version: 66.09
glider: 166
mission: 6
dive: 158
start: 9 2 111 13 6 27
data:
$ID,166
$MISSION,6
$DIVE,158
$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,450
$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,-24595.977
$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,62
$R_STBD_OVSHOOT,45
$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
$GPS1,020911,123357,2145.976,12400.852,29,99.0,48,-2.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.5
$GPS2,020911,130604,2145.516,12401.003,12,99.0,31,-2.9
$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,184.9,28787,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.68,-155.7,0.0,0.0,0,130,0.00,0.00,-108.10,0.000,2,0.000,0.000,138,1475,3068,0,0,0,0,0,0
$GC,133,-0.68,-155.7,5.6,-10.3,15,159,9.20,2.28,-8.90,0.000,4,0.221,0.054,2508,2911,3521,0,0,0,0,0,0
$GC,259,-0.68,-155.7,49.5,-31.0,36,267,0.00,2.15,0.00,0.000,6,0.000,0.037,2507,1529,3522,0,0,0,0,0,0
$GC,582,-0.68,-155.7,137.0,-26.3,97,591,0.00,2.08,0.00,0.000,4,0.000,0.046,2506,196,3522,0,0,0,0,0,0
$GC,836,-0.68,-155.7,189.1,-16.6,143,844,0.00,1.98,0.00,0.000,6,0.000,0.035,2496,1501,3523,0,0,0,0,0,0
$GC,1164,-0.68,-155.7,250.5,-18.6,204,1168,0.00,2.00,0.00,0.000,4,0.000,0.046,2496,195,3522,0,0,0,0,0,0
$GC,1222,-0.68,-155.7,262.5,-19.5,209,1231,0.10,1.98,0.00,0.000,6,0.140,0.037,2521,1496,3522,0,0,0,0,0,0
$GC,1548,-0.68,-155.7,311.9,-13.6,240,1552,0.00,2.12,0.00,0.000,4,0.000,0.046,2512,2910,3521,0,0,0,0,0,0
$GC,1645,-0.68,-155.7,323.0,-10.6,248,1649,0.00,2.15,0.00,0.000,6,0.000,0.038,2512,1485,3520,0,0,0,0,0,0
$GC,1972,-0.68,-155.7,360.6,-11.8,278,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1485,3518,0,0,0,0,0,0
$GC,2291,-0.68,-155.7,400.7,-14.4,308,2295,0.00,1.98,0.00,0.000,4,0.000,0.049,2512,195,3515,0,0,0,0,0,0
$GC,2326,-0.68,-155.7,406.7,-16.6,311,2330,0.00,1.98,0.00,0.000,6,0.000,0.037,2503,1500,3515,0,0,0,0,0,0
$GC,2657,-0.68,-155.7,454.2,-12.5,342,2661,0.00,2.12,0.00,0.000,4,0.000,0.049,2509,2905,3511,0,0,0,0,0,0
$GC,2730,-0.68,-155.7,462.8,-11.3,348,2737,0.00,2.12,0.00,0.000,6,0.000,0.040,2512,1498,3510,0,0,0,0,0,0
$GC,3055,-0.68,-155.7,500.2,-12.0,379,3059,0.00,2.15,0.00,0.000,4,0.000,0.051,2503,2908,3507,0,0,0,0,0,0
$GC,3097,-0.68,-155.7,504.8,-11.5,382,3104,0.00,2.10,0.00,0.000,6,0.000,0.041,2503,1499,3506,0,0,0,0,0,0
$GC,3422,-0.68,-155.7,545.6,-12.5,413,3426,0.00,2.00,0.00,0.000,4,0.000,0.052,2503,196,3503,0,0,0,0,0,0
$GC,3485,-0.68,-155.7,554.5,-14.9,418,3492,0.12,1.98,0.00,0.000,6,0.174,0.038,2526,1503,3503,0,0,0,0,0,0
$GC,3810,-0.68,-155.7,590.0,-10.4,449,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1503,3499,0,0,0,0,0,0
$GC,4136,-0.68,-155.7,626.3,-11.7,469,4140,0.00,2.17,0.00,0.000,4,0.000,0.054,2516,2913,3496,0,0,0,0,0,0
$GC,4191,-0.68,-155.7,633.1,-10.7,471,4198,0.00,2.12,0.00,0.000,6,0.000,0.044,2516,1503,3495,0,0,0,0,0,0
$GC,4507,-0.68,-155.7,665.2,-9.7,487,4511,0.00,2.03,0.00,0.000,4,0.000,0.055,2515,201,3492,0,0,0,0,0,0
$GC,4570,-0.68,-155.7,672.2,-11.5,489,4578,0.00,1.98,0.00,0.000,6,0.000,0.041,2504,1500,3491,0,0,0,0,0,0
$GC,4886,-0.68,-155.7,705.9,-10.9,505,4889,0.00,2.03,0.00,0.000,4,0.000,0.054,2501,196,3489,0,0,0,0,0,0
$GC,4919,-0.68,-155.7,710.1,-12.0,506,4923,0.08,2.00,0.00,0.000,6,0.145,0.042,2532,1489,3488,0,0,0,0,0,0
$GC,5243,-0.68,-155.7,735.1,-7.4,522,5247,0.00,2.20,0.00,0.000,4,0.000,0.054,2522,2920,3485,0,0,0,0,0,0
$GC,5311,-0.68,-155.7,740.4,-7.5,525,5316,0.00,2.17,0.00,0.000,6,0.000,0.043,2523,1487,3485,0,0,0,0,0,0
$GC,5641,-0.68,-155.7,768.3,-8.8,541,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1487,3482,0,0,0,0,0,0
$GC,5948,-0.68,-155.7,797.3,-9.4,556,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1487,3480,0,0,0,0,0,0
$GC,6258,-0.68,-155.7,823.6,-8.2,571,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1487,3477,0,0,0,0,0,0
$GC,6569,-0.68,-155.7,847.3,-7.6,586,6573,0.00,2.25,0.00,0.000,4,0.000,0.058,2510,2907,3475,0,0,0,0,0,0
$GC,6620,-0.68,-155.7,851.6,-7.7,588,6624,0.00,2.15,0.00,0.000,6,0.000,0.045,2510,1497,3475,0,0,0,0,0,0
$GC,6944,-0.68,-155.7,879.3,-8.4,604,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1497,3473,0,0,0,0,0,0
$GC,7251,-0.68,-155.7,906.2,-8.6,619,7255,0.00,2.22,0.00,0.000,4,0.000,0.060,2500,2906,3471,0,0,0,0,0,0
$GC,7301,-0.68,-155.7,910.7,-9.0,621,7305,0.00,2.15,0.00,0.000,6,0.000,0.045,2501,1500,3470,0,0,0,0,0,0
$GC,7624,-0.68,-155.7,942.3,-10.4,637,7628,0.00,2.25,0.00,0.000,4,0.000,0.061,2493,2905,3470,0,0,0,0,0,0
$GC,7664,-0.68,-155.7,946.9,-11.1,639,7668,0.10,2.15,0.00,0.000,6,0.172,0.047,2519,1500,3469,0,0,0,0,0,0
$GC,7990,-0.68,-155.7,980.8,-10.3,655,7994,0.00,2.22,0.00,0.000,4,0.000,0.061,2512,2905,3469,0,0,0,0,0,0
$GC,8019,-0.68,-155.7,983.8,-10.3,656,8023,0.00,2.15,0.00,0.000,6,0.000,0.046,2510,1497,3469,0,0,0,0,0,0
$STATE,8085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8085,begin apogee
$GC,8091,-0.14,0.0,991.0,10.7,659,8223,0.55,0.00,123.38,1.465,6,0.122,0.000,2694,1862,2884,0,0,0,0,0,0
$STATE,8224,end apogee,CONTROL_FINISHED_OK
$STATE,8224,begin climb
$GC,8226,0.68,155.7,996.3,0.0,665,8377,0.75,2.45,141.82,1.408,4,0.070,0.063,2964,3249,2247,0,0,0,0,0,0
$GC,8440,0.68,155.7,977.0,13.8,674,8447,0.00,2.28,0.00,0.000,6,0.000,0.045,2972,1848,2244,0,0,0,0,0,0
$GC,8756,0.68,155.7,931.8,14.9,690,8760,0.00,2.25,0.00,0.000,4,0.000,0.061,2971,3249,2239,0,0,0,0,0,0
$GC,8807,0.68,155.7,923.7,16.3,692,8811,0.00,2.17,0.00,0.000,6,0.000,0.044,2979,1837,2238,0,0,0,0,0,0
$GC,9128,0.68,155.7,870.7,17.1,708,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1836,2238,0,0,0,0,0,0
$GC,9437,0.68,155.7,818.3,17.2,723,9441,0.00,2.25,0.00,0.000,4,0.000,0.060,2975,3254,2236,0,0,0,0,0,0
$GC,9501,0.68,155.7,807.3,17.7,726,9505,0.00,2.17,0.00,0.000,6,0.000,0.044,2983,1836,2235,0,0,0,0,0,0
$GC,9828,0.68,155.7,752.5,16.4,742,9832,0.00,2.15,0.00,0.000,4,0.000,0.054,2993,445,2234,0,0,0,0,0,0
$GC,9872,0.68,155.7,744.9,16.5,744,9876,0.00,2.17,0.00,0.000,6,0.000,0.044,2986,1856,2233,0,0,0,0,0,0
$GC,10201,0.68,155.7,696.7,13.8,760,10205,0.00,2.17,0.00,0.000,4,0.000,0.058,2982,3252,2232,0,0,0,0,0,0
$GC,10268,0.68,155.7,686.6,14.5,763,10273,0.00,2.15,0.00,0.000,6,0.000,0.044,2990,1856,2232,0,0,0,0,0,0
$GC,10598,0.68,155.7,638.1,15.6,779,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1856,2232,0,0,0,0,0,0
$GC,10907,0.68,155.7,592.2,14.0,796,10911,0.00,2.20,0.00,0.000,4,0.000,0.057,2982,3252,2231,0,0,0,0,0,0
$GC,10982,0.68,155.7,581.9,13.5,802,10986,0.00,2.12,0.00,0.000,6,0.000,0.042,2990,1845,2230,0,0,0,0,0,0
$GC,11307,0.68,155.7,532.7,15.6,832,11312,0.00,2.22,0.00,0.000,4,0.000,0.056,2982,3265,2230,0,0,0,0,0,0
$GC,11415,0.68,155.7,515.9,15.2,841,11419,0.00,2.15,0.00,0.000,6,0.000,0.041,2990,1850,2230,0,0,0,0,0,0
$GC,11746,0.68,155.7,467.3,14.3,872,11750,0.00,2.17,0.00,0.000,4,0.000,0.054,2982,3256,2230,0,0,0,0,0,0
$GC,11900,0.68,155.7,445.3,14.6,885,11907,0.00,2.15,0.00,0.000,6,0.000,0.040,2991,1835,2229,0,0,0,0,0,0
$GC,12225,0.68,155.7,400.4,13.3,916,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1835,2229,0,0,0,0,0,0
$GC,12547,0.68,155.7,364.6,11.1,946,12551,0.00,2.22,0.00,0.000,4,0.000,0.053,2983,3262,2229,0,0,0,0,0,0
$GC,12597,0.68,155.7,358.1,12.1,950,12601,0.00,2.12,0.00,0.000,6,0.000,0.039,2991,1840,2229,0,0,0,0,0,0
$GC,12923,0.68,155.7,318.3,11.8,980,12927,0.00,2.15,0.00,0.000,4,0.000,0.049,3001,439,2229,0,0,0,0,0,0
$GC,12974,0.68,155.7,311.4,14.1,984,12978,0.00,2.15,0.00,0.000,6,0.000,0.038,2993,1865,2229,0,0,0,0,0,0
$GC,13306,0.68,155.7,269.6,10.5,1015,13310,0.00,2.10,0.00,0.000,4,0.000,0.051,2993,3249,2229,0,0,0,0,0,0
$GC,13368,0.70,166.5,263.7,9.3,1020,13383,0.12,2.08,7.28,0.770,6,0.187,0.037,2971,1850,2204,0,0,0,0,0,0
$GC,13698,0.70,172.3,237.5,9.5,1063,13715,0.00,2.20,7.03,0.735,4,0.000,0.051,2959,3255,2181,0,0,0,0,0,0
$GC,13919,0.70,172.3,214.6,10.6,1103,13928,0.00,2.15,0.00,0.000,6,0.000,0.037,2965,1841,2181,0,0,0,0,0,0
$GC,14248,0.71,174.1,181.9,9.6,1164,14257,0.00,2.17,0.00,0.000,4,0.000,0.046,2977,448,2180,0,0,0,0,0,0
$GC,14343,0.73,190.4,173.0,9.0,1181,14367,0.00,2.12,17.55,0.779,6,0.000,0.036,2970,1839,2107,0,0,0,0,0,0
$GC,14686,0.78,234.6,143.5,7.9,1244,14731,0.00,2.20,38.12,0.772,4,0.000,0.047,2962,3256,1925,0,0,0,0,0,0
$GC,14872,0.78,234.6,126.5,10.2,1276,14880,0.00,2.17,0.00,0.000,6,0.000,0.035,2970,1851,1922,0,0,0,0,0,0
$GC,15197,0.82,269.0,97.7,8.3,1337,15236,0.12,2.28,29.17,0.717,4,0.089,0.046,3047,3255,1787,0,0,0,0,0,0
$GC,15250,0.82,269.0,92.0,11.1,1344,15259,0.12,2.20,0.00,0.000,6,0.142,0.034,3016,1845,1787,0,0,0,0,0,0
$GC,15580,1.01,419.6,70.5,3.4,1405,15712,0.15,2.30,122.72,0.696,4,0.075,0.043,3103,443,1172,0,0,0,0,0,0
$GC,15879,1.01,419.6,32.3,14.6,1453,15887,0.08,2.17,0.00,0.000,6,0.132,0.033,3076,1854,1168,0,0,0,0,0,0
$STATE,16088,end climb,SURFACE_DEPTH_REACHED
$STATE,16088,begin surface coast
$FINISH,0.9,1.021552
$STATE,16111,end surface coast,CONTROL_FINISHED_OK
$STATE,16111,begin surface
$SM_CCo,16130,29.23,0.325,1,0,1048,450.13
$SM_GC,1.65,0.00,0.00,29.23,0.000,0.000,0.325,126,1486,1048,-8.18,-0.40,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2141.13,12402.65,020911,121236
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.54
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.70
$XPDR_PINGS,74
$24V_AH,23.2,37.646
$10V_AH,10.1,26.909
$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,18.975,138.575,487.075,29.225,0.000,105.676,123.149,1290.165,18.500,0.000,34.999,3707.976,8389.549,588.782,4354.958,1033.439,0.000,1987.480,0.000,3350.303,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,63.495,1464.975,325.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1023.845,1532.271,1775.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,83660,1496
$CAP_FILE_SIZE,177425,0
$CFSIZE,260165632,133439488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172,187.5,1
$GPS,020911,173727,2141.874,12400.782,34,99.0,53,-2.9