11.9,600,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1494,3847,0,0,0,0,0,0
$GC,6816,-0.74,-243.3,916.5,-11.2,615,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1494,3844,0,0,0,0,0,0
$GC,7128,-0.74,-243.3,950.7,-10.9,630,7132,0.00,1.10,0.00,0.000,4,0.000,0.058,2480,2195,3842,0,0,0,0,0,0
$GC,7219,-0.74,-243.3,960.8,-10.6,634,7224,0.00,1.08,0.00,0.000,6,0.000,0.053,2479,1503,3841,0,0,0,0,0,0
$STATE,7488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7488,begin apogee
$GC,7496,-0.11,0.0,992.2,11.7,647,7707,0.70,0.00,203.70,1.435,6,0.125,0.000,2697,1845,2884,0,0,0,0,0,0
$STATE,7707,end apogee,CONTROL_FINISHED_OK
$STATE,7708,begin climb
$GC,7712,0.68,243.3,1000.3,0.0,656,7947,0.73,1.25,222.35,1.370,4,0.049,0.063,2975,2552,1892,0,0,0,0,0,0
$GC,7999,0.63,243.3,963.1,17.8,670,8003,0.00,1.15,0.00,0.000,6,0.000,0.051,2978,1853,1888,0,0,0,0,0,0
$GC,8332,0.57,243.3,903.3,17.7,686,8337,0.17,1.12,0.00,0.000,4,0.171,0.061,2927,2552,1884,0,0,0,0,0,0
$GC,8448,0.57,243.3,887.6,13.2,691,8452,0.00,1.10,0.00,0.000,6,0.000,0.049,2929,1849,1883,0,0,0,0,0,0
$GC,8781,0.56,243.3,843.0,13.4,707,8785,0.00,1.10,0.00,0.000,4,0.000,0.059,2927,2551,1881,0,0,0,0,0,0
$GC,8855,0.56,243.3,833.0,13.0,710,8859,0.00,1.10,0.00,0.000,6,0.000,0.048,2930,1847,1881,0,0,0,0,0,0
$GC,9183,0.55,243.3,788.6,14.0,726,9186,0.00,1.10,0.00,0.000,4,0.000,0.057,2927,2555,1880,0,0,0,0,0,0
$GC,9210,0.55,243.3,784.5,14.0,727,9214,0.00,1.10,0.00,0.000,6,0.000,0.047,2930,1843,1879,0,0,0,0,0,0
$GC,9541,0.53,243.3,737.9,14.2,743,9544,0.00,1.10,0.00,0.000,4,0.000,0.057,2927,2552,1879,0,0,0,0,0,0
$GC,9573,0.53,243.3,732.5,14.3,744,9578,0.00,1.08,0.00,0.000,6,0.000,0.046,2930,1853,1878,0,0,0,0,0,0
$GC,9895,0.53,243.3,688.3,13.4,760,9899,0.00,1.10,0.00,0.000,4,0.000,0.056,2927,2561,1878,0,0,0,0,0,0
$GC,9947,0.53,243.3,682.3,13.0,762,9950,0.00,1.10,0.00,0.000,6,0.000,0.045,2930,1848,1878,0,0,0,0,0,0
$GC,10279,0.53,243.3,636.4,13.8,778,10283,0.00,1.05,0.00,0.000,4,0.000,0.050,2936,1141,1877,0,0,0,0,0,0
$GC,10327,0.53,243.3,630.1,13.8,780,10331,0.00,1.10,0.00,0.000,6,0.000,0.046,2932,1864,1877,0,0,0,0,0,0
$GC,10652,0.53,243.3,586.6,13.0,800,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1864,1877,0,0,0,0,0,0
$GC,10976,0.58,280.5,548.6,11.4,830,11013,0.00,1.08,32.75,1.146,4,0.000,0.056,2928,2546,1740,0,0,0,0,0,0
$GC,11067,0.66,334.9,538.0,10.8,838,11124,0.00,1.08,50.30,1.127,6,0.000,0.044,2931,1851,1518,0,0,0,0,0,0
$GC,11441,0.80,425.9,500.5,9.5,873,11530,0.20,1.08,79.80,1.097,4,0.067,0.044,3039,1142,1145,0,0,0,0,0,0
$GC,11547,0.73,425.9,479.9,22.8,881,11554,0.17,1.12,0.00,0.000,6,0.144,0.044,2985,1855,1143,0,0,0,0,0,0
$GC,11872,0.73,425.9,421.2,18.7,912,11875,0.00,1.05,0.00,0.000,4,0.000,0.052,2983,2552,1139,0,0,0,0,0,0
$GC,11991,0.73,425.9,400.0,17.6,922,11998,0.00,1.08,0.00,0.000,6,0.000,0.043,2989,1849,1139,0,0,0,0,0,0
$GC,12316,0.73,425.9,342.3,16.1,953,12319,0.00,1.05,0.00,0.000,4,0.000,0.046,3000,1143,1138,0,0,0,0,0,0
$GC,12363,0.73,425.9,335.3,15.4,957,12367,0.00,1.08,0.00,0.000,6,0.000,0.041,3001,1861,1137,0,0,0,0,0,0
$GC,12694,0.73,425.9,286.2,14.6,988,12698,0.00,1.08,0.00,0.000,4,0.000,0.044,3005,1147,1137,0,0,0,0,0,0
$GC,12757,0.74,425.9,277.6,13.8,993,12763,0.00,1.05,0.00,0.000,6,0.000,0.041,3004,1853,1137,0,0,0,0,0,0
$GC,13083,0.74,425.9,230.2,14.6,1036,13091,0.00,1.08,0.00,0.000,4,0.000,0.045,3009,1138,1137,0,0,0,0,0,0
$GC,13114,0.74,425.9,226.1,14.3,1040,13122,0.00,1.05,0.00,0.000,6,0.000,0.039,3010,1851,1137,0,0,0,0,0,0
$GC,13446,0.76,425.9,176.8,15.2,1101,13454,0.00,1.05,0.00,0.000,4,0.000,0.044,3013,1144,1137,0,0,0,0,0,0
$GC,13515,0.77,425.9,166.4,14.7,1113,13523,0.00,1.05,0.00,0.000,6,0.000,0.038,3014,1859,1137,0,0,0,0,0,0
$GC,13846,0.79,425.9,119.2,13.2,1174,13855,0.00,1.08,0.00,0.000,4,0.000,0.042,3018,1133,1137,0,0,0,0,0,0
$GC,13913,0.84,444.9,110.9,12.0,1185,13936,0.00,1.05,16.00,0.697,6,0.000,0.037,3019,1855,1070,0,0,0,0,0,0
$GC,14258,1.00,531.4,69.2,9.7,1248,14339,0.12,1.10,71.07,0.694,4,0.083,0.039,3102,1143,714,0,0,0,0,0,0
$GC,14422,1.01,531.4,42.7,15.4,1274,14431,0.08,1.05,0.00,0.000,6,0.126,0.036,3076,1856,711,0,0,0,0,0,0
$STATE,14751,end climb,SURFACE_DEPTH_REACHED
$STATE,14751,begin surface coast
$FINISH,1.2,1.021391
$STATE,14779,end surface coast,CONTROL_FINISHED_OK
$STATE,14779,begin surface
$SM_CCo,14859,0.00,0.000,0,0,709,533.53
$SM_GC,1.84,7.55,0.00,0.00,0.031,0.000,0.000,154,1492,709,-8.04,-0.20,533.53,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,12339.48,150911,030329
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.63
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.50
$XPDR_PINGS,95
$24V_AH,22.9,53.921
$10V_AH,10.0,37.961
$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,19.800,64.850,675.975,0.000,0.000,31.521,42.434,173.295,23.750,0.000,13.282,3340.056,7446.635,679.579,3346.947,431.206,0.000,2037.104,0.000,3095.730,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,71.145,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,914.405,1371.063,1493.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330184
$DATA_FILE_SIZE,76832,1340
$CAP_FILE_SIZE,161586,0
$CFSIZE,260165632,127303680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230, 89.4,1
$GPS,150911,115337,2107.563,12340.262,36,1.2,36,-2.7