version: 66.09
glider: 166
mission: 6
dive: 20
start: 8 7 111 22 44 54
data:
$ID,166
$MISSION,6
$DIVE,20
$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,-24399.914
$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,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,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,070811,223526,2134.498,12117.849,30,99.0,49,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.4
$GPS2,070811,224433,2134.771,12117.968,10,99.0,29,-2.7
$SPEED_LIMITS,0.204,0.345
$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,7.4,165058,-16.1,-11.786
$D_GRID,2635
$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,-243.3,0.0,0.0,0,126,0.00,0.00,-106.68,0.000,2,0.000,0.000,144,1494,3033,0,0,0,0,0,0
$GC,129,-0.87,-243.3,5.2,-8.0,15,160,9.02,2.03,-15.85,0.000,4,0.233,0.057,2471,199,3878,0,0,0,0,0,0
$GC,397,-0.64,-243.3,121.3,-35.6,64,406,0.20,2.00,0.00,0.000,6,0.158,0.039,2531,1491,3881,0,0,0,0,0,0
$GC,719,-0.54,-243.3,198.7,-21.3,125,728,0.15,2.03,0.00,0.000,4,0.169,0.047,2570,198,3883,0,0,0,0,0,0
$GC,909,-0.55,-243.3,225.3,-12.3,160,917,0.00,2.00,0.00,0.000,6,0.000,0.037,2558,1511,3883,0,0,0,0,0,0
$GC,1239,-0.55,-243.3,269.9,-14.9,209,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1512,3882,0,0,0,0,0,0
$GC,1556,-0.55,-243.3,309.9,-11.3,239,1560,0.00,2.00,0.00,0.000,4,0.000,0.048,2561,198,3881,0,0,0,0,0,0
$GC,1618,-0.60,-243.3,317.8,-12.3,244,1625,0.00,1.92,0.00,0.000,6,0.000,0.037,2552,1497,3881,0,0,0,0,0,0
$GC,1943,-0.62,-243.3,360.8,-12.4,275,1947,0.00,2.10,0.00,0.000,4,0.000,0.050,2539,2904,3879,0,0,0,0,0,0
$GC,2030,-0.67,-243.3,369.2,-9.0,282,2034,0.00,2.08,0.00,0.000,6,0.000,0.037,2540,1500,3878,0,0,0,0,0,0
$GC,2355,-0.67,-243.3,407.1,-13.0,312,2359,0.00,2.17,0.00,0.000,4,0.000,0.052,2528,2905,3876,0,0,0,0,0,0
$GC,2413,-0.71,-243.3,414.1,-11.8,316,2420,0.00,2.12,0.00,0.000,6,0.000,0.039,2529,1491,3875,0,0,0,0,0,0
$GC,2738,-0.71,-243.3,452.3,-11.5,347,2742,0.00,1.95,0.00,0.000,4,0.000,0.051,2527,198,3872,0,0,0,0,0,0
$GC,2846,-0.71,-243.3,465.7,-12.4,356,2853,0.00,1.95,0.00,0.000,6,0.000,0.039,2517,1510,3871,0,0,0,0,0,0
$GC,3171,-0.71,-243.3,504.1,-12.2,387,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1510,3868,0,0,0,0,0,0
$GC,3493,-0.71,-243.3,537.9,-9.4,417,3497,0.00,2.15,0.00,0.000,4,0.000,0.056,2506,2908,3865,0,0,0,0,0,0
$GC,3556,-0.74,-243.3,543.9,-8.8,422,3560,0.00,2.10,0.00,0.000,6,0.000,0.041,2505,1505,3864,0,0,0,0,0,0
$GC,3881,-0.74,-243.3,582.3,-12.1,452,3885,0.00,2.15,0.00,0.000,4,0.000,0.056,2494,2911,3862,0,0,0,0,0,0
$GC,3914,-0.74,-243.3,586.4,-11.8,454,3921,0.00,2.12,0.00,0.000,6,0.000,0.041,2494,1488,3861,0,0,0,0,0,0
$GC,4235,-0.72,-243.3,626.0,-13.2,475,4239,0.00,1.95,0.00,0.000,4,0.000,0.054,2493,203,3859,0,0,0,0,0,0
$GC,4296,-0.72,-243.3,634.1,-12.2,477,4304,0.08,1.98,0.00,0.000,6,0.152,0.043,2509,1489,3858,0,0,0,0,0,0
$GC,4612,-0.72,-243.3,671.4,-11.5,493,4616,0.00,2.17,0.00,0.000,4,0.000,0.056,2500,2910,3856,0,0,0,0,0,0
$GC,4681,-0.75,-243.3,679.2,-10.7,496,4685,0.00,2.12,0.00,0.000,6,0.000,0.041,2500,1496,3855,0,0,0,0,0,0
$GC,5008,-0.75,-243.3,723.8,-14.1,512,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1496,3853,0,0,0,0,0,0
$GC,5319,-0.75,-243.3,759.1,-9.7,527,5323,0.00,2.20,0.00,0.000,4,0.000,0.060,2489,2908,3850,0,0,0,0,0,0
$GC,5346,-0.75,-243.3,761.8,-9.2,528,5350,0.00,2.10,0.00,0.000,6,0.000,0.043,2489,1502,3850,0,0,0,0,0,0
$GC,5668,-0.75,-243.3,791.1,-9.2,544,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1501,3848,0,0,0,0,0,0
$GC,5979,-0.75,-243.3,819.6,-8.9,559,5983,0.00,2.17,0.00,0.000,4,0.000,0.060,2479,2908,3846,0,0,0,0,0,0
$GC,6048,-0.76,-243.3,825.6,-8.4,562,6052,0.00,2.12,0.00,0.000,6,0.000,0.045,2479,1495,3845,0,0,0,0,0,0
$GC,6377,-0.74,-243.3,862.8,-12.7,578,6381,0.00,1.98,0.00,0.000,4,0.000,0.057,2479,202,3843,0,0,0,0,0,0
$GC,6427,-0.72,-243.3,870.1,-13.5,580,6432,0.15,1.98,0.00,0.000,6,0.164,0.047,2512,1508,3843,0,0,0,0,0,0
$GC,6750,-0.75,-243.3,903.4,-9.4,596,6754,0.00,2.15,0.00,0.000,4,0.000,0.059,2504,2907,3841,0,0,0,0,0,0
$GC,6837,-0.80,-243.3,910.3,-7.7,600,6841,0.00,2.10,0.00,0.000,6,0.000,0.043,2503,1498,3840,0,0,0,0,0,0
$GC,7164,-0.83,-243.3,940.6,-9.8,616,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1498,3839,0,0,0,0,0,0
$GC,7475,-0.85,-243.3,974.6,-11.5,631,7479,0.00,2.20,0.00,0.000,4,0.000,0.063,2493,2905,3837,0,0,0,0,0,0
$GC,7543,-0.90,-243.3,982.2,-10.5,634,7548,0.10,2.12,0.00,0.000,6,0.109,0.046,2444,1494,3837,0,0,0,0,0,0
$STATE,7614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7614,begin apogee
$GC,7622,-0.18,0.0,992.6,14.7,638,7825,0.73,0.00,197.65,1.437,6,0.146,0.000,2676,1863,2884,0,0,0,0,0,0
$STATE,7826,end apogee,CONTROL_FINISHED_OK
$STATE,7826,begin climb
$GC,7830,0.87,243.3,1002.3,0.0,647,8061,1.00,2.40,217.05,1.371,4,0.067,0.063,3032,3250,1890,0,0,0,0,0,0
$GC,8070,0.65,243.3,962.0,25.3,658,8075,0.32,2.30,0.00,0.000,6,0.197,0.044,2962,1846,1889,0,0,0,0,0,0
$GC,8393,0.52,243.3,896.1,19.7,674,8398,0.17,2.28,0.00,0.000,4,0.194,0.060,2906,3261,1883,0,0,0,0,0,0
$GC,8435,0.47,243.3,889.1,15.8,676,8439,0.00,2.20,0.00,0.000,6,0.000,0.044,2915,1841,1882,0,0,0,0,0,0
$GC,8762,0.41,243.3,846.2,13.6,692,8766,0.15,2.20,0.00,0.000,4,0.188,0.055,2886,442,1881,0,0,0,0,0,0
$GC,8807,0.41,243.3,840.1,11.8,694,8811,0.00,2.20,0.00,0.000,6,0.000,0.045,2885,1835,1879,0,0,0,0,0,0
$GC,9136,0.41,243.3,799.5,13.2,710,9140,0.00,2.22,0.00,0.000,4,0.000,0.060,2885,3270,1879,0,0,0,0,0,0
$GC,9204,0.41,243.3,789.4,14.4,713,9208,0.00,2.15,0.00,0.000,6,0.000,0.042,2893,1849,1878,0,0,0,0,0,0
$GC,9533,0.39,243.3,742.5,14.1,729,9537,0.00,2.22,0.00,0.000,4,0.000,0.059,2893,3270,1878,0,0,0,0,0,0
$GC,9570,0.39,243.3,736.4,14.8,730,9578,0.12,2.20,0.00,0.000,6,0.187,0.043,2873,1846,1878,0,0,0,0,0,0
$GC,9887,0.43,260.1,699.2,11.2,746,9910,0.00,2.22,14.38,1.187,4,0.000,0.055,2882,436,1822,0,0,0,0,0,0
$GC,9928,0.46,275.9,694.6,11.3,747,9949,0.00,2.22,15.77,1.173,6,0.000,0.043,2882,1860,1759,0,0,0,0,0,0
$GC,10267,0.46,275.9,652.4,13.1,764,10271,0.00,2.20,0.00,0.000,4,0.000,0.058,2882,3264,1755,0,0,0,0,0,0
$GC,10313,0.49,275.9,645.8,13.9,766,10317,0.00,2.15,0.00,0.000,6,0.000,0.041,2891,1849,1755,0,0,0,0,0,0
$GC,10634,0.49,275.9,600.5,13.7,782,10638,0.00,2.17,0.00,0.000,4,0.000,0.053,2901,433,1755,0,0,0,0,0,0
$GC,10672,0.49,275.9,595.1,13.5,784,10679,0.00,2.20,0.00,0.000,6,0.000,0.043,2901,1872,1754,0,0,0,0,0,0
$GC,10997,0.52,300.9,554.7,11.0,815,11027,0.00,0.00,23.17,1.137,6,0.000,0.000,2901,1872,1656,0,0,0,0,0,0
$GC,11346,0.52,300.9,511.9,12.7,848,11350,0.00,2.17,0.00,0.000,4,0.000,0.058,2901,3262,1654,0,0,0,0,0,0
$GC,11399,0.55,300.9,505.2,12.8,852,11403,0.00,2.15,0.00,0.000,6,0.000,0.041,2910,1849,1654,0,0,0,0,0,0
$GC,11725,0.55,303.7,466.7,11.7,882,11729,0.00,2.17,0.00,0.000,4,0.000,0.053,2921,437,1654,0,0,0,0,0,0
$GC,11822,0.55,303.7,455.4,12.2,890,11826,0.00,2.17,0.00,0.000,6,0.000,0.043,2921,1848,1653,0,0,0,0,0,0
$GC,12147,0.53,303.7,406.2,15.8,920,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1850,1653,0,0,0,0,0,0
$GC,12467,0.53,303.7,363.9,12.0,950,12471,0.00,2.17,0.00,0.000,4,0.000,0.057,2920,3268,1653,0,0,0,0,0,0
$GC,12503,0.54,306.5,359.7,11.7,953,12515,0.00,2.15,6.10,0.803,6,0.000,0.047,2929,1848,1634,0,0,0,0,0,0
$GC,12833,0.54,306.5,318.3,13.5,984,12837,0.00,2.15,0.00,0.000,4,0.000,0.051,2940,434,1634,0,0,0,0,0,0
$GC,12855,0.54,306.5,315.3,13.3,985,12862,0.00,2.17,0.00,0.000,6,0.000,0.041,2940,1856,1633,0,0,0,0,0,0
$GC,13181,0.51,308.4,278.2,11.7,1016,13185,0.00,2.17,0.00,0.000,4,0.000,0.054,2938,3267,1633,0,0,0,0,0,0
$GC,13281,0.55,319.0,266.5,11.4,1024,13300,0.00,2.17,12.43,0.856,6,0.000,0.039,2945,1850,1583,0,0,0,0,0,0
$GC,13617,0.55,319.0,220.8,12.6,1075,13625,0.00,2.22,0.00,0.000,4,0.000,0.049,2956,437,1582,0,0,0,0,0,0
$GC,13665,0.55,322.1,214.7,11.7,1083,13675,0.08,2.17,4.00,0.549,6,0.141,0.038,2929,1852,1570,0,0,0,0,0,0
$GC,13993,0.67,386.3,183.9,9.7,1144,14058,0.00,2.28,54.78,0.828,4,0.000,0.052,2928,3256,1308,0,0,0,0,0,0
$GC,14088,0.84,451.4,175.4,9.7,1157,14154,0.17,2.22,54.58,0.790,6,0.041,0.036,3034,1844,1043,0,0,0,0,0,0
$GC,14471,0.80,451.4,103.4,18.5,1226,14479,0.12,0.00,0.00,0.000,6,0.162,0.000,3002,1844,1041,0,0,0,0,0,0
$GC,14791,0.84,451.4,60.7,13.8,1287,14799,0.00,2.17,0.00,0.000,4,0.000,0.046,3013,441,1040,0,0,0,0,0,0
$GC,14818,0.88,451.4,57.0,13.4,1291,14826,0.00,2.15,0.00,0.000,6,0.000,0.035,3013,1850,1039,0,0,0,0,0,0
$GC,15141,1.05,532.5,25.3,9.2,1352,15212,0.20,0.00,64.70,0.649,6,0.064,0.000,3117,1851,711,0,0,0,0,0,0
$STATE,15263,end climb,SURFACE_DEPTH_REACHED
$STATE,15263,begin surface coast
$FINISH,0.9,0.998654
$STATE,15280,end surface coast,CONTROL_FINISHED_OK
$STATE,15280,begin surface
$SM_CCo,15357,0.00,0.000,0,0,707,533.77
$SM_GC,1.70,7.95,0.00,0.00,0.043,0.000,0.000,141,1498,707,-8.05,-0.06,533.77,0,0,0,0,0,0
$IRIDIUM_FIX,2122.58,12118.09,070811,222238
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.12
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.40
$XPDR_PINGS,98
$24V_AH,23.3,6.877
$10V_AH,10.3,4.790
$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,20.725,133.800,664.600,0.000,0.000,56.557,107.392,155.365,24.500,0.000,30.868,3224.302,8168.973,688.272,3388.127,416.021,0.000,2053.642,0.000,3046.973,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,62.730,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,939.058,1406.883,1450.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324456
$DATA_FILE_SIZE,76848,1374
$CAP_FILE_SIZE,166563,0
$CFSIZE,260165632,145444864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080811,030206,2140.303,12119.660,37,1.9,37,-2.7