version: 66.09
glider: 166
mission: 6
dive: 112
start: 8 25 111 2 50 48
data:
$ID,166
$MISSION,6
$DIVE,112
$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,200
$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,400
$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,-24530.918
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,250811,024336,2308.247,12348.026,63,1.4,68,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-66.5
$GPS2,250811,025025,2308.243,12347.857,15,1.4,32,-3.2
$SPEED_LIMITS,0.184,0.302
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,131.6,183145,-16.6,-10.645
$D_GRID,5000
$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,-0.83,-194.6,0.0,0.0,0,102,0.00,0.00,-82.88,0.000,2,0.000,0.000,154,1531,3143,0,0,0,0,0,0
$GC,105,-0.83,-194.6,5.5,-7.7,11,130,9.12,2.15,-10.07,0.000,4,0.226,0.057,2473,190,3681,0,0,0,0,0,0
$GC,171,-0.45,-194.6,39.2,-52.3,21,181,0.43,2.00,0.00,0.000,6,0.176,0.033,2586,1493,3682,0,0,0,0,0,0
$GC,502,-0.40,-194.6,125.3,-19.5,82,509,0.10,0.00,0.00,0.000,6,0.181,0.000,2613,1496,3684,0,0,0,0,0,0
$GC,832,-0.40,-194.6,166.2,-10.3,143,840,0.00,2.15,0.00,0.000,4,0.000,0.041,2605,2905,3685,0,0,0,0,0,0
$GC,848,-0.40,-194.6,168.0,-9.7,145,858,0.00,2.12,0.00,0.000,6,0.000,0.032,2589,1500,3685,0,0,0,0,0,0
$GC,1176,-0.40,-194.6,206.8,-13.1,206,1184,0.00,2.17,0.00,0.000,4,0.000,0.042,2580,2902,3685,0,0,0,0,0,0
$GC,1239,-0.45,-194.6,214.9,-12.2,217,1248,0.00,2.12,0.00,0.000,6,0.000,0.034,2580,1494,3685,0,0,0,0,0,0
$GC,1567,-0.45,-194.6,254.4,-9.3,274,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1494,3685,0,0,0,0,0,0
$GC,1888,-0.47,-194.6,282.9,-8.9,304,1892,0.00,2.17,0.00,0.000,4,0.000,0.044,2575,2909,3685,0,0,0,0,0,0
$GC,1918,-0.50,-194.6,285.9,-9.0,306,1922,0.00,2.12,0.00,0.000,6,0.000,0.034,2575,1491,3685,0,0,0,0,0,0
$GC,2243,-0.50,-194.6,319.9,-11.6,336,2247,0.00,2.17,0.00,0.000,4,0.000,0.045,2572,2908,3684,0,0,0,0,0,0
$GC,2308,-0.55,-194.6,327.2,-10.9,341,2312,0.00,2.10,0.00,0.000,6,0.000,0.034,2573,1501,3684,0,0,0,0,0,0
$GC,2635,-0.56,-194.6,362.8,-10.1,371,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1501,3682,0,0,0,0,0,0
$GC,2953,-0.59,-194.6,397.4,-10.9,401,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1501,3681,0,0,0,0,0,0
$GC,3273,-0.62,-194.6,431.1,-10.3,431,3277,0.00,2.17,0.00,0.000,4,0.000,0.050,2567,2902,3681,0,0,0,0,0,0
$GC,3336,-0.67,-194.6,437.4,-9.4,436,3341,0.12,2.12,0.00,0.000,6,0.083,0.038,2492,1494,3680,0,0,0,0,0,0
$GC,3662,-0.58,-194.6,490.0,-16.6,466,3664,0.22,0.00,0.00,0.000,6,0.152,0.000,2557,1494,3679,0,0,0,0,0,0
$GC,3982,-0.60,-194.6,524.1,-10.5,496,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1494,3676,0,0,0,0,0,0
$GC,4309,-0.63,-194.6,557.1,-9.8,527,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1494,3675,0,0,0,0,0,0
$GC,4631,-0.66,-194.6,586.3,-8.5,557,4635,0.00,2.20,0.00,0.000,4,0.000,0.054,2549,2901,3672,0,0,0,0,0,0
$GC,4706,-0.71,-194.6,592.7,-7.8,563,4710,0.00,2.12,0.00,0.000,6,0.000,0.041,2549,1503,3671,0,0,0,0,0,0
$GC,5029,-0.73,-194.6,621.9,-9.7,582,5031,0.10,0.00,0.00,0.000,6,0.099,0.000,2491,1503,3669,0,0,0,0,0,0
$GC,5334,-0.68,-194.6,665.3,-14.4,597,5339,0.12,2.20,0.00,0.000,4,0.172,0.056,2514,2902,3667,0,0,0,0,0,0
$GC,5356,-0.65,-194.6,668.4,-14.3,598,5360,0.00,2.12,0.00,0.000,6,0.000,0.042,2514,1500,3666,0,0,0,0,0,0
$GC,5686,-0.65,-194.6,704.8,-10.2,614,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1500,3664,0,0,0,0,0,0
$GC,5993,-0.65,-194.6,732.8,-9.0,629,5997,0.00,2.20,0.00,0.000,4,0.000,0.058,2502,2907,3662,0,0,0,0,0,0
$GC,6050,-0.65,-194.6,738.1,-9.1,631,6055,0.12,2.15,0.00,0.000,6,0.158,0.044,2537,1501,3661,0,0,0,0,0,0
$GC,6368,-0.68,-194.6,764.3,-8.5,646,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1501,3659,0,0,0,0,0,0
$GC,6678,-0.71,-194.6,792.7,-9.2,661,6682,0.00,2.17,0.00,0.000,4,0.000,0.059,2528,2898,3657,0,0,0,0,0,0
$GC,6728,-0.76,-194.6,797.7,-9.2,663,6732,0.00,2.15,0.00,0.000,6,0.000,0.044,2529,1500,3656,0,0,0,0,0,0
$GC,7051,-0.78,-194.6,829.6,-9.8,679,7055,0.12,2.22,0.00,0.000,4,0.090,0.060,2465,2900,3654,0,0,0,0,0,0
$GC,7080,-0.76,-194.6,833.1,-10.2,680,7085,0.12,2.15,0.00,0.000,6,0.174,0.044,2497,1500,3654,0,0,0,0,0,0
$GC,7396,-0.73,-194.6,872.3,-12.3,695,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1500,3652,0,0,0,0,0,0
$GC,7708,-0.71,-194.6,912.6,-13.4,710,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1500,3650,0,0,0,0,0,0
$GC,8015,-0.69,-194.6,953.2,-13.2,725,8019,0.12,2.05,0.00,0.000,4,0.174,0.059,2525,199,3649,0,0,0,0,0,0
$GC,8052,-0.71,-194.6,958.1,-12.1,726,8059,0.00,2.00,0.00,0.000,6,0.000,0.046,2517,1497,3648,0,0,0,0,0,0
$GC,8371,-0.74,-194.6,988.7,-9.0,742,8375,0.00,2.17,0.00,0.000,4,0.000,0.060,2506,2905,3647,0,0,0,0,0,0
$STATE,8379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8380,begin apogee
$GC,8387,-0.18,0.0,990.0,8.8,742,8552,0.52,0.00,159.30,1.452,6,0.125,0.000,2680,1834,2883,0,0,0,0,0,0
$STATE,8552,end apogee,CONTROL_FINISHED_OK
$STATE,8552,begin climb
$GC,8555,0.83,194.6,993.0,0.0,750,8740,0.95,2.45,176.68,1.385,4,0.073,0.066,3010,3242,2089,0,0,0,0,0,0
$GC,8791,0.66,194.6,954.2,23.4,761,8796,0.22,2.25,0.00,0.000,6,0.184,0.044,2963,1853,2085,0,0,0,0,0,0
$GC,9107,0.54,194.6,893.0,19.5,776,9112,0.15,2.25,0.00,0.000,4,0.184,0.060,2913,3252,2081,0,0,0,0,0,0
$GC,9143,0.49,194.6,886.4,17.7,777,9151,0.00,2.20,0.00,0.000,6,0.000,0.044,2920,1840,2080,0,0,0,0,0,0
$GC,9460,0.43,194.6,837.2,15.5,793,9464,0.12,2.17,0.00,0.000,4,0.180,0.055,2897,440,2078,0,0,0,0,0,0
$GC,9510,0.43,194.6,830.3,12.9,795,9514,0.00,2.20,0.00,0.000,6,0.000,0.044,2893,1859,2078,0,0,0,0,0,0
$GC,9831,0.43,194.6,791.7,12.1,811,9835,0.00,2.17,0.00,0.000,4,0.000,0.059,2893,3252,2077,0,0,0,0,0,0
$GC,9902,0.43,194.6,782.7,12.0,814,9907,0.00,2.15,0.00,0.000,6,0.000,0.043,2901,1844,2076,0,0,0,0,0,0
$GC,10229,0.41,194.9,747.1,10.6,830,10233,0.00,2.15,0.00,0.000,4,0.000,0.054,2912,441,2076,0,0,0,0,0,0
$GC,10301,0.38,195.2,738.6,10.6,833,10306,0.15,2.15,0.00,0.000,6,0.159,0.043,2870,1844,2075,0,0,0,0,0,0
$GC,10626,0.53,301.8,715.7,6.7,849,10728,0.15,2.40,94.38,1.278,4,0.078,0.058,2942,3263,1653,0,0,0,0,0,0
$GC,10768,0.51,301.8,697.0,14.0,855,10776,0.15,2.25,0.00,0.000,6,0.169,0.043,2913,1851,1651,0,0,0,0,0,0
$GC,11086,0.51,301.8,659.4,12.5,871,11090,0.00,2.20,0.00,0.000,4,0.000,0.053,2921,434,1645,0,0,0,0,0,0
$GC,11133,0.51,301.8,653.1,13.2,873,11137,0.00,2.22,0.00,0.000,6,0.000,0.041,2921,1860,1644,0,0,0,0,0,0
$GC,11461,0.51,301.8,606.0,14.8,889,11465,0.00,2.17,0.00,0.000,4,0.000,0.057,2921,3261,1644,0,0,0,0,0,0
$GC,11557,0.53,301.8,591.8,14.0,895,11564,0.00,2.17,0.00,0.000,6,0.000,0.042,2931,1838,1643,0,0,0,0,0,0
$GC,11883,0.51,301.8,550.1,11.9,926,11887,0.00,2.17,0.00,0.000,4,0.000,0.053,2943,433,1643,0,0,0,0,0,0
$GC,11923,0.51,301.8,545.6,11.1,929,11928,0.12,2.20,0.00,0.000,6,0.157,0.041,2909,1860,1642,0,0,0,0,0,0
$GC,12248,0.66,404.2,520.8,6.9,959,12344,0.15,2.28,87.88,1.131,4,0.080,0.054,2976,3261,1235,0,0,0,0,0,0
$GC,12393,0.66,404.2,500.6,14.6,971,12397,0.00,2.22,0.00,0.000,6,0.000,0.040,2985,1852,1234,0,0,0,0,0,0
$GC,12719,0.60,404.2,446.4,18.6,1001,12721,0.17,0.00,0.00,0.000,6,0.168,0.000,2937,1852,1230,0,0,0,0,0,0
$GC,13037,0.62,404.2,402.9,13.7,1031,13041,0.00,2.20,0.00,0.000,4,0.000,0.054,2937,3259,1230,0,0,0,0,0,0
$GC,13067,0.65,404.2,398.7,14.2,1033,13071,0.00,2.17,0.00,0.000,6,0.000,0.039,2947,1833,1229,0,0,0,0,0,0
$GC,13392,0.67,404.2,350.9,16.0,1063,13396,0.00,2.12,0.00,0.000,4,0.000,0.050,2963,436,1229,0,0,0,0,0,0
$GC,13436,0.71,404.2,344.0,14.9,1066,13443,0.00,2.17,0.00,0.000,6,0.000,0.038,2961,1861,1227,0,0,0,0,0,0
$GC,13763,0.71,404.2,294.6,14.6,1097,13767,0.00,2.15,0.00,0.000,4,0.000,0.052,2964,3266,1227,0,0,0,0,0,0
$GC,13806,0.75,404.2,287.6,14.3,1100,13814,0.00,2.15,0.00,0.000,6,0.000,0.038,2975,1855,1227,0,0,0,0,0,0
$GC,14135,0.75,404.2,241.9,13.8,1136,14143,0.00,2.20,0.00,0.000,4,0.000,0.048,2985,446,1227,0,0,0,0,0,0
$GC,14200,0.78,404.2,233.4,12.8,1147,14208,0.00,2.15,0.00,0.000,6,0.000,0.037,2986,1844,1227,0,0,0,0,0,0
$GC,14526,0.78,404.2,183.7,16.4,1208,14534,0.00,2.20,0.00,0.000,4,0.000,0.049,2983,3267,1227,0,0,0,0,0,0
$GC,14555,0.78,404.2,179.2,16.6,1212,14563,0.00,2.15,0.00,0.000,6,0.000,0.036,2990,1852,1227,0,0,0,0,0,0
$GC,14882,0.78,404.2,130.9,16.0,1273,14891,0.00,2.20,0.00,0.000,4,0.000,0.047,3001,436,1227,0,0,0,0,0,0
$GC,14970,0.81,404.2,118.0,14.2,1288,14978,0.00,2.15,0.00,0.000,6,0.000,0.035,3002,1846,1227,0,0,0,0,0,0
$GC,15299,0.87,421.4,74.7,10.0,1349,15323,0.00,2.20,15.00,0.684,4,0.000,0.047,3002,3257,1165,0,0,0,0,0,0
$GC,15374,1.03,466.1,67.3,9.0,1361,15421,0.15,2.15,37.30,0.704,6,0.037,0.035,3109,1848,982,0,0,0,0,0,0
$STATE,15714,end climb,SURFACE_DEPTH_REACHED
$STATE,15714,begin surface coast
$FINISH,1.1,1.007520
$STATE,15731,end surface coast,CONTROL_FINISHED_OK
$STATE,15731,begin surface
$SM_CCo,15811,0.00,0.000,0,0,976,468.03
$SM_GC,1.77,7.85,0.00,0.00,0.041,0.000,0.000,154,1463,976,-8.05,-1.05,468.03,0,0,0,0,0,0
$IRIDIUM_FIX,2302.75,12349.21,240811,222211
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.96
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.40
$XPDR_PINGS,81
$24V_AH,23.2,29.203
$10V_AH,10.2,19.410
$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,21.600,130.525,570.525,0.000,0.000,25.337,16.888,189.991,20.250,0.000,32.935,3569.807,8204.134,638.076,3353.779,434.296,0.000,1954.353,0.000,3103.785,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,65.790,1451.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.477,1457.560,1549.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330236
$DATA_FILE_SIZE,80284,1425
$CAP_FILE_SIZE,169587,0
$CFSIZE,260165632,137355264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,310.6,1
$GPS,250811,071557,2307.568,12348.484,40,99.0,59,-3.2