version: 66.09
glider: 166
mission: 6
dive: 66
start: 8 16 111 4 25 51
data:
$ID,166
$MISSION,6
$DIVE,66
$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,310
$T_MISSION,330
$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,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,-24467.145
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,160811,041827,2331.632,12258.219,30,99.0,49,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.0
$GPS2,160811,042527,2331.743,12258.164,29,4.8,48,-3.2
$SPEED_LIMITS,0.184,0.333
$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,84.0,102048,-14.7,-10.645
$D_GRID,2651
$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,-0.83,-243.3,0.0,0.0,0,129,0.00,0.00,-109.65,0.000,2,0.000,0.000,154,1486,3129,0,0,0,0,0,0
$GC,131,-0.83,-243.3,6.2,-11.0,15,163,9.02,2.17,-13.62,0.000,4,0.228,0.050,2460,2902,3878,0,0,0,0,0,0
$GC,272,-0.55,-243.3,66.5,-35.6,39,281,0.30,2.12,0.00,0.000,6,0.163,0.034,2556,1504,3880,0,0,0,0,0,0
$GC,598,-0.42,-243.3,149.1,-23.6,100,607,0.17,2.15,0.00,0.000,4,0.159,0.042,2595,2898,3882,0,0,0,0,0,0
$GC,639,-0.36,-243.3,157.8,-20.3,106,648,0.08,2.10,0.00,0.000,6,0.124,0.034,2623,1507,3882,0,0,0,0,0,0
$GC,967,-0.38,-243.3,196.2,-12.2,167,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1506,3883,0,0,0,0,0,0
$GC,1292,-0.43,-243.3,233.6,-10.3,228,1300,0.00,2.12,0.00,0.000,4,0.000,0.042,2617,2902,3882,0,0,0,0,0,0
$GC,1330,-0.51,-243.3,237.1,-9.6,234,1339,0.08,2.10,0.00,0.000,6,0.053,0.032,2545,1498,3882,0,0,0,0,0,0
$GC,1659,-0.42,-243.3,295.0,-17.3,272,1664,0.20,2.15,0.00,0.000,4,0.151,0.041,2597,2908,3881,0,0,0,0,0,0
$GC,1735,-0.49,-243.3,303.6,-9.3,278,1739,0.00,2.08,0.00,0.000,6,0.000,0.034,2597,1503,3881,0,0,0,0,0,0
$GC,2067,-0.53,-243.3,336.3,-9.5,309,2071,0.00,2.12,0.00,0.000,4,0.000,0.043,2589,2905,3880,0,0,0,0,0,0
$GC,2103,-0.58,-243.3,339.7,-9.6,312,2107,0.00,2.08,0.00,0.000,6,0.000,0.034,2590,1502,3880,0,0,0,0,0,0
$GC,2435,-0.61,-243.3,373.7,-9.7,343,2437,0.12,0.00,0.00,0.000,6,0.080,0.000,2512,1501,3878,0,0,0,0,0,0
$GC,2753,-0.50,-243.3,430.4,-18.3,373,2755,0.22,0.00,0.00,0.000,6,0.150,0.000,2577,1501,3877,0,0,0,0,0,0
$GC,3074,-0.53,-243.3,463.4,-9.2,403,3078,0.00,2.12,0.00,0.000,4,0.000,0.047,2569,2905,3875,0,0,0,0,0,0
$GC,3115,-0.56,-243.3,467.0,-9.0,406,3119,0.00,2.08,0.00,0.000,6,0.000,0.036,2569,1504,3875,0,0,0,0,0,0
$GC,3448,-0.58,-243.3,498.0,-8.9,437,3452,0.00,2.12,0.00,0.000,4,0.000,0.048,2560,2902,3872,0,0,0,0,0,0
$GC,3481,-0.61,-243.3,501.2,-8.9,439,3488,0.00,2.10,0.00,0.000,6,0.000,0.037,2560,1497,3872,0,0,0,0,0,0
$GC,3809,-0.61,-243.3,534.1,-10.0,470,3812,0.00,2.15,0.00,0.000,4,0.000,0.050,2550,2905,3870,0,0,0,0,0,0
$GC,3838,-0.63,-243.3,537.3,-10.2,472,3842,0.00,2.10,0.00,0.000,6,0.000,0.037,2550,1500,3869,0,0,0,0,0,0
$GC,4164,-0.63,-243.3,572.6,-10.7,502,4168,0.00,2.17,0.00,0.000,4,0.000,0.052,2540,2905,3867,0,0,0,0,0,0
$GC,4188,-0.63,-243.3,575.0,-10.4,503,4194,0.00,2.08,0.00,0.000,6,0.000,0.038,2540,1504,3866,0,0,0,0,0,0
$GC,4512,-0.63,-243.3,609.9,-11.5,530,4516,0.00,2.15,0.00,0.000,4,0.000,0.053,2528,2905,3865,0,0,0,0,0,0
$GC,4590,-0.66,-243.3,618.8,-10.7,533,4598,0.00,2.12,0.00,0.000,6,0.000,0.041,2529,1493,3864,0,0,0,0,0,0
$GC,4906,-0.64,-243.3,659.5,-13.0,549,4910,0.00,2.00,0.00,0.000,4,0.000,0.054,2522,199,3862,0,0,0,0,0,0
$GC,4945,-0.64,-243.3,665.0,-14.0,550,4952,0.00,1.98,0.00,0.000,6,0.000,0.041,2510,1492,3861,0,0,0,0,0,0
$GC,5264,-0.62,-243.3,704.4,-12.2,566,5268,0.12,2.17,0.00,0.000,4,0.168,0.054,2534,2904,3859,0,0,0,0,0,0
$GC,5359,-0.67,-243.3,714.4,-9.3,570,5364,0.00,2.12,0.00,0.000,6,0.000,0.047,2535,1495,3857,0,0,0,0,0,0
$GC,5678,-0.69,-243.3,743.8,-9.1,585,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1496,3855,0,0,0,0,0,0
$GC,5985,-0.72,-243.3,771.3,-9.0,600,5989,0.00,2.17,0.00,0.000,4,0.000,0.057,2523,2902,3853,0,0,0,0,0,0
$GC,6067,-0.76,-243.3,778.0,-8.3,603,6074,0.00,2.10,0.00,0.000,6,0.000,0.042,2524,1503,3852,0,0,0,0,0,0
$GC,6383,-0.76,-243.3,809.5,-10.3,619,6387,0.00,2.17,0.00,0.000,4,0.000,0.058,2513,2904,3850,0,0,0,0,0,0
$GC,6411,-0.78,-243.3,812.5,-10.4,620,6415,0.00,2.15,0.00,0.000,6,0.000,0.044,2513,1490,3849,0,0,0,0,0,0
$GC,6728,-0.78,-243.3,846.5,-10.9,635,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1490,3848,0,0,0,0,0,0
$GC,7037,-0.78,-243.3,879.0,-10.4,650,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1489,3846,0,0,0,0,0,0
$GC,7347,-0.78,-243.3,911.8,-11.0,665,7351,0.00,2.22,0.00,0.000,4,0.000,0.061,2502,2907,3844,0,0,0,0,0,0
$GC,7387,-0.79,-243.3,916.4,-11.4,667,7391,0.00,2.15,0.00,0.000,6,0.000,0.047,2502,1503,3843,0,0,0,0,0,0
$GC,7713,-0.79,-243.3,956.4,-12.5,683,7717,0.00,2.20,0.00,0.000,4,0.000,0.062,2493,2910,3841,0,0,0,0,0,0
$GC,7771,-0.81,-243.3,963.4,-11.9,685,7775,0.00,2.15,0.00,0.000,6,0.000,0.047,2493,1495,3840,0,0,0,0,0,0
$STATE,7981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7981,begin apogee
$GC,7987,-0.18,0.0,990.8,13.2,695,8191,0.57,0.00,198.02,1.447,6,0.130,0.000,2677,1843,2883,0,0,0,0,0,0
$STATE,8192,end apogee,CONTROL_FINISHED_OK
$STATE,8192,begin climb
$GC,8194,0.83,243.3,1003.1,0.0,704,8420,0.95,2.42,217.57,1.389,4,0.073,0.063,3008,3250,1891,0,0,0,0,0,0
$GC,8442,0.63,243.3,969.5,21.4,716,8447,0.25,2.33,0.00,0.000,6,0.181,0.045,2955,1851,1888,0,0,0,0,0,0
$GC,8760,0.51,243.3,919.6,15.6,731,8764,0.15,2.25,0.00,0.000,4,0.181,0.061,2905,3261,1882,0,0,0,0,0,0
$GC,8815,0.47,243.3,911.6,12.1,733,8822,0.00,2.22,0.00,0.000,6,0.000,0.044,2913,1838,1881,0,0,0,0,0,0
$GC,9131,0.41,243.3,872.3,12.7,749,9133,0.12,0.00,0.00,0.000,6,0.181,0.000,2882,1838,1880,0,0,0,0,0,0
$GC,9443,0.44,283.7,842.2,9.5,764,9483,0.00,0.00,36.28,1.336,6,0.000,0.000,2883,1837,1726,0,0,0,0,0,0
$GC,9789,0.44,283.7,805.9,11.1,781,9793,0.00,2.20,0.00,0.000,4,0.000,0.056,2891,431,1721,0,0,0,0,0,0
$GC,9813,0.44,283.7,803.2,11.3,782,9817,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1851,1720,0,0,0,0,0,0
$GC,10141,0.44,283.7,764.0,11.6,798,10145,0.00,2.17,0.00,0.000,4,0.000,0.059,2890,3258,1720,0,0,0,0,0,0
$GC,10219,0.44,283.7,754.5,11.7,801,10226,0.00,2.15,0.00,0.000,6,0.000,0.042,2898,1849,1720,0,0,0,0,0,0
$GC,10537,0.42,283.7,716.0,12.4,817,10541,0.00,2.17,0.00,0.000,4,0.000,0.053,2909,437,1720,0,0,0,0,0,0
$GC,10577,0.40,283.7,710.8,12.3,819,10582,0.12,2.17,0.00,0.000,6,0.158,0.042,2875,1872,1718,0,0,0,0,0,0
$GC,10908,0.50,347.6,680.1,8.8,835,10973,0.00,2.25,56.50,1.260,4,0.000,0.057,2874,3248,1465,0,0,0,0,0,0
$GC,11008,0.64,412.9,670.8,8.7,839,11073,0.20,2.22,58.80,1.213,6,0.060,0.040,2977,1836,1200,0,0,0,0,0,0
$GC,11393,0.54,412.9,593.7,21.0,859,11398,0.20,2.25,0.00,0.000,4,0.164,0.052,2913,3250,1193,0,0,0,0,0,0
$GC,11437,0.54,412.9,585.9,15.0,862,11444,0.00,2.17,0.00,0.000,6,0.000,0.040,2921,1836,1193,0,0,0,0,0,0
$GC,11763,0.54,412.9,541.6,13.6,893,11767,0.00,2.15,0.00,0.000,4,0.000,0.052,2932,437,1192,0,0,0,0,0,0
$GC,11784,0.54,412.9,538.4,14.1,894,11791,0.00,2.15,0.00,0.000,6,0.000,0.039,2931,1854,1191,0,0,0,0,0,0
$GC,12110,0.52,412.9,488.1,16.0,925,12114,0.00,2.15,0.00,0.000,4,0.000,0.056,2932,3259,1192,0,0,0,0,0,0
$GC,12183,0.55,412.9,477.0,14.2,931,12187,0.00,2.15,0.00,0.000,6,0.000,0.040,2941,1839,1191,0,0,0,0,0,0
$GC,12508,0.52,412.9,425.3,16.1,961,12512,0.00,2.12,0.00,0.000,4,0.000,0.050,2951,443,1191,0,0,0,0,0,0
$GC,12560,0.52,412.9,416.9,15.7,965,12565,0.15,2.15,0.00,0.000,6,0.145,0.038,2908,1854,1189,0,0,0,0,0,0
$GC,12886,0.63,450.5,382.6,9.5,995,12919,0.12,0.00,31.02,0.999,6,0.086,0.000,2982,1858,1047,0,0,0,0,0,0
$GC,13235,0.55,450.5,314.1,19.9,1028,13240,0.22,2.17,0.00,0.000,4,0.155,0.052,2920,3264,1044,0,0,0,0,0,0
$GC,13313,0.72,510.7,304.9,8.9,1034,13369,0.12,2.15,50.53,0.929,6,0.090,0.037,3015,1849,802,0,0,0,0,0,0
$GC,13689,0.65,510.7,230.0,21.2,1078,13698,0.20,2.22,0.00,0.000,4,0.148,0.049,2950,3250,797,0,0,0,0,0,0
$GC,13730,0.67,510.7,223.4,17.7,1084,13738,0.00,2.17,0.00,0.000,6,0.000,0.037,2957,1840,796,0,0,0,0,0,0
$GC,14059,0.88,604.0,194.3,7.9,1145,14141,0.20,2.25,71.15,0.816,4,0.065,0.047,3076,450,450,0,0,0,0,0,0
$GC,14220,0.84,604.0,161.6,18.0,1170,14229,0.17,2.20,0.00,0.000,6,0.122,0.036,3019,1854,445,0,0,0,0,0,0
$GC,14551,0.84,604.0,108.4,15.0,1231,14560,0.00,2.17,0.00,0.000,4,0.000,0.048,3020,3258,443,0,0,0,0,0,0
$GC,14601,0.88,604.0,101.5,13.7,1239,14610,0.00,2.15,0.00,0.000,6,0.000,0.034,3029,1850,442,0,0,0,0,0,0
$GC,14929,0.93,604.0,60.2,11.4,1300,14936,0.00,2.17,0.00,0.000,4,0.000,0.046,3039,446,442,0,0,0,0,0,0
$GC,14977,1.07,639.4,55.6,9.6,1308,14986,0.10,2.12,0.00,0.000,6,0.050,0.032,3129,1861,442,0,0,0,0,0,0
$STATE,15237,end climb,SURFACE_DEPTH_REACHED
$STATE,15237,begin surface coast
$FINISH,1.0,0.998322
$STATE,15249,end surface coast,CONTROL_FINISHED_OK
$STATE,15249,begin surface
$SM_CCo,15327,0.00,0.000,0,0,441,599.27
$SM_GC,1.79,7.80,0.00,0.00,0.041,0.000,0.000,154,1483,441,-8.04,-0.51,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12255.13,150811,232310
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.60
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,25.20
$XPDR_PINGS,80
$24V_AH,23.3,17.830
$10V_AH,10.3,11.887
$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,22.000,135.000,719.875,0.000,0.000,26.357,31.718,168.197,20.000,0.000,50.738,3371.257,7903.365,775.737,3254.157,423.691,0.000,2102.156,0.000,2989.796,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.745,1390.968,1450.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,76822,1358
$CAP_FILE_SIZE,167454,0
$CFSIZE,260165632,141496320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,308.1,1
$GPS,160811,084237,2332.705,12300.486,41,1.1,41,-3.3