version: 66.09
glider: 166
mission: 4
dive: 16
start: 3 24 111 17 48 26
data:
$ID,166
$MISSION,4
$DIVE,16
$N_DIVES,522
$D_SURF,3
$D_FLARE,5
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,4
$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,40
$T_MISSION,95
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-23310.332
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2774
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1.1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.7
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2999
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-27.932678
$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,0
$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,3
$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,48
$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
$GPS1,240311,173544,4743.563,-12224.194,34,1.5,34,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.0
$GPS2,240311,174728,4743.665,-12224.119,11,2.4,30,18.2
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.116,-0.316
$KALMAN_X,-6686.1,1054.3,1.4,7163.0,111.0
$KALMAN_Y,-2210.4,576.0,-146.2,3776.8,397.6
$MHEAD_RNG_PITCHd_Wd,182.5,1977,-21.9,-15.000
$D_GRID,173
$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,-0.92,-194.6,0.0,0.0,0,103,0.00,0.00,-83.40,0.000,2,0.000,0.000,157,2102,3721,0,0,0,0,0,0
$GC,108,-0.92,-194.6,6.2,-9.6,12,125,9.35,2.28,-1.40,0.000,4,0.253,0.067,2454,3521,3795,0,0,0,0,0,0
$GC,149,-0.57,-194.6,26.8,-47.9,18,158,0.45,2.25,0.00,0.000,6,0.178,0.043,2585,2088,3796,0,0,0,0,0,0
$GC,226,-0.61,-194.6,40.1,-13.7,31,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2084,3796,0,0,0,0,0,0
$GC,301,-0.65,-194.6,50.7,-13.8,44,309,0.00,2.30,0.00,0.000,4,0.000,0.063,2577,3506,3796,0,0,0,0,0,0
$GC,317,-0.69,-194.6,53.0,-13.7,46,326,0.00,2.17,0.00,0.000,6,0.000,0.039,2577,2104,3796,0,0,0,0,0,0
$GC,465,-0.74,-194.6,73.7,-13.6,71,473,0.12,2.20,0.00,0.000,4,0.108,0.050,2526,692,3796,0,0,0,0,0,0
$GC,482,-0.76,-194.6,76.6,-14.0,73,488,0.00,2.22,0.00,0.000,6,0.000,0.055,2516,2098,3796,0,0,0,0,0,0
$GC,626,-0.71,-194.6,105.1,-20.1,98,635,0.10,2.22,0.00,0.000,4,0.216,0.052,2539,697,3796,0,0,0,0,0,0
$GC,682,-0.71,-194.6,116.2,-18.0,107,689,0.00,2.20,0.00,0.000,6,0.000,0.057,2531,2081,3796,0,0,0,0,0,0
$GC,828,-0.69,-194.6,142.9,-18.9,132,836,0.00,2.17,0.00,0.000,4,0.000,0.052,2531,697,3796,0,0,0,0,0,0
$GC,894,-0.69,-194.6,155.5,-17.4,143,902,0.12,2.17,0.00,0.000,6,0.197,0.057,2550,2071,3796,0,0,0,0,0,0
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1015,-0.16,0.0,173.4,15.3,163,1175,0.52,0.00,150.48,0.875,4,0.167,0.000,2715,2071,2998,0,0,0,0,0,0
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1178,0.92,194.6,181.5,0.0,186,1350,1.12,2.45,159.65,0.835,4,0.128,0.065,3066,3508,2205,0,0,0,0,0,0
$GC,1376,0.80,194.6,153.9,22.5,215,1385,0.17,2.28,0.00,0.000,6,0.234,0.044,3041,2105,2203,0,0,0,0,0,0
$GC,1519,0.72,194.6,126.5,18.3,240,1527,0.12,2.30,0.00,0.000,4,0.209,0.054,3019,692,2200,0,0,0,0,0,0
$GC,1556,0.70,194.6,119.9,16.4,246,1564,0.00,2.28,0.00,0.000,6,0.000,0.054,3019,2082,2199,0,0,0,0,0,0
$GC,1697,0.66,194.6,97.8,16.3,271,1705,0.12,2.30,0.00,0.000,4,0.192,0.063,2977,3508,2199,0,0,0,0,0,0
$GC,1748,0.72,221.3,90.4,13.6,279,1777,0.00,2.20,23.50,0.777,6,0.000,0.041,2985,2085,2096,0,0,0,0,0,0
$GC,1910,0.80,259.9,69.2,13.0,307,1953,0.12,2.22,34.28,0.774,4,0.109,0.050,3046,699,1938,0,0,0,0,0,0
$GC,1978,0.77,259.9,57.6,18.2,317,1984,0.00,2.28,0.00,0.000,6,0.000,0.052,3046,2100,1935,0,0,0,0,0,0
$GC,2116,0.73,259.9,33.0,17.4,342,2125,0.15,2.30,0.00,0.000,4,0.216,0.062,3002,3507,1934,0,0,0,0,0,0
$GC,2202,0.83,288.7,18.9,13.5,357,2233,0.00,2.15,24.88,0.742,6,0.000,0.041,3010,2137,1821,0,0,0,0,0,0
$GC,2302,0.90,307.3,5.0,14.0,373,2318,0.15,0.00,13.60,0.698,2,0.099,0.000,3073,2135,1759,0,0,0,0,0,0
$STATE,2319,end climb,SURFACE_DEPTH_REACHED
$STATE,2319,begin surface coast
$FINISH,0.7,1.010194
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2338,begin surface
$SM_CCo,2416,0.00,0.000,0,0,1754,305.40
$SM_GC,1.63,8.18,0.00,0.00,0.063,0.000,0.000,151,2135,1754,-8.14,0.99,305.40,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12222.38,240311,171754
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.27
$INTERNAL_PRESSURE,8.96977
$TCM_TEMP,15.00
$XPDR_PINGS,88
$24V_AH,23.8,2.294
$10V_AH,10.2,1.204
$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,20.825,44.950,406.375,0.000,0.000,56.408,69.280,325.847,22.000,0.000,32.678,838.119,305.835,426.790,1345.351,213.668,33.331,870.474,0.000,870.591,0.000,0.536,0.000
$DEVICE_MAMPS,253.215,66.555,875.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.476,243.666,607.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322804
$DATA_FILE_SIZE,23676,378
$CAP_FILE_SIZE,60225,0
$CFSIZE,260165632,145453056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169, 17.9,1
$GPS,240311,182952,4743.514,-12224.149,15,2.3,34,18.2