version: 66.09
glider: 166
mission: 6
dive: 43
start: 8 11 111 15 51 20
data:
$ID,166
$MISSION,6
$DIVE,43
$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,290
$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,225
$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,475
$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,-24437.801
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,110811,154327,2300.261,12151.736,35,2.3,54,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.8
$GPS2,110811,155054,2300.505,12151.857,34,2.0,44,-3.0
$SPEED_LIMITS,0.197,0.326
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,98.5,227863,-16.5,-11.379
$D_GRID,4329
$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,16,-0.86,-219.0,0.0,0.0,0,98,0.00,0.00,-78.68,0.000,2,0.000,0.000,154,1489,2838,0,0,0,0,0,0
$GC,101,-0.86,-219.0,5.1,-7.8,11,139,8.95,2.22,-18.60,0.000,4,0.226,0.057,2449,2913,3780,0,0,0,0,0,0
$GC,202,-0.62,-219.0,43.4,-34.6,27,211,0.28,2.17,0.00,0.000,6,0.163,0.036,2540,1498,3781,0,0,0,0,0,0
$GC,528,-0.48,-219.0,132.2,-23.5,88,536,0.17,1.98,0.00,0.000,4,0.160,0.043,2600,211,3782,0,0,0,0,0,0
$GC,680,-0.48,-219.0,154.1,-13.0,115,688,0.00,1.98,0.00,0.000,6,0.000,0.034,2589,1518,3783,0,0,0,0,0,0
$GC,1008,-0.48,-219.0,196.2,-12.2,176,1016,0.00,2.10,0.00,0.000,4,0.000,0.043,2575,2902,3783,0,0,0,0,0,0
$GC,1063,-0.50,-219.0,202.6,-10.9,185,1072,0.00,2.12,0.00,0.000,6,0.000,0.032,2580,1493,3783,0,0,0,0,0,0
$GC,1389,-0.50,-219.0,246.8,-14.4,246,1397,0.00,2.17,0.00,0.000,4,0.000,0.043,2564,2904,3783,0,0,0,0,0,0
$GC,1461,-0.54,-219.0,256.4,-13.0,254,1465,0.00,2.10,0.00,0.000,6,0.000,0.033,2566,1489,3783,0,0,0,0,0,0
$GC,1786,-0.54,-219.0,300.0,-13.2,284,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1488,3782,0,0,0,0,0,0
$GC,2109,-0.57,-219.0,330.2,-7.5,314,2113,0.00,2.12,0.00,0.000,4,0.000,0.044,2549,2902,3783,0,0,0,0,0,0
$GC,2172,-0.61,-219.0,334.6,-6.8,319,2176,0.00,2.10,0.00,0.000,6,0.000,0.034,2551,1493,3782,0,0,0,0,0,0
$GC,2503,-0.63,-219.0,369.1,-11.9,350,2507,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,2902,3780,0,0,0,0,0,0
$GC,2578,-0.67,-219.0,377.4,-10.7,356,2582,0.00,2.10,0.00,0.000,6,0.000,0.035,2541,1492,3779,0,0,0,0,0,0
$GC,2904,-0.67,-219.0,414.7,-11.1,386,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1492,3778,0,0,0,0,0,0
$GC,3224,-0.69,-219.0,452.1,-11.7,416,3228,0.00,2.15,0.00,0.000,4,0.000,0.047,2540,2909,3775,0,0,0,0,0,0
$GC,3274,-0.73,-219.0,457.7,-10.3,420,3281,0.00,2.10,0.00,0.000,6,0.000,0.036,2540,1497,3775,0,0,0,0,0,0
$GC,3599,-0.73,-219.0,494.0,-10.7,451,3603,0.00,1.92,0.00,0.000,4,0.000,0.049,2536,208,3773,0,0,0,0,0,0
$GC,3649,-0.73,-219.0,500.0,-11.6,455,3656,0.00,1.95,0.00,0.000,6,0.000,0.039,2522,1491,3771,0,0,0,0,0,0
$GC,3975,-0.73,-219.0,538.5,-12.2,486,3979,0.00,2.12,0.00,0.000,4,0.000,0.051,2510,2907,3769,0,0,0,0,0,0
$GC,4075,-0.75,-219.0,549.3,-10.9,494,4079,0.00,2.10,0.00,0.000,6,0.000,0.038,2511,1494,3768,0,0,0,0,0,0
$GC,4402,-0.73,-219.0,589.9,-12.1,524,4406,0.00,1.98,0.00,0.000,4,0.000,0.054,2505,211,3766,0,0,0,0,0,0
$GC,4443,-0.71,-219.0,595.4,-13.4,527,4449,0.00,1.98,0.00,0.000,6,0.000,0.042,2494,1514,3765,0,0,0,0,0,0
$GC,4770,-0.68,-219.0,638.5,-13.2,545,4775,0.12,2.12,0.00,0.000,4,0.171,0.060,2520,2902,3763,0,0,0,0,0,0
$GC,4805,-0.70,-219.0,642.4,-11.1,546,4809,0.00,2.10,0.00,0.000,6,0.000,0.041,2521,1503,3763,0,0,0,0,0,0
$GC,5127,-0.72,-219.0,675.3,-10.6,562,5131,0.00,2.17,0.00,0.000,4,0.000,0.055,2510,2909,3760,0,0,0,0,0,0
$GC,5156,-0.74,-219.0,678.5,-11.1,563,5160,0.00,2.12,0.00,0.000,6,0.000,0.041,2509,1490,3760,0,0,0,0,0,0
$GC,5472,-0.74,-219.0,716.7,-12.0,578,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1491,3758,0,0,0,0,0,0
$GC,5781,-0.74,-219.0,752.8,-11.5,593,5785,0.00,2.17,0.00,0.000,4,0.000,0.058,2499,2901,3756,0,0,0,0,0,0
$GC,5838,-0.77,-219.0,759.0,-10.8,595,5842,0.00,2.12,0.00,0.000,6,0.000,0.044,2499,1494,3756,0,0,0,0,0,0
$GC,6154,-0.77,-219.0,796.5,-11.9,610,6158,0.00,1.98,0.00,0.000,4,0.000,0.057,2499,195,3754,0,0,0,0,0,0
$GC,6215,-0.77,-219.0,804.5,-12.8,612,6222,0.00,2.00,0.00,0.000,6,0.000,0.044,2489,1494,3752,0,0,0,0,0,0
$GC,6534,-0.75,-219.0,842.6,-11.6,628,6538,0.00,2.17,0.00,0.000,4,0.000,0.058,2478,2907,3751,0,0,0,0,0,0
$GC,6567,-0.75,-219.0,846.8,-11.3,629,6574,0.00,2.12,0.00,0.000,6,0.000,0.043,2478,1500,3751,0,0,0,0,0,0
$GC,6885,-0.72,-219.0,887.2,-13.1,645,6887,0.12,0.00,0.00,0.000,6,0.171,0.000,2512,1498,3749,0,0,0,0,0,0
$GC,7192,-0.74,-219.0,922.5,-11.4,660,7196,0.00,2.20,0.00,0.000,4,0.000,0.060,2504,2914,3747,0,0,0,0,0,0
$GC,7241,-0.78,-219.0,927.4,-10.9,662,7245,0.00,2.15,0.00,0.000,6,0.000,0.044,2504,1495,3746,0,0,0,0,0,0
$GC,7570,-0.78,-219.0,959.8,-9.1,678,7574,0.00,2.00,0.00,0.000,4,0.000,0.057,2504,190,3745,0,0,0,0,0,0
$GC,7593,-0.78,-219.0,962.3,-9.4,679,7597,0.00,2.00,0.00,0.000,6,0.000,0.045,2494,1507,3745,0,0,0,0,0,0
$STATE,7882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7882,begin apogee
$GC,7890,-0.18,0.0,990.6,9.7,693,8074,0.57,0.00,178.32,1.456,6,0.129,0.000,2683,1860,2883,0,0,0,0,0,0
$STATE,8075,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8079,0.86,219.0,996.5,0.0,701,8281,0.93,0.00,197.05,1.388,6,0.052,0.000,3032,1859,1991,0,0,0,0,0,0
$GC,8584,0.60,219.0,885.3,27.9,726,8589,0.30,2.22,0.00,0.000,4,0.202,0.060,2940,3251,1982,0,0,0,0,0,0
$GC,8675,0.50,219.0,865.5,18.7,730,8680,0.15,2.20,0.00,0.000,6,0.192,0.042,2912,1848,1981,0,0,0,0,0,0
$GC,8999,0.44,219.0,817.8,14.4,746,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1848,1979,0,0,0,0,0,0
$GC,9305,0.38,219.0,773.8,13.6,761,9310,0.15,2.17,0.00,0.000,4,0.171,0.053,2879,442,1978,0,0,0,0,0,0
$GC,9337,0.38,219.0,769.7,12.2,762,9342,0.00,2.17,0.00,0.000,6,0.000,0.043,2879,1869,1977,0,0,0,0,0,0
$GC,9661,0.40,237.1,734.9,10.7,778,9685,0.00,2.17,15.27,1.222,4,0.000,0.057,2879,3250,1916,0,0,0,0,0,0
$GC,9731,0.40,239.3,726.8,11.3,781,9735,0.00,2.15,0.00,0.000,6,0.000,0.040,2887,1848,1915,0,0,0,0,0,0
$GC,10065,0.42,252.4,689.7,10.9,797,10088,0.00,2.25,14.85,1.190,4,0.000,0.054,2898,437,1854,0,0,0,0,0,0
$GC,10104,0.44,267.2,684.9,10.9,798,10126,0.00,2.17,15.25,1.170,6,0.000,0.042,2898,1847,1793,0,0,0,0,0,0
$GC,10446,0.42,267.2,644.0,12.8,815,10450,0.00,2.22,0.00,0.000,4,0.000,0.057,2898,3262,1789,0,0,0,0,0,0
$GC,10531,0.42,267.2,632.3,12.7,819,10535,0.00,2.17,0.00,0.000,6,0.000,0.041,2908,1851,1789,0,0,0,0,0,0
$GC,10854,0.39,267.2,589.5,12.5,838,10861,0.15,0.00,0.00,0.000,6,0.174,0.000,2869,1851,1788,0,0,0,0,0,0
$GC,11179,0.56,360.6,561.7,8.1,869,11273,0.17,2.38,82.82,1.172,4,0.073,0.050,2961,440,1412,0,0,0,0,0,0
$GC,11290,0.49,360.6,544.3,18.1,878,11300,0.20,2.28,0.00,0.000,6,0.159,0.042,2907,1849,1411,0,0,0,0,0,0
$GC,11617,0.51,360.6,502.4,13.1,909,11621,0.00,2.20,0.00,0.000,4,0.000,0.056,2907,3259,1406,0,0,0,0,0,0
$GC,11673,0.56,360.6,494.8,12.9,913,11680,0.00,2.17,0.00,0.000,6,0.000,0.038,2915,1849,1407,0,0,0,0,0,0
$GC,12000,0.56,360.6,449.9,14.1,944,12004,0.00,2.17,0.00,0.000,4,0.000,0.050,2926,432,1406,0,0,0,0,0,0
$GC,12017,0.56,360.6,447.3,13.7,945,12021,0.00,2.20,0.00,0.000,6,0.000,0.040,2926,1868,1405,0,0,0,0,0,0
$GC,12347,0.56,360.6,400.0,14.3,976,12351,0.00,2.12,0.00,0.000,4,0.000,0.055,2926,3249,1405,0,0,0,0,0,0
$GC,12429,0.59,360.6,388.8,14.3,983,12433,0.00,2.12,0.00,0.000,6,0.000,0.044,2936,1836,1405,0,0,0,0,0,0
$GC,12759,0.56,360.6,335.4,15.8,1014,12763,0.00,2.20,0.00,0.000,4,0.000,0.055,2936,3256,1405,0,0,0,0,0,0
$GC,12833,0.56,360.6,323.2,16.3,1020,12840,0.00,2.12,0.00,0.000,6,0.000,0.038,2946,1850,1405,0,0,0,0,0,0
$GC,13160,0.56,360.6,275.6,14.0,1051,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1850,1405,0,0,0,0,0,0
$GC,13477,0.56,360.6,229.3,15.0,1094,13486,0.00,2.20,0.00,0.000,4,0.000,0.050,2946,3251,1405,0,0,0,0,0,0
$GC,13556,0.58,360.6,218.7,13.2,1107,13564,0.00,2.15,0.00,0.000,6,0.000,0.037,2955,1850,1405,0,0,0,0,0,0
$GC,13885,0.56,360.6,175.1,14.1,1168,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1850,1405,0,0,0,0,0,0
$GC,14211,0.71,470.9,138.1,7.5,1229,14305,0.00,0.00,89.05,0.798,6,0.000,0.000,2955,1850,963,0,0,0,0,0,0
$GC,14624,0.94,560.0,98.4,8.3,1302,14706,0.25,2.30,72.50,0.737,4,0.053,0.044,3091,442,597,0,0,0,0,0,0
$GC,14752,0.94,560.0,72.9,19.8,1321,14761,0.12,2.22,0.00,0.000,6,0.122,0.034,3050,1861,594,0,0,0,0,0,0
$GC,15082,1.03,576.3,28.2,10.8,1382,15107,0.00,2.20,13.77,0.630,4,0.000,0.047,3053,3250,530,0,0,0,0,0,0
$GC,15155,1.20,607.7,20.8,10.3,1393,15181,0.12,2.17,17.10,0.631,6,0.049,0.035,3160,1845,453,0,0,0,0,0,0
$STATE,15256,end climb,SURFACE_DEPTH_REACHED
$STATE,15256,begin surface coast
$FINISH,0.9,1.010215
$STATE,15268,end surface coast,CONTROL_FINISHED_OK
$STATE,15269,begin surface
$SM_CCo,15348,0.00,0.000,0,0,447,597.80
$SM_GC,1.85,7.97,0.00,0.00,0.037,0.000,0.000,146,1473,447,-8.06,-0.76,597.80,0,0,0,0,0,0
$IRIDIUM_FIX,2248.70,12148.41,110811,111128
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.61
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.60
$XPDR_PINGS,82
$24V_AH,23.3,12.686
$10V_AH,10.3,8.083
$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,20.750,129.250,696.000,0.000,0.000,26.088,42.049,194.968,20.500,0.000,45.666,3472.655,7745.307,704.745,3441.781,420.280,0.000,2081.293,0.000,3137.976,0.000,0.540,0.000
$DEVICE_MAMPS,225.675,60.435,1455.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.252,1444.069,1595.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324488
$DATA_FILE_SIZE,80155,1412
$CAP_FILE_SIZE,165433,0
$CFSIZE,260165632,143585280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285, 17.9,1
$GPS,110811,200857,2302.678,12155.466,51,2.4,70,-3.0