version: 66.09
glider: 166
mission: 6
dive: 144
start: 8 30 111 19 25 3
data:
$ID,166
$MISSION,6
$DIVE,144
$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,-24575.664
$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,40
$R_STBD_OVSHOOT,56
$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
$GPS1,300811,190855,2225.435,12357.158,66,1.8,66,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.5
$GPS2,300811,192437,2225.506,12357.287,16,1.2,32,-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,168.9,102904,-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,17,-0.68,-155.7,0.0,0.0,0,102,0.00,0.00,-82.80,0.000,2,0.000,0.000,129,1527,3003,0,0,0,0,0,0
$GC,105,-0.68,-155.7,5.3,-9.3,11,130,9.40,2.17,-10.25,0.000,4,0.223,0.058,2508,2902,3522,0,0,0,0,0,0
$GC,186,-0.68,-155.7,35.6,-32.0,24,194,0.00,2.17,0.00,0.000,6,0.000,0.034,2504,1495,3523,0,0,0,0,0,0
$GC,510,-0.68,-155.7,125.2,-23.7,85,519,0.00,2.00,0.00,0.000,4,0.000,0.043,2502,201,3524,0,0,0,0,0,0
$GC,539,-0.68,-155.7,133.0,-24.5,89,549,0.00,1.95,0.00,0.000,6,0.000,0.036,2495,1474,3523,0,0,0,0,0,0
$GC,869,-0.68,-155.7,201.2,-17.4,150,877,0.10,2.22,0.00,0.000,4,0.193,0.047,2510,2905,3524,0,0,0,0,0,0
$GC,886,-0.68,-155.7,204.5,-17.6,152,894,0.00,2.15,0.00,0.000,6,0.000,0.037,2510,1503,3524,0,0,0,0,0,0
$GC,1215,-0.68,-155.7,262.4,-18.2,207,1218,0.00,2.00,0.00,0.000,4,0.000,0.047,2510,198,3524,0,0,0,0,0,0
$GC,1364,-0.68,-155.7,290.5,-17.9,220,1372,0.00,2.00,0.00,0.000,6,0.000,0.036,2500,1511,3524,0,0,0,0,0,0
$GC,1690,-0.68,-155.7,337.5,-14.1,251,1694,0.00,2.10,0.00,0.000,4,0.000,0.047,2490,2915,3523,0,0,0,0,0,0
$GC,1708,-0.68,-155.7,340.2,-14.3,252,1713,0.12,2.12,0.00,0.000,6,0.163,0.037,2525,1488,3523,0,0,0,0,0,0
$GC,2033,-0.68,-155.7,379.6,-13.6,282,2037,0.00,2.17,0.00,0.000,4,0.000,0.050,2517,2905,3521,0,0,0,0,0,0
$GC,2066,-0.68,-155.7,384.6,-14.2,284,2073,0.00,2.12,0.00,0.000,6,0.000,0.038,2518,1477,3521,0,0,0,0,0,0
$GC,2392,-0.68,-155.7,431.3,-13.9,315,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1478,3519,0,0,0,0,0,0
$GC,2712,-0.68,-155.7,467.2,-9.3,345,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1478,3516,0,0,0,0,0,0
$GC,3034,-0.68,-155.7,496.3,-9.3,375,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1478,3513,0,0,0,0,0,0
$GC,3362,-0.68,-155.7,530.4,-11.0,406,3366,0.00,1.98,0.00,0.000,4,0.000,0.050,2537,202,3510,0,0,0,0,0,0
$GC,3414,-0.68,-155.7,536.8,-11.9,410,3420,0.00,1.98,0.00,0.000,6,0.000,0.039,2529,1505,3510,0,0,0,0,0,0
$GC,3739,-0.68,-155.7,571.5,-10.6,441,3743,0.00,2.12,0.00,0.000,4,0.000,0.053,2519,2905,3507,0,0,0,0,0,0
$GC,3771,-0.68,-155.7,575.3,-11.4,443,3778,0.00,2.10,0.00,0.000,6,0.000,0.040,2519,1502,3506,0,0,0,0,0,0
$GC,4107,-0.68,-155.7,616.5,-13.0,469,4111,0.00,2.03,0.00,0.000,4,0.000,0.052,2519,180,3503,0,0,0,0,0,0
$GC,4162,-0.68,-155.7,624.8,-13.9,471,4166,0.00,2.03,0.00,0.000,6,0.000,0.041,2508,1495,3503,0,0,0,0,0,0
$GC,4486,-0.68,-155.7,667.0,-12.8,487,4490,0.00,2.03,0.00,0.000,4,0.000,0.052,2508,181,3500,0,0,0,0,0,0
$GC,4599,-0.68,-155.7,682.3,-13.8,492,4603,0.10,2.00,0.00,0.000,6,0.181,0.042,2519,1505,3499,0,0,0,0,0,0
$GC,4927,-0.68,-155.7,716.1,-9.9,508,4931,0.00,2.17,0.00,0.000,4,0.000,0.058,2508,2911,3496,0,0,0,0,0,0
$GC,4953,-0.68,-155.7,719.1,-10.1,509,4958,0.00,2.12,0.00,0.000,6,0.000,0.041,2507,1491,3495,0,0,0,0,0,0
$GC,5281,-0.68,-155.7,751.4,-9.5,525,5285,0.00,1.98,0.00,0.000,4,0.000,0.054,2507,206,3493,0,0,0,0,0,0
$GC,5344,-0.68,-155.7,758.2,-11.5,527,5351,0.00,2.00,0.00,0.000,6,0.000,0.044,2496,1508,3492,0,0,0,0,0,0
$GC,5660,-0.68,-155.7,791.4,-10.8,543,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1509,3490,0,0,0,0,0,0
$GC,5970,-0.68,-155.7,825.1,-11.0,558,5974,0.00,2.17,0.00,0.000,4,0.000,0.058,2494,2907,3488,0,0,0,0,0,0
$GC,5993,-0.68,-155.7,827.7,-10.9,559,5997,0.00,2.15,0.00,0.000,6,0.000,0.044,2495,1500,3487,0,0,0,0,0,0
$GC,6314,-0.68,-155.7,864.9,-11.6,575,6319,0.12,2.03,0.00,0.000,4,0.172,0.058,2531,208,3485,0,0,0,0,0,0
$GC,6447,-0.68,-155.7,879.3,-11.1,581,6450,0.00,1.98,0.00,0.000,6,0.000,0.045,2522,1504,3484,0,0,0,0,0,0
$GC,6779,-0.68,-155.7,914.3,-10.4,597,6783,0.00,2.17,0.00,0.000,4,0.000,0.058,2506,2903,3483,0,0,0,0,0,0
$GC,6806,-0.68,-155.7,917.2,-10.5,598,6810,0.00,2.12,0.00,0.000,6,0.000,0.044,2511,1491,3482,0,0,0,0,0,0
$GC,7131,-0.68,-155.7,952.2,-10.7,614,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1491,3480,0,0,0,0,0,0
$GC,7437,-0.68,-155.7,983.6,-9.8,629,7441,0.00,2.20,0.00,0.000,4,0.000,0.060,2494,2902,3478,0,0,0,0,0,0
$GC,7493,-0.68,-155.7,989.1,-9.6,631,7497,0.00,2.12,0.00,0.000,6,0.000,0.046,2496,1502,3478,0,0,0,0,0,0
$STATE,7518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7518,begin apogee
$GC,7526,-0.14,0.0,991.4,9.4,632,7658,0.62,0.00,125.35,1.460,6,0.132,0.000,2692,1853,2883,0,0,0,0,0,0
$STATE,7659,end apogee,CONTROL_FINISHED_OK
$STATE,7659,begin climb
$GC,7663,0.68,155.7,994.5,0.0,638,7812,0.75,2.40,140.68,1.395,4,0.072,0.062,2959,3245,2248,0,0,0,0,0,0
$GC,7892,0.68,155.7,968.7,15.3,649,7896,0.00,2.22,0.00,0.000,6,0.000,0.045,2970,1847,2243,0,0,0,0,0,0
$GC,8219,0.68,155.7,919.3,14.9,665,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1847,2239,0,0,0,0,0,0
$GC,8528,0.68,155.7,872.0,15.0,680,8532,0.00,2.22,0.00,0.000,4,0.000,0.057,2963,3255,2236,0,0,0,0,0,0
$GC,8569,0.68,155.7,866.0,15.3,682,8574,0.00,2.15,0.00,0.000,6,0.000,0.043,2973,1842,2236,0,0,0,0,0,0
$GC,8896,0.68,155.7,812.6,16.5,698,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1841,2236,0,0,0,0,0,0
$GC,9206,0.68,155.7,761.1,16.7,713,9210,0.00,2.25,0.00,0.000,4,0.000,0.056,2965,3255,2234,0,0,0,0,0,0
$GC,9250,0.68,155.7,753.5,17.0,715,9254,0.00,2.15,0.00,0.000,6,0.000,0.041,2976,1845,2233,0,0,0,0,0,0
$GC,9572,0.68,155.7,702.2,15.8,731,9576,0.00,2.20,0.00,0.000,4,0.000,0.054,2967,3252,2232,0,0,0,0,0,0
$GC,9601,0.68,155.7,697.5,16.2,732,9605,0.00,2.12,0.00,0.000,6,0.000,0.041,2977,1850,2232,0,0,0,0,0,0
$GC,9919,0.68,155.7,653.0,13.1,747,9923,0.00,2.17,0.00,0.000,4,0.000,0.051,2986,431,2231,0,0,0,0,0,0
$GC,9945,0.68,155.7,648.9,13.4,748,9950,0.00,2.15,0.00,0.000,6,0.000,0.041,2979,1853,2231,0,0,0,0,0,0
$GC,10267,0.68,155.7,608.5,12.6,764,10271,0.00,2.17,0.00,0.000,4,0.000,0.057,2975,3258,2231,0,0,0,0,0,0
$GC,10392,0.68,155.7,591.7,13.3,772,10396,0.00,2.15,0.00,0.000,6,0.000,0.041,2984,1844,2230,0,0,0,0,0,0
$GC,10717,0.68,155.7,545.9,15.1,802,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1844,2231,0,0,0,0,0,0
$GC,11037,0.68,155.7,498.1,15.0,832,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1844,2230,0,0,0,0,0,0
$GC,11359,0.68,155.7,456.1,13.1,862,11363,0.00,2.20,0.00,0.000,4,0.000,0.052,2977,3254,2230,0,0,0,0,0,0
$GC,11435,0.68,155.7,445.0,13.9,868,11439,0.00,2.12,0.00,0.000,6,0.000,0.039,2986,1836,2229,0,0,0,0,0,0
$GC,11760,0.68,155.7,401.2,13.1,898,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1836,2229,0,0,0,0,0,0
$GC,12080,0.68,155.7,362.1,11.8,928,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1836,2229,0,0,0,0,0,0
$GC,12400,0.68,155.7,327.6,10.5,958,12404,0.00,2.20,0.00,0.000,4,0.000,0.050,2983,3255,2229,0,0,0,0,0,0
$GC,12477,0.68,155.7,318.9,10.7,964,12484,0.00,2.12,0.00,0.000,6,0.000,0.037,2991,1848,2229,0,0,0,0,0,0
$GC,12804,0.68,155.7,281.4,12.6,995,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1848,2229,0,0,0,0,0,0
$GC,13123,0.68,155.7,241.7,12.3,1031,13131,0.00,2.17,0.00,0.000,4,0.000,0.048,2983,3246,2229,0,0,0,0,0,0
$GC,13161,0.68,155.7,237.0,12.6,1037,13169,0.00,2.12,0.00,0.000,6,0.000,0.036,2991,1848,2229,0,0,0,0,0,0
$GC,13489,0.68,155.7,202.6,10.1,1098,13498,0.00,2.15,0.00,0.000,4,0.000,0.045,3002,449,2229,0,0,0,0,0,0
$GC,13586,0.68,155.7,193.2,9.9,1115,13594,0.00,2.12,0.00,0.000,6,0.000,0.036,2993,1844,2229,0,0,0,0,0,0
$GC,13912,0.75,208.2,167.0,7.5,1176,13964,0.00,2.22,42.22,0.803,4,0.000,0.050,2984,3256,2034,0,0,0,0,0,0
$GC,14095,0.76,216.3,150.7,9.4,1207,14111,0.00,2.17,8.27,0.666,6,0.000,0.036,2992,1847,2002,0,0,0,0,0,0
$GC,14432,0.76,220.2,119.2,9.5,1269,14441,0.00,2.25,4.65,0.519,4,0.000,0.047,2984,3266,1986,0,0,0,0,0,0
$GC,14492,0.76,220.2,112.8,10.5,1279,14500,0.00,2.17,0.00,0.000,6,0.000,0.035,2993,1848,1986,0,0,0,0,0,0
$GC,14819,0.80,247.4,82.7,8.6,1340,14850,0.00,2.17,24.30,0.700,4,0.000,0.043,3002,438,1874,0,0,0,0,0,0
$GC,14907,0.87,304.1,76.3,7.3,1354,14966,0.00,2.17,48.95,0.706,6,0.000,0.034,2995,1855,1642,0,0,0,0,0,0
$GC,15288,0.96,378.0,54.4,6.6,1422,15357,0.17,2.25,61.10,0.678,4,0.070,0.044,3092,3260,1342,0,0,0,0,0,0
$GC,15405,0.96,378.0,39.3,16.2,1439,15414,0.12,2.20,0.00,0.000,6,0.138,0.034,3060,1845,1342,0,0,0,0,0,0
$GC,15734,0.96,378.0,4.7,11.6,1500,15742,0.00,2.17,0.00,0.000,4,0.000,0.046,3063,444,1340,0,0,0,0,0,0
$STATE,15748,end climb,SURFACE_DEPTH_REACHED
$STATE,15748,begin surface coast
$FINISH,1.4,1.021533
$STATE,15771,end surface coast,CONTROL_FINISHED_OK
$STATE,15771,begin surface
$SM_CCo,15789,26.70,0.295,1,0,1253,400.08
$SM_GC,1.92,0.00,0.00,26.70,0.000,0.000,0.295,123,1532,1253,-8.19,0.90,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2218.34,12356.28,300811,191919
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.68
$INTERNAL_PRESSURE,9.46784
$TCM_TEMP,26.10
$XPDR_PINGS,87
$24V_AH,23.2,34.914
$10V_AH,10.2,24.533
$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,19.025,132.250,455.525,26.700,0.000,123.129,182.252,266.251,21.750,0.000,33.068,3730.668,8045.771,561.000,3947.919,465.474,0.000,1939.270,0.000,3361.751,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,61.965,1459.620,295.290,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.012,1542.036,1828.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330232
$DATA_FILE_SIZE,83670,1506
$CAP_FILE_SIZE,167594,0
$CFSIZE,260165632,134668288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.112,210.4,1
$GPS,300811,235106,2222.510,12357.576,95,1.9,100,-3.1