version: 66.09
glider: 166
mission: 6
dive: 15
start: 8 7 111 1 47 7
data:
$ID,166
$MISSION,6
$DIVE,15
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,1
$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,9
$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,-24393.514
$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,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,38
$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,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,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
$GPS1,070811,014007,2116.966,12119.170,60,1.4,60,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.5
$GPS2,070811,014643,2117.023,12119.309,15,2.0,32,-2.6
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,NINNER
$TGT_LATLONG,2114.000,12117.000
$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,218.0,6873,-16.1,-11.786
$D_GRID,3035
$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,-0.87,-243.3,0.0,0.0,0,105,0.00,0.00,-85.60,0.000,2,0.000,0.000,149,1596,3065,0,0,0,0,0,0
$GC,108,-0.87,-243.3,5.2,-7.9,12,137,8.93,0.00,-15.07,0.000,6,0.225,0.000,2461,1596,3879,0,0,0,0,0,0
$GC,451,-0.65,-243.3,158.1,-34.7,76,459,0.25,2.17,0.00,0.000,4,0.178,0.047,2551,211,3883,0,0,0,0,0,0
$GC,551,-0.56,-243.3,186.1,-22.9,94,560,0.08,2.12,0.00,0.000,6,0.150,0.037,2563,1597,3883,0,0,0,0,0,0
$GC,877,-0.52,-243.3,236.7,-14.9,155,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1599,3884,0,0,0,0,0,0
$GC,1200,-0.52,-243.3,284.7,-14.5,194,1205,0.10,2.12,0.00,0.000,4,0.181,0.050,2593,201,3884,0,0,0,0,0,0
$GC,1274,-0.59,-243.3,293.6,-11.1,200,1278,0.00,2.10,0.00,0.000,6,0.000,0.036,2581,1606,3884,0,0,0,0,0,0
$GC,1600,-0.66,-243.3,327.8,-10.7,230,1605,0.10,2.12,0.00,0.000,4,0.099,0.049,2505,3010,3883,0,0,0,0,0,0
$GC,1632,-0.64,-243.3,332.5,-14.1,232,1640,0.15,2.12,0.00,0.000,6,0.151,0.037,2548,1585,3883,0,0,0,0,0,0
$GC,1957,-0.64,-243.3,380.5,-14.6,263,1961,0.00,2.08,0.00,0.000,4,0.000,0.052,2561,211,3881,0,0,0,0,0,0
$GC,1986,-0.66,-243.3,384.9,-15.1,265,1993,0.00,2.10,0.00,0.000,6,0.000,0.041,2551,1603,3881,0,0,0,0,0,0
$GC,2312,-0.68,-243.3,421.3,-10.0,296,2316,0.00,2.12,0.00,0.000,4,0.000,0.051,2551,209,3879,0,0,0,0,0,0
$GC,2365,-0.73,-243.3,426.6,-10.4,300,2369,0.00,2.10,0.00,0.000,6,0.000,0.042,2541,1602,3879,0,0,0,0,0,0
$GC,2690,-0.76,-243.3,457.3,-9.3,330,2694,0.00,2.12,0.00,0.000,4,0.000,0.053,2529,3007,3877,0,0,0,0,0,0
$GC,2733,-0.80,-243.3,460.6,-8.5,333,2736,0.00,2.10,0.00,0.000,6,0.000,0.039,2528,1593,3877,0,0,0,0,0,0
$GC,3064,-0.82,-243.3,488.9,-7.6,364,3069,0.12,2.12,0.00,0.000,4,0.086,0.054,2463,206,3874,0,0,0,0,0,0
$GC,3128,-0.75,-243.3,496.5,-14.1,369,3133,0.20,2.10,0.00,0.000,6,0.160,0.041,2513,1599,3873,0,0,0,0,0,0
$GC,3455,-0.75,-243.3,528.9,-11.1,399,3459,0.00,2.12,0.00,0.000,4,0.000,0.054,2513,211,3871,0,0,0,0,0,0
$GC,3517,-0.75,-243.3,536.4,-11.8,404,3521,0.00,2.10,0.00,0.000,6,0.000,0.042,2504,1604,3870,0,0,0,0,0,0
$GC,3844,-0.75,-243.3,572.2,-10.0,434,3848,0.00,2.15,0.00,0.000,4,0.000,0.054,2504,204,3867,0,0,0,0,0,0
$GC,3921,-0.75,-243.3,581.1,-10.7,440,3928,0.00,2.10,0.00,0.000,6,0.000,0.042,2493,1599,3866,0,0,0,0,0,0
$GC,4242,-0.75,-243.3,617.6,-12.1,464,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1599,3864,0,0,0,0,0,0
$GC,4553,-0.75,-243.3,655.3,-12.0,479,4557,0.00,2.15,0.00,0.000,4,0.000,0.059,2482,3002,3862,0,0,0,0,0,0
$GC,4570,-0.75,-243.3,657.3,-11.9,480,4575,0.10,2.12,0.00,0.000,6,0.178,0.044,2508,1598,3861,0,0,0,0,0,0
$GC,4900,-0.77,-243.3,690.1,-10.1,496,4904,0.00,2.12,0.00,0.000,4,0.000,0.060,2509,205,3858,0,0,0,0,0,0
$GC,4928,-0.79,-243.3,693.5,-10.0,497,4932,0.00,2.12,0.00,0.000,6,0.000,0.044,2501,1602,3858,0,0,0,0,0,0
$GC,5250,-0.79,-243.3,730.1,-11.2,513,5254,0.00,2.15,0.00,0.000,4,0.000,0.057,2489,3008,3856,0,0,0,0,0,0
$GC,5279,-0.79,-243.3,733.3,-11.2,514,5283,0.00,2.12,0.00,0.000,6,0.000,0.044,2489,1601,3856,0,0,0,0,0,0
$GC,5595,-0.79,-243.3,773.0,-12.4,529,5599,0.00,2.15,0.00,0.000,4,0.000,0.058,2489,201,3854,0,0,0,0,0,0
$GC,5628,-0.79,-243.3,777.6,-13.5,530,5635,0.00,2.15,0.00,0.000,6,0.000,0.045,2479,1591,3853,0,0,0,0,0,0
$GC,5946,-0.77,-243.3,816.5,-12.0,546,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1592,3851,0,0,0,0,0,0
$GC,6254,-0.76,-243.3,853.1,-11.9,561,6256,0.12,0.00,0.00,0.000,6,0.185,0.000,2513,1593,3849,0,0,0,0,0,0
$GC,6565,-0.79,-243.3,881.6,-8.8,576,6569,0.00,2.20,0.00,0.000,4,0.000,0.064,2504,3013,3848,0,0,0,0,0,0
$GC,6599,-0.84,-243.3,884.8,-8.8,577,6603,0.00,2.15,0.00,0.000,6,0.000,0.047,2505,1601,3847,0,0,0,0,0,0
$GC,6917,-0.87,-243.3,913.7,-9.3,592,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1601,3846,0,0,0,0,0,0
$GC,7226,-0.90,-243.3,941.9,-8.8,607,7228,0.12,0.00,0.00,0.000,6,0.096,0.000,2440,1601,3843,0,0,0,0,0,0
$GC,7534,-0.84,-243.3,981.3,-12.5,622,7538,0.15,2.17,0.00,0.000,4,0.188,0.063,2486,208,3842,0,0,0,0,0,0
$STATE,7616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7616,begin apogee
$GC,7626,-0.18,0.0,990.6,10.1,626,7830,0.65,0.00,198.70,1.435,6,0.139,0.000,2689,1906,2883,0,0,0,0,0,0
$STATE,7831,end apogee,CONTROL_FINISHED_OK
$STATE,7831,begin climb
$GC,7835,0.87,243.3,995.6,0.0,635,8068,0.98,2.47,216.00,1.372,4,0.060,0.063,3040,3313,1891,0,0,0,0,0,0
$GC,8107,0.66,243.3,939.8,29.1,647,8115,0.30,2.33,0.00,0.000,6,0.197,0.047,2974,1895,1888,0,0,0,0,0,0
$GC,8425,0.51,243.3,865.1,22.9,663,8430,0.20,2.28,0.00,0.000,4,0.197,0.060,2913,3312,1884,0,0,0,0,0,0
$GC,8488,0.48,243.3,853.1,16.3,666,8492,0.00,2.20,0.00,0.000,6,0.000,0.045,2921,1894,1883,0,0,0,0,0,0
$GC,8816,0.41,243.3,796.1,17.0,682,8818,0.12,0.00,0.00,0.000,6,0.194,0.000,2891,1894,1882,0,0,0,0,0,0
$GC,9127,0.41,243.3,756.2,11.8,697,9131,0.00,2.17,0.00,0.000,4,0.000,0.057,2899,497,1881,0,0,0,0,0,0
$GC,9149,0.41,251.8,753.3,11.5,698,9166,0.00,2.17,7.43,1.068,6,0.000,0.046,2899,1909,1857,0,0,0,0,0,0
$GC,9478,0.42,285.9,717.8,10.7,714,9521,0.00,2.33,32.55,1.251,4,0.000,0.060,2899,3309,1718,0,0,0,0,0,0
$GC,9567,0.43,292.4,707.4,11.6,718,9582,0.00,2.20,7.78,1.030,6,0.000,0.044,2907,1900,1691,0,0,0,0,0,0
$GC,9902,0.41,292.4,665.1,13.0,734,9906,0.00,2.25,0.00,0.000,4,0.000,0.057,2917,484,1688,0,0,0,0,0,0
$GC,9952,0.41,292.4,657.7,13.4,736,9956,0.00,2.22,0.00,0.000,6,0.000,0.046,2917,1912,1687,0,0,0,0,0,0
$GC,10276,0.38,292.4,611.8,14.2,752,10281,0.15,2.17,0.00,0.000,4,0.177,0.060,2874,3312,1687,0,0,0,0,0,0
$GC,10326,0.47,325.9,605.7,10.7,754,10361,0.00,2.17,30.58,1.183,6,0.000,0.044,2882,1893,1555,0,0,0,0,0,0
$GC,10690,0.62,411.4,571.6,9.0,785,10779,0.20,2.38,76.22,1.154,4,0.071,0.056,2980,494,1204,0,0,0,0,0,0
$GC,10819,0.58,411.4,548.1,19.6,796,10827,0.15,2.28,0.00,0.000,6,0.165,0.046,2942,1902,1202,0,0,0,0,0,0
$GC,11145,0.55,411.4,490.9,17.8,827,11149,0.00,2.22,0.00,0.000,4,0.000,0.060,2940,3313,1201,0,0,0,0,0,0
$GC,11210,0.57,411.4,480.9,13.5,832,11214,0.00,2.20,0.00,0.000,6,0.000,0.044,2948,1891,1201,0,0,0,0,0,0
$GC,11535,0.54,411.4,423.6,17.9,862,11539,0.00,2.17,0.00,0.000,4,0.000,0.055,2959,492,1200,0,0,0,0,0,0
$GC,11593,0.54,411.4,413.5,16.9,866,11600,0.12,2.20,0.00,0.000,6,0.166,0.044,2927,1922,1199,0,0,0,0,0,0
$GC,11918,0.55,411.4,364.4,15.8,897,11922,0.00,2.22,0.00,0.000,4,0.000,0.055,2935,493,1199,0,0,0,0,0,0
$GC,11952,0.57,411.4,358.8,16.7,899,11959,0.00,2.12,0.00,0.000,6,0.000,0.043,2929,1886,1198,0,0,0,0,0,0
$GC,12278,0.59,411.4,308.3,15.1,930,12282,0.00,2.20,0.00,0.000,4,0.000,0.057,2929,3319,1198,0,0,0,0,0,0
$GC,12322,0.64,411.4,301.7,13.8,933,12329,0.00,2.15,0.00,0.000,6,0.000,0.041,2937,1892,1198,0,0,0,0,0,0
$GC,12647,0.64,411.4,257.3,13.6,964,12651,0.00,2.15,0.00,0.000,4,0.000,0.054,2948,488,1198,0,0,0,0,0,0
$GC,12732,0.68,411.4,246.6,12.6,973,12740,0.00,2.17,0.00,0.000,6,0.000,0.041,2948,1903,1198,0,0,0,0,0,0
$GC,13053,0.68,417.4,204.3,11.6,1034,13069,0.00,2.20,5.65,0.663,4,0.000,0.060,2948,3313,1181,0,0,0,0,0,0
$GC,13108,0.73,417.4,197.4,12.0,1043,13116,0.00,2.15,0.00,0.000,6,0.000,0.039,2956,1901,1181,0,0,0,0,0,0
$GC,13438,0.75,417.4,153.0,13.5,1104,13447,0.12,2.20,0.00,0.000,4,0.090,0.051,3038,489,1181,0,0,0,0,0,0
$GC,13552,0.69,417.4,132.2,17.2,1124,13561,0.17,2.15,0.00,0.000,6,0.137,0.040,2980,1904,1181,0,0,0,0,0,0
$GC,13880,0.75,420.2,97.5,11.7,1185,13889,0.00,2.22,4.10,0.485,4,0.000,0.048,2990,486,1170,0,0,0,0,0,0
$GC,13908,0.82,420.2,93.5,12.1,1189,13916,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1902,1170,0,0,0,0,0,0
$GC,14231,1.01,493.0,61.0,9.4,1250,14297,0.25,2.28,59.33,0.697,4,0.059,0.047,3131,496,873,0,0,0,0,0,0
$GC,14319,0.92,493.0,45.3,20.8,1262,14328,0.22,2.20,0.00,0.000,6,0.136,0.037,3053,1915,871,0,0,0,0,0,0
$STATE,14604,end climb,SURFACE_DEPTH_REACHED
$STATE,14604,begin surface coast
$FINISH,0.9,1.000925
$STATE,14631,end surface coast,CONTROL_FINISHED_OK
$STATE,14631,begin surface
$SM_CCo,14708,0.00,0.000,0,0,869,494.03
$SM_GC,1.65,7.50,0.00,0.00,0.033,0.000,0.000,150,1583,869,-8.06,-0.45,494.03,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12113.28,060811,222238
$TT8_MAMPS,0.026215,0.026215
$HUMID,33.18
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.50
$XPDR_PINGS,114
$24V_AH,23.4,5.578
$10V_AH,10.2,4.048
$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,21.575,135.875,638.325,0.000,0.000,30.311,48.559,152.780,28.500,0.000,33.137,3137.459,7688.388,673.419,3196.597,398.733,0.000,1971.534,0.000,2935.932,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,64.260,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.624,1352.652,1417.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324480
$DATA_FILE_SIZE,73532,1321
$CAP_FILE_SIZE,166054,0
$CFSIZE,260165632,145879040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070811,055356,2116.919,12118.884,43,3.2,62,-2.6