version: 66.09
glider: 166
mission: 6
dive: 72
start: 8 17 111 7 27 45
data:
$ID,166
$MISSION,6
$DIVE,72
$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,-9
$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,-24480.094
$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,41
$R_STBD_OVSHOOT,41
$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
$GPS1,170811,071757,2336.161,12314.128,33,99.0,52,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.4
$GPS2,170811,072721,2336.142,12314.009,44,3.0,63,-3.3
$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,74.4,74032,-14.7,-10.645
$D_GRID,2974
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.83,-243.3,0.0,0.0,0,121,0.00,0.00,-101.20,0.000,2,0.000,0.000,154,1488,3064,0,0,0,0,0,0
$GC,125,-0.83,-243.3,5.8,-10.6,14,156,9.10,2.20,-14.93,0.000,4,0.230,0.051,2456,2919,3878,0,0,0,0,0,0
$GC,225,-0.54,-243.3,51.9,-40.7,30,233,0.35,2.17,0.00,0.000,6,0.165,0.035,2564,1505,3880,0,0,0,0,0,0
$GC,555,-0.39,-243.3,141.7,-25.1,91,563,0.17,0.00,0.00,0.000,6,0.165,0.000,2614,1504,3882,0,0,0,0,0,0
$GC,884,-0.39,-243.3,194.4,-14.6,152,893,0.00,2.17,0.00,0.000,4,0.000,0.041,2605,2911,3882,0,0,0,0,0,0
$GC,938,-0.42,-243.3,201.1,-12.1,161,946,0.00,2.12,0.00,0.000,6,0.000,0.031,2604,1500,3882,0,0,0,0,0,0
$GC,1265,-0.42,-243.3,246.9,-12.6,222,1272,0.00,2.17,0.00,0.000,4,0.000,0.042,2595,2911,3882,0,0,0,0,0,0
$GC,1312,-0.44,-243.3,252.6,-11.2,228,1317,0.00,2.10,0.00,0.000,6,0.000,0.032,2595,1491,3882,0,0,0,0,0,0
$GC,1637,-0.44,-243.3,291.5,-11.0,258,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1491,3881,0,0,0,0,0,0
$GC,1959,-0.44,-243.3,328.0,-11.0,288,1963,0.00,2.12,0.00,0.000,4,0.000,0.041,2586,2908,3879,0,0,0,0,0,0
$GC,2036,-0.49,-243.3,335.1,-8.6,294,2040,0.00,2.10,0.00,0.000,6,0.000,0.032,2586,1490,3879,0,0,0,0,0,0
$GC,2361,-0.49,-243.3,370.7,-10.8,324,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1490,3877,0,0,0,0,0,0
$GC,2684,-0.49,-243.3,403.3,-9.7,354,2687,0.00,2.15,0.00,0.000,4,0.000,0.044,2575,2907,3876,0,0,0,0,0,0
$GC,2749,-0.55,-243.3,409.2,-8.4,359,2753,0.00,2.08,0.00,0.000,6,0.000,0.034,2574,1504,3876,0,0,0,0,0,0
$GC,3080,-0.56,-243.3,441.6,-10.1,390,3084,0.00,2.12,0.00,0.000,4,0.000,0.044,2564,2913,3874,0,0,0,0,0,0
$GC,3150,-0.61,-243.3,448.1,-9.3,396,3154,0.00,2.10,0.00,0.000,6,0.000,0.034,2563,1497,3873,0,0,0,0,0,0
$GC,3475,-0.61,-243.3,485.5,-11.9,426,3479,0.00,1.95,0.00,0.000,4,0.000,0.046,2561,200,3871,0,0,0,0,0,0
$GC,3545,-0.64,-243.3,493.7,-11.9,432,3548,0.00,1.95,0.00,0.000,6,0.000,0.035,2550,1507,3871,0,0,0,0,0,0
$GC,3875,-0.64,-243.3,530.8,-10.7,463,3879,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,2904,3868,0,0,0,0,0,0
$GC,3981,-0.67,-243.3,540.9,-9.6,472,3986,0.00,2.10,0.00,0.000,6,0.000,0.037,2546,1492,3868,0,0,0,0,0,0
$GC,4306,-0.67,-243.3,577.7,-10.9,502,4310,0.00,2.15,0.00,0.000,4,0.000,0.050,2536,2904,3865,0,0,0,0,0,0
$GC,4328,-0.67,-243.3,580.3,-10.8,503,4335,0.00,2.10,0.00,0.000,6,0.000,0.037,2536,1477,3865,0,0,0,0,0,0
$GC,4653,-0.65,-243.3,615.7,-10.6,527,4657,0.00,2.17,0.00,0.000,4,0.000,0.051,2526,2907,3862,0,0,0,0,0,0
$GC,4714,-0.65,-243.3,622.6,-9.9,529,4721,0.00,2.10,0.00,0.000,6,0.000,0.038,2526,1503,3862,0,0,0,0,0,0
$GC,5033,-0.62,-243.3,656.5,-10.6,545,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1503,3859,0,0,0,0,0,0
$GC,5340,-0.60,-243.3,687.8,-9.8,560,5344,0.00,2.15,0.00,0.000,4,0.000,0.057,2516,2907,3857,0,0,0,0,0,0
$GC,5398,-0.60,-243.3,693.2,-9.6,562,5402,0.12,2.12,0.00,0.000,6,0.151,0.041,2551,1497,3857,0,0,0,0,0,0
$GC,5716,-0.64,-243.3,720.7,-8.9,577,5720,0.00,2.17,0.00,0.000,4,0.000,0.056,2539,2905,3854,0,0,0,0,0,0
$GC,5761,-0.68,-243.3,725.1,-9.1,579,5765,0.00,2.12,0.00,0.000,6,0.000,0.041,2541,1501,3854,0,0,0,0,0,0
$GC,6084,-0.70,-243.3,756.6,-9.9,595,6088,0.00,2.15,0.00,0.000,4,0.000,0.056,2527,2904,3852,0,0,0,0,0,0
$GC,6113,-0.73,-243.3,759.7,-9.7,596,6117,0.00,2.12,0.00,0.000,6,0.000,0.043,2529,1503,3851,0,0,0,0,0,0
$GC,6430,-0.73,-243.3,792.5,-10.3,611,6434,0.00,2.17,0.00,0.000,4,0.000,0.057,2515,2905,3849,0,0,0,0,0,0
$GC,6464,-0.74,-243.3,796.2,-9.9,612,6472,0.00,2.15,0.00,0.000,6,0.000,0.043,2516,1488,3848,0,0,0,0,0,0
$GC,6780,-0.74,-243.3,830.6,-10.9,628,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1488,3847,0,0,0,0,0,0
$GC,7091,-0.74,-243.3,865.6,-11.5,643,7095,0.00,2.20,0.00,0.000,4,0.000,0.060,2503,2898,3843,0,0,0,0,0,0
$GC,7139,-0.76,-243.3,870.8,-11.0,645,7143,0.00,2.12,0.00,0.000,6,0.000,0.045,2502,1503,3843,0,0,0,0,0,0
$GC,7468,-0.76,-243.3,908.6,-11.2,661,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1503,3841,0,0,0,0,0,0
$GC,7776,-0.74,-243.3,941.6,-10.1,676,7780,0.00,2.03,0.00,0.000,4,0.000,0.060,2498,194,3839,0,0,0,0,0,0
$GC,7814,-0.73,-243.3,945.9,-10.9,677,7821,0.00,2.00,0.00,0.000,6,0.000,0.045,2489,1499,3838,0,0,0,0,0,0
$GC,8133,-0.70,-243.3,977.0,-9.7,693,8138,0.12,2.17,0.00,0.000,4,0.173,0.060,2512,2905,3836,0,0,0,0,0,0
$GC,8189,-0.74,-243.3,981.9,-7.7,695,8196,0.00,2.12,0.00,0.000,6,0.000,0.044,2513,1493,3836,0,0,0,0,0,0
$STATE,8317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8317,begin apogee
$GC,8325,-0.18,0.0,991.5,7.5,702,8529,0.50,0.00,197.07,1.447,6,0.119,0.000,2680,1863,2883,0,0,0,0,0,0
$STATE,8532,end apogee,CONTROL_FINISHED_OK
$STATE,8532,begin climb
$GC,8534,0.83,243.3,995.9,0.0,711,8761,0.90,2.42,216.80,1.382,4,0.057,0.063,3009,3245,1891,0,0,0,0,0,0
$GC,8800,0.63,243.3,950.0,23.2,724,8805,0.25,2.25,0.00,0.000,6,0.183,0.044,2956,1851,1888,0,0,0,0,0,0
$GC,9118,0.50,243.3,893.2,17.7,739,9123,0.17,2.25,0.00,0.000,4,0.177,0.057,2917,432,1883,0,0,0,0,0,0
$GC,9145,0.41,243.3,887.9,17.3,740,9150,0.12,2.22,0.00,0.000,6,0.162,0.046,2880,1848,1881,0,0,0,0,0,0
$GC,9465,0.40,246.5,853.6,10.6,755,9469,0.00,2.22,0.00,0.000,4,0.000,0.060,2879,3264,1881,0,0,0,0,0,0
$GC,9514,0.40,246.5,847.6,11.1,757,9518,0.00,2.17,0.00,0.000,6,0.000,0.044,2887,1835,1880,0,0,0,0,0,0
$GC,9843,0.37,246.5,811.1,11.1,773,9847,0.00,2.15,0.00,0.000,4,0.000,0.055,2898,439,1879,0,0,0,0,0,0
$GC,9876,0.35,246.5,806.7,12.0,774,9881,0.15,2.17,0.00,0.000,6,0.154,0.044,2856,1856,1878,0,0,0,0,0,0
$GC,10194,0.45,312.9,778.6,8.7,789,10263,0.10,2.33,61.88,1.317,4,0.101,0.059,2909,3264,1607,0,0,0,0,0,0
$GC,10294,0.43,312.9,765.4,13.8,793,10299,0.12,2.22,0.00,0.000,6,0.170,0.042,2888,1848,1607,0,0,0,0,0,0
$GC,10612,0.45,335.6,731.9,10.0,808,10638,0.00,2.25,21.10,1.231,4,0.000,0.051,2897,443,1513,0,0,0,0,0,0
$GC,10677,0.52,372.3,725.1,9.6,811,10716,0.00,2.22,33.60,1.237,6,0.000,0.041,2897,1848,1365,0,0,0,0,0,0
$GC,11024,0.59,416.7,691.5,9.3,828,11070,0.12,2.35,39.58,1.231,4,0.087,0.058,2958,3257,1184,0,0,0,0,0,0
$GC,11095,0.52,416.7,680.8,16.9,831,11100,0.20,2.22,0.00,0.000,6,0.164,0.041,2915,1850,1184,0,0,0,0,0,0
$GC,11424,0.52,416.7,640.1,12.3,847,11428,0.00,2.20,0.00,0.000,4,0.000,0.051,2924,437,1181,0,0,0,0,0,0
$GC,11445,0.52,416.7,637.0,12.2,848,11450,0.00,2.20,0.00,0.000,6,0.000,0.038,2924,1848,1180,0,0,0,0,0,0
$GC,11763,0.52,416.7,595.7,13.3,864,11767,0.00,2.17,0.00,0.000,4,0.000,0.056,2924,3267,1180,0,0,0,0,0,0
$GC,11827,0.55,416.7,587.3,12.9,869,11831,0.00,2.15,0.00,0.000,6,0.000,0.039,2935,1835,1180,0,0,0,0,0,0
$GC,12152,0.52,416.7,536.5,15.7,899,12156,0.00,2.22,0.00,0.000,4,0.000,0.053,2934,3270,1180,0,0,0,0,0,0
$GC,12172,0.50,416.7,533.6,15.6,900,12177,0.15,2.15,0.00,0.000,6,0.163,0.037,2904,1836,1180,0,0,0,0,0,0
$GC,12505,0.58,446.0,497.4,9.8,931,12541,0.00,2.20,25.20,1.086,4,0.000,0.051,2913,450,1064,0,0,0,0,0,0
$GC,12579,0.69,486.7,490.3,9.4,937,12625,0.15,2.15,36.03,1.073,6,0.074,0.037,2990,1861,897,0,0,0,0,0,0
$GC,12944,0.62,486.7,415.7,21.1,971,12949,0.17,2.20,0.00,0.000,4,0.158,0.055,2934,3259,893,0,0,0,0,0,0
$GC,13033,0.70,486.7,402.1,11.4,978,13040,0.00,2.12,0.00,0.000,6,0.000,0.039,2943,1849,892,0,0,0,0,0,0
$GC,13358,0.70,486.7,357.1,14.4,1009,13362,0.00,2.15,0.00,0.000,4,0.000,0.052,2957,434,892,0,0,0,0,0,0
$GC,13426,0.75,486.7,347.8,13.2,1015,13430,0.00,2.15,0.00,0.000,6,0.000,0.038,2958,1851,891,0,0,0,0,0,0
$GC,13751,0.75,486.7,300.9,13.6,1045,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1852,891,0,0,0,0,0,0
$GC,14075,0.77,486.7,257.9,13.3,1075,14080,0.10,2.15,0.00,0.000,4,0.098,0.050,3026,3262,891,0,0,0,0,0,0
$GC,14115,0.72,486.7,250.8,17.9,1078,14120,0.20,2.15,0.00,0.000,6,0.151,0.037,2978,1834,891,0,0,0,0,0,0
$GC,14442,0.72,486.7,202.1,14.6,1138,14450,0.00,2.15,0.00,0.000,4,0.000,0.047,2989,443,891,0,0,0,0,0,0
$GC,14475,0.74,486.7,196.6,15.3,1143,14484,0.00,2.12,0.00,0.000,6,0.000,0.035,2990,1845,891,0,0,0,0,0,0
$GC,14803,0.74,486.7,148.7,13.7,1204,14811,0.00,2.17,0.00,0.000,4,0.000,0.049,2990,3266,891,0,0,0,0,0,0
$GC,14868,0.81,486.7,141.2,11.5,1215,14876,0.00,2.15,0.00,0.000,6,0.000,0.035,2999,1844,891,0,0,0,0,0,0
$GC,15196,0.83,486.7,99.9,11.9,1276,15204,0.00,2.15,0.00,0.000,4,0.000,0.046,3010,441,891,0,0,0,0,0,0
$GC,15224,0.85,486.7,96.1,12.2,1280,15232,0.00,2.12,0.00,0.000,6,0.000,0.034,3010,1856,891,0,0,0,0,0,0
$GC,15554,0.91,500.4,58.9,10.2,1341,15571,0.00,2.17,12.57,0.645,4,0.000,0.045,3010,3264,842,0,0,0,0,0,0
$GC,15600,1.00,509.6,53.8,10.4,1348,15618,0.10,2.12,9.00,0.597,6,0.050,0.034,3107,1853,804,0,0,0,0,0,0
$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15878,begin surface coast
$FINISH,1.0,1.021430
$STATE,15898,end surface coast,CONTROL_FINISHED_OK
$STATE,15899,begin surface
$SM_CCo,15978,0.00,0.000,0,0,801,510.71
$SM_GC,1.84,7.70,0.00,0.00,0.038,0.000,0.000,154,1477,801,-8.04,-0.65,510.71,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12333.58,170811,020249
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.83
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.40
$XPDR_PINGS,76
$24V_AH,23.4,19.414
$10V_AH,10.3,12.826
$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,21.100,152.225,652.825,0.000,0.000,29.664,28.395,299.279,19.000,0.000,65.274,3535.759,8297.523,721.883,3513.106,454.593,0.000,2086.344,0.000,3110.885,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,62.730,1446.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.146,1435.123,1488.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330224
$DATA_FILE_SIZE,80164,1402
$CAP_FILE_SIZE,177030,0
$CFSIZE,260165632,140951552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,282.7,1
$GPS,170811,115557,2337.118,12316.136,56,2.2,75,-3.3