version: 66.09
glider: 166
mission: 6
dive: 143
start: 8 30 111 14 43 56
data:
$ID,166
$MISSION,6
$DIVE,143
$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,340
$T_MISSION,370
$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,160
$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,-24574.404
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,53
$R_STBD_OVSHOOT,40
$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
$GPS1,300811,143127,2227.318,12356.129,42,2.5,61,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.1
$GPS2,300811,144333,2227.382,12356.214,14,2.8,33,-3.1
$SPEED_LIMITS,0.168,0.265
$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,151.5,106472,-17.2,-9.706
$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,18,-0.68,-155.7,0.0,0.0,0,97,0.00,0.00,-76.68,0.000,2,0.000,0.000,122,1482,3132,0,0,0,0,0,0
$GC,100,-0.68,-155.7,5.7,-9.9,11,125,9.45,2.17,-7.55,0.000,4,0.225,0.053,2504,2908,3520,0,0,0,0,0,0
$GC,207,-0.68,-155.7,47.2,-32.0,29,216,0.00,2.15,0.00,0.000,6,0.000,0.034,2500,1516,3521,0,0,0,0,0,0
$GC,534,-0.68,-155.7,132.7,-25.9,90,541,0.00,2.20,0.00,0.000,4,0.000,0.048,2488,2909,3523,0,0,0,0,0,0
$GC,574,-0.68,-155.7,141.9,-23.7,96,582,0.08,2.17,0.00,0.000,6,0.157,0.036,2514,1491,3523,0,0,0,0,0,0
$GC,899,-0.68,-155.7,206.3,-18.1,157,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1491,3524,0,0,0,0,0,0
$GC,1233,-0.68,-155.7,261.0,-17.4,213,1236,0.00,1.98,0.00,0.000,4,0.000,0.045,2518,202,3524,0,0,0,0,0,0
$GC,1316,-0.68,-155.7,274.9,-15.6,220,1324,0.00,1.98,0.00,0.000,6,0.000,0.036,2511,1496,3524,0,0,0,0,0,0
$GC,1641,-0.68,-155.7,323.2,-14.5,251,1645,0.00,2.00,0.00,0.000,4,0.000,0.045,2511,205,3523,0,0,0,0,0,0
$GC,1681,-0.68,-155.7,329.2,-14.5,254,1688,0.00,1.98,0.00,0.000,6,0.000,0.036,2503,1514,3523,0,0,0,0,0,0
$GC,2006,-0.68,-155.7,375.2,-14.6,285,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1515,3522,0,0,0,0,0,0
$GC,2328,-0.68,-155.7,418.6,-13.9,315,2332,0.00,2.05,0.00,0.000,4,0.000,0.047,2504,193,3519,0,0,0,0,0,0
$GC,2378,-0.68,-155.7,426.3,-14.3,319,2385,0.00,2.00,0.00,0.000,6,0.000,0.037,2503,1502,3519,0,0,0,0,0,0
$GC,2706,-0.68,-155.7,468.3,-12.9,350,2709,0.00,2.03,0.00,0.000,4,0.000,0.048,2513,193,3517,0,0,0,0,0,0
$GC,2807,-0.68,-155.7,482.6,-13.6,359,2811,0.00,1.98,0.00,0.000,6,0.000,0.037,2503,1504,3516,0,0,0,0,0,0
$GC,3140,-0.68,-155.7,526.3,-13.5,390,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1504,3513,0,0,0,0,0,0
$GC,3459,-0.68,-155.7,566.5,-12.8,420,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1505,3511,0,0,0,0,0,0
$GC,3795,-0.68,-155.7,609.8,-13.4,449,3798,0.00,2.03,0.00,0.000,4,0.000,0.050,2502,201,3508,0,0,0,0,0,0
$GC,3878,-0.68,-155.7,622.2,-14.7,452,3886,0.08,2.00,0.00,0.000,6,0.149,0.040,2516,1495,3507,0,0,0,0,0,0
$GC,4194,-0.68,-155.7,658.3,-10.9,468,4198,0.00,2.17,0.00,0.000,4,0.000,0.054,2505,2914,3504,0,0,0,0,0,0
$GC,4220,-0.68,-155.7,660.7,-10.7,469,4224,0.00,2.15,0.00,0.000,6,0.000,0.041,2505,1496,3504,0,0,0,0,0,0
$GC,4547,-0.68,-155.7,694.6,-10.2,485,4550,0.00,2.00,0.00,0.000,4,0.000,0.054,2503,198,3501,0,0,0,0,0,0
$GC,4592,-0.68,-155.7,699.7,-11.8,487,4597,0.12,2.03,0.00,0.000,6,0.169,0.048,2524,1513,3500,0,0,0,0,0,0
$GC,4923,-0.68,-155.7,728.9,-8.9,503,4926,0.00,2.03,0.00,0.000,4,0.000,0.054,2525,202,3497,0,0,0,0,0,0
$GC,4946,-0.68,-155.7,731.4,-8.9,504,4950,0.00,1.98,0.00,0.000,6,0.000,0.043,2516,1501,3497,0,0,0,0,0,0
$GC,5281,-0.68,-155.7,762.4,-9.5,520,5285,0.00,2.15,0.00,0.000,4,0.000,0.057,2507,2907,3494,0,0,0,0,0,0
$GC,5313,-0.68,-155.7,765.9,-9.4,521,5321,0.00,2.12,0.00,0.000,6,0.000,0.041,2507,1504,3494,0,0,0,0,0,0
$GC,5630,-0.68,-155.7,796.4,-9.6,537,5634,0.00,2.20,0.00,0.000,4,0.000,0.057,2497,2904,3492,0,0,0,0,0,0
$GC,5650,-0.68,-155.7,798.2,-9.5,538,5654,0.00,2.15,0.00,0.000,6,0.000,0.042,2498,1499,3491,0,0,0,0,0,0
$GC,5977,-0.68,-155.7,833.2,-10.9,554,5981,0.00,2.00,0.00,0.000,4,0.000,0.056,2502,205,3489,0,0,0,0,0,0
$GC,6045,-0.68,-155.7,841.6,-12.5,557,6048,0.00,1.98,0.00,0.000,6,0.000,0.044,2496,1501,3488,0,0,0,0,0,0
$GC,6379,-0.68,-155.7,880.9,-11.7,573,6383,0.00,2.20,0.00,0.000,4,0.000,0.059,2486,2909,3486,0,0,0,0,0,0
$GC,6401,-0.68,-155.7,883.6,-11.6,574,6406,0.12,2.17,0.00,0.000,6,0.166,0.044,2519,1490,3486,0,0,0,0,0,0
$GC,6725,-0.68,-155.7,912.4,-8.5,590,6729,0.00,2.25,0.00,0.000,4,0.000,0.059,2511,2913,3484,0,0,0,0,0,0
$GC,6752,-0.68,-155.7,915.0,-8.2,591,6756,0.00,2.17,0.00,0.000,6,0.000,0.044,2511,1495,3484,0,0,0,0,0,0
$GC,7074,-0.68,-155.7,940.9,-8.0,607,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1495,3483,0,0,0,0,0,0
$GC,7385,-0.68,-155.7,964.6,-7.7,622,7389,0.00,2.22,0.00,0.000,4,0.000,0.060,2500,2908,3480,0,0,0,0,0,0
$GC,7413,-0.68,-155.7,967.0,-7.5,623,7417,0.00,2.17,0.00,0.000,6,0.000,0.044,2500,1496,3480,0,0,0,0,0,0
$STATE,7697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7697,begin apogee
$GC,7704,-0.14,0.0,990.6,8.5,637,7836,0.60,0.00,125.47,1.462,6,0.136,0.000,2688,1862,2884,0,0,0,0,0,0
$STATE,7836,end apogee,CONTROL_FINISHED_OK
$STATE,7836,begin climb
$GC,7839,0.68,155.7,992.0,0.0,643,7992,0.80,2.42,140.75,1.407,4,0.078,0.061,2965,3263,2248,0,0,0,0,0,0
$GC,8008,0.68,155.7,973.2,15.8,650,8015,0.00,2.33,0.00,0.000,6,0.000,0.044,2974,1855,2246,0,0,0,0,0,0
$GC,8325,0.68,155.7,920.4,16.7,666,8329,0.00,2.25,0.00,0.000,4,0.000,0.059,2969,3257,2240,0,0,0,0,0,0
$GC,8393,0.68,155.7,908.5,16.9,669,8398,0.00,2.17,0.00,0.000,6,0.000,0.044,2977,1845,2239,0,0,0,0,0,0
$GC,8715,0.68,155.7,857.2,15.3,685,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1845,2237,0,0,0,0,0,0
$GC,9026,0.68,155.7,812.2,14.4,700,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1845,2236,0,0,0,0,0,0
$GC,9334,0.68,155.7,767.3,14.8,715,9337,0.00,2.20,0.00,0.000,4,0.000,0.055,2968,3252,2235,0,0,0,0,0,0
$GC,9389,0.68,155.7,758.7,15.3,717,9393,0.00,2.17,0.00,0.000,6,0.000,0.041,2976,1849,2234,0,0,0,0,0,0
$GC,9712,0.68,155.7,710.1,15.3,733,9716,0.00,2.17,0.00,0.000,4,0.000,0.052,2987,434,2234,0,0,0,0,0,0
$GC,9751,0.68,155.7,703.3,16.9,734,9758,0.00,2.20,0.00,0.000,6,0.000,0.043,2978,1850,2233,0,0,0,0,0,0
$GC,10067,0.68,155.7,652.5,16.2,750,10071,0.00,2.20,0.00,0.000,4,0.000,0.058,2968,3264,2233,0,0,0,0,0,0
$GC,10209,0.68,155.7,630.3,15.2,756,10213,0.00,2.15,0.00,0.000,6,0.000,0.043,2978,1847,2232,0,0,0,0,0,0
$GC,10528,0.68,155.7,584.7,14.3,776,10532,0.00,2.20,0.00,0.000,4,0.000,0.056,2976,3253,2232,0,0,0,0,0,0
$GC,10563,0.68,155.7,579.7,14.4,778,10570,0.00,2.15,0.00,0.000,6,0.000,0.041,2984,1840,2231,0,0,0,0,0,0
$GC,10888,0.68,155.7,531.3,16.4,809,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1840,2231,0,0,0,0,0,0
$GC,11210,0.68,155.7,481.4,15.4,839,11214,0.00,2.22,0.00,0.000,4,0.000,0.055,2976,3260,2230,0,0,0,0,0,0
$GC,11260,0.68,155.7,472.9,16.0,843,11264,0.00,2.15,0.00,0.000,6,0.000,0.041,2984,1845,2230,0,0,0,0,0,0
$GC,11585,0.68,155.7,428.0,12.3,873,11589,0.00,2.15,0.00,0.000,4,0.000,0.050,2996,444,2230,0,0,0,0,0,0
$GC,11617,0.68,155.7,423.7,12.8,875,11624,0.00,2.17,0.00,0.000,6,0.000,0.041,2987,1850,2230,0,0,0,0,0,0
$GC,11943,0.68,155.7,387.0,10.9,906,11947,0.00,2.15,0.00,0.000,4,0.000,0.055,2987,3258,2230,0,0,0,0,0,0
$GC,12017,0.68,155.7,377.9,12.2,912,12021,0.00,2.10,0.00,0.000,6,0.000,0.038,2995,1849,2229,0,0,0,0,0,0
$GC,12343,0.68,155.7,333.7,14.1,942,12347,0.00,2.17,0.00,0.000,4,0.000,0.050,2990,3259,2229,0,0,0,0,0,0
$GC,12398,0.68,155.7,325.4,14.4,946,12406,0.12,2.12,0.00,0.000,6,0.195,0.037,2969,1847,2229,0,0,0,0,0,0
$GC,12726,0.68,155.7,289.6,9.7,977,12730,0.00,2.17,0.00,0.000,4,0.000,0.049,2965,3257,2229,0,0,0,0,0,0
$GC,12770,0.68,155.7,284.8,10.0,980,12778,0.00,2.15,0.00,0.000,6,0.000,0.037,2974,1843,2229,0,0,0,0,0,0
$GC,13098,0.68,155.7,253.2,10.3,1011,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1843,2229,0,0,0,0,0,0
$GC,13420,0.69,165.0,219.9,9.3,1070,13436,0.00,2.20,6.47,0.693,4,0.000,0.047,2966,3256,2211,0,0,0,0,0,0
$GC,13478,0.71,181.7,214.8,9.0,1079,13502,0.00,2.12,15.82,0.811,6,0.000,0.035,2973,1851,2142,0,0,0,0,0,0
$GC,13821,0.71,181.7,179.7,11.9,1142,13829,0.00,2.17,0.00,0.000,4,0.000,0.046,2982,444,2141,0,0,0,0,0,0
$GC,13874,0.71,181.7,174.1,10.5,1151,13882,0.00,2.15,0.00,0.000,6,0.000,0.034,2975,1856,2141,0,0,0,0,0,0
$GC,14201,0.77,230.5,146.1,7.7,1212,14250,0.00,2.22,42.28,0.786,4,0.000,0.047,2976,3252,1944,0,0,0,0,0,0
$GC,14381,0.79,240.6,130.4,9.3,1242,14397,0.00,2.15,9.82,0.672,6,0.000,0.034,2985,1852,1903,0,0,0,0,0,0
$GC,14716,0.83,276.0,102.1,8.2,1304,14754,0.00,2.17,31.15,0.725,4,0.000,0.044,2996,439,1757,0,0,0,0,0,0
$GC,14785,0.90,329.1,96.9,7.5,1314,14839,0.08,2.17,45.95,0.715,6,0.053,0.033,3055,1853,1542,0,0,0,0,0,0
$GC,15161,0.99,403.2,60.6,6.6,1381,15231,0.00,2.17,61.60,0.687,4,0.000,0.044,3055,3248,1238,0,0,0,0,0,0
$GC,15298,1.05,456.6,51.4,7.5,1402,15350,0.00,2.17,44.03,0.662,6,0.000,0.034,3066,1850,1020,0,0,0,0,0,0
$GC,15671,1.05,456.6,5.4,12.1,1469,15680,0.00,2.20,0.00,0.000,4,0.000,0.044,3076,447,1018,0,0,0,0,0,0
$STATE,15691,end climb,SURFACE_DEPTH_REACHED
$STATE,15691,begin surface coast
$FINISH,1.1,1.021811
$STATE,15714,end surface coast,CONTROL_FINISHED_OK
$STATE,15714,begin surface
$SM_CCo,15795,0.00,0.000,0,0,1013,458.96
$SM_GC,1.94,7.65,0.00,0.00,0.037,0.000,0.000,143,1526,1013,-8.04,0.74,458.96,0,0,0,0,0,0
$IRIDIUM_FIX,2220.67,12354.34,300811,141446
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.69
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.20
$XPDR_PINGS,83
$24V_AH,23.1,34.736
$10V_AH,10.2,24.357
$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,19.100,141.175,523.350,0.000,0.000,46.351,64.425,368.064,20.750,0.000,34.913,3631.806,8052.721,572.950,3792.336,452.625,0.000,1959.109,0.000,3298.384,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,61.200,1461.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.192,1509.231,1793.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330196
$DATA_FILE_SIZE,83606,1476
$CAP_FILE_SIZE,166536,0
$CFSIZE,260165632,134750208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,253.8,1
$GPS,300811,190855,2225.435,12357.158,66,1.8,66,-3.1