version: 66.09
glider: 166
mission: 6
dive: 164
start: 9 3 111 17 2 34
data:
$ID,166
$MISSION,6
$DIVE,164
$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,-24603.525
$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,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
$GPS1,030911,165301,2128.608,12401.129,63,1.6,63,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.3
$GPS2,030911,170211,2128.424,12401.147,33,1.7,37,-2.8
$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,334.0,3525,-17.2,-9.706
$D_GRID,4800
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.68,-155.7,0.0,0.0,0,104,0.00,0.00,-83.10,0.000,2,0.000,0.000,128,1521,3054,0,0,0,0,0,0
$GC,106,-0.68,-155.7,5.6,-10.2,12,131,9.48,2.10,-9.10,0.000,4,0.227,0.053,2511,199,3521,0,0,0,0,0,0
$GC,157,-0.68,-155.7,28.2,-46.3,19,165,0.00,1.98,0.00,0.000,6,0.000,0.034,2500,1486,3522,0,0,0,0,0,0
$GC,483,-0.68,-155.7,131.0,-22.7,80,491,0.00,2.17,0.00,0.000,4,0.000,0.041,2489,2907,3523,0,0,0,0,0,0
$GC,543,-0.68,-155.7,144.4,-20.1,90,552,0.10,2.15,0.00,0.000,6,0.154,0.034,2520,1501,3524,0,0,0,0,0,0
$GC,873,-0.68,-155.7,205.6,-15.4,151,881,0.00,2.03,0.00,0.000,4,0.000,0.045,2521,208,3525,0,0,0,0,0,0
$GC,1030,-0.68,-155.7,231.3,-15.6,179,1038,0.00,1.95,0.00,0.000,6,0.000,0.037,2513,1493,3525,0,0,0,0,0,0
$GC,1357,-0.68,-155.7,288.7,-15.8,219,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1493,3525,0,0,0,0,0,0
$GC,1679,-0.68,-155.7,338.6,-15.9,249,1683,0.00,2.00,0.00,0.000,4,0.000,0.047,2513,209,3525,0,0,0,0,0,0
$GC,1714,-0.68,-155.7,345.0,-16.4,252,1718,0.00,1.95,0.00,0.000,6,0.000,0.035,2504,1508,3525,0,0,0,0,0,0
$GC,2047,-0.68,-155.7,391.7,-12.8,283,2051,0.00,2.10,0.00,0.000,4,0.000,0.047,2501,2907,3523,0,0,0,0,0,0
$GC,2102,-0.68,-155.7,398.8,-11.6,287,2109,0.00,2.15,0.00,0.000,6,0.000,0.037,2504,1504,3523,0,0,0,0,0,0
$GC,2427,-0.68,-155.7,436.8,-10.6,318,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1505,3521,0,0,0,0,0,0
$GC,2750,-0.68,-155.7,474.7,-12.7,348,2754,0.00,2.17,0.00,0.000,4,0.000,0.050,2503,2912,3518,0,0,0,0,0,0
$GC,2779,-0.68,-155.7,478.7,-12.4,350,2783,0.00,2.15,0.00,0.000,6,0.000,0.041,2503,1502,3518,0,0,0,0,0,0
$GC,3104,-0.68,-155.7,521.9,-13.0,380,3107,0.00,2.00,0.00,0.000,4,0.000,0.050,2503,202,3515,0,0,0,0,0,0
$GC,3346,-0.68,-155.7,558.2,-14.3,401,3353,0.12,1.95,0.00,0.000,6,0.170,0.040,2526,1502,3513,0,0,0,0,0,0
$GC,3671,-0.68,-155.7,594.6,-11.1,432,3675,0.00,2.12,0.00,0.000,4,0.000,0.052,2518,2904,3510,0,0,0,0,0,0
$GC,3744,-0.68,-155.7,602.7,-10.9,437,3749,0.00,2.12,0.00,0.000,6,0.000,0.039,2518,1497,3510,0,0,0,0,0,0
$GC,4060,-0.68,-155.7,638.2,-10.8,452,4064,0.00,2.00,0.00,0.000,4,0.000,0.053,2518,205,3507,0,0,0,0,0,0
$GC,4177,-0.68,-155.7,651.9,-12.0,457,4181,0.00,2.00,0.00,0.000,6,0.000,0.041,2509,1503,3506,0,0,0,0,0,0
$GC,4506,-0.68,-155.7,688.6,-11.0,473,4510,0.00,2.15,0.00,0.000,4,0.000,0.054,2490,2910,3503,0,0,0,0,0,0
$GC,4544,-0.68,-155.7,693.1,-11.0,474,4553,0.12,2.12,0.00,0.000,6,0.162,0.041,2524,1502,3502,0,0,0,0,0,0
$GC,4862,-0.68,-155.7,723.6,-9.6,490,4866,0.00,2.17,0.00,0.000,4,0.000,0.055,2514,2910,3500,0,0,0,0,0,0
$GC,4890,-0.68,-155.7,726.6,-9.6,491,4894,0.00,2.15,0.00,0.000,6,0.000,0.042,2516,1498,3499,0,0,0,0,0,0
$GC,5206,-0.68,-155.7,757.3,-9.5,506,5210,0.00,2.20,0.00,0.000,4,0.000,0.054,2502,2907,3497,0,0,0,0,0,0
$GC,5230,-0.68,-155.7,759.6,-9.5,507,5234,0.00,2.15,0.00,0.000,6,0.000,0.042,2502,1500,3497,0,0,0,0,0,0
$GC,5551,-0.68,-155.7,791.2,-9.8,523,5555,0.00,2.08,0.00,0.000,4,0.000,0.059,2502,208,3494,0,0,0,0,0,0
$GC,5607,-0.68,-155.7,797.4,-11.1,525,5611,0.08,2.03,0.00,0.000,6,0.148,0.043,2524,1508,3493,0,0,0,0,0,0
$GC,5930,-0.68,-155.7,822.2,-7.6,541,5934,0.00,2.15,0.00,0.000,4,0.000,0.056,2515,2904,3492,0,0,0,0,0,0
$GC,6025,-0.68,-155.7,829.6,-7.7,545,6029,0.00,2.15,0.00,0.000,6,0.000,0.044,2515,1498,3491,0,0,0,0,0,0
$GC,6355,-0.68,-155.7,857.0,-8.5,561,6359,0.00,2.20,0.00,0.000,4,0.000,0.057,2504,2913,3489,0,0,0,0,0,0
$GC,6404,-0.68,-155.7,861.6,-8.6,563,6409,0.00,2.15,0.00,0.000,6,0.000,0.044,2506,1503,3488,0,0,0,0,0,0
$GC,6728,-0.68,-155.7,892.0,-9.7,579,6732,0.00,2.03,0.00,0.000,4,0.000,0.057,2504,198,3487,0,0,0,0,0,0
$GC,6774,-0.68,-155.7,897.2,-11.1,581,6778,0.00,2.00,0.00,0.000,6,0.000,0.045,2496,1509,3487,0,0,0,0,0,0
$GC,7107,-0.68,-155.7,931.5,-9.8,597,7111,0.00,2.15,0.00,0.000,4,0.000,0.059,2495,2902,3485,0,0,0,0,0,0
$GC,7158,-0.68,-155.7,936.0,-9.1,599,7162,0.12,2.17,0.00,0.000,6,0.161,0.045,2524,1489,3485,0,0,0,0,0,0
$GC,7480,-0.68,-155.7,961.6,-8.2,615,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1490,3483,0,0,0,0,0,0
$GC,7788,-0.68,-155.7,987.6,-8.5,630,7792,0.00,2.22,0.00,0.000,4,0.000,0.058,2516,2904,3482,0,0,0,0,0,0
$STATE,7813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7813,begin apogee
$GC,7823,-0.14,0.0,990.0,8.6,631,7955,0.52,0.00,126.93,1.463,6,0.122,0.000,2693,1838,2883,0,0,0,0,0,0
$STATE,7956,end apogee,CONTROL_FINISHED_OK
$STATE,7956,begin climb
$GC,7961,0.68,155.7,993.9,0.0,637,8111,0.77,0.00,143.40,1.404,6,0.072,0.000,2967,1838,2249,0,0,0,0,0,0
$GC,8419,0.68,155.7,936.9,14.4,660,8423,0.00,2.28,0.00,0.000,4,0.000,0.060,2966,3249,2241,0,0,0,0,0,0
$GC,8455,0.68,155.7,931.4,15.6,661,8461,0.00,2.20,0.00,0.000,6,0.000,0.044,2975,1844,2239,0,0,0,0,0,0
$GC,8770,0.68,155.7,883.7,15.0,677,8774,0.00,2.25,0.00,0.000,4,0.000,0.059,2970,3263,2237,0,0,0,0,0,0
$GC,8825,0.68,155.7,875.2,14.8,679,8832,0.00,2.15,0.00,0.000,6,0.000,0.044,2978,1849,2237,0,0,0,0,0,0
$GC,9144,0.68,155.7,831.1,13.6,695,9148,0.00,2.22,0.00,0.000,4,0.000,0.057,2974,3263,2236,0,0,0,0,0,0
$GC,9184,0.68,155.7,825.3,13.6,697,9188,0.00,2.15,0.00,0.000,6,0.000,0.043,2983,1847,2235,0,0,0,0,0,0
$GC,9510,0.68,155.7,777.0,15.5,713,9514,0.00,2.22,0.00,0.000,4,0.000,0.055,2983,3263,2234,0,0,0,0,0,0
$GC,9567,0.68,155.7,767.7,16.5,715,9574,0.00,2.15,0.00,0.000,6,0.000,0.042,2991,1844,2234,0,0,0,0,0,0
$GC,9883,0.68,155.7,714.3,17.1,731,9887,0.00,2.20,0.00,0.000,4,0.000,0.055,2991,3261,2233,0,0,0,0,0,0
$GC,9962,0.68,155.7,700.1,17.5,734,9967,0.12,2.15,0.00,0.000,6,0.202,0.042,2971,1839,2233,0,0,0,0,0,0
$GC,10278,0.68,155.7,651.7,14.4,749,10282,0.00,2.22,0.00,0.000,4,0.000,0.054,2964,3260,2233,0,0,0,0,0,0
$GC,10368,0.68,155.7,639.6,12.8,753,10372,0.00,2.15,0.00,0.000,6,0.000,0.040,2972,1844,2232,0,0,0,0,0,0
$GC,10693,0.68,155.7,598.1,13.5,769,10697,0.00,2.15,0.00,0.000,4,0.000,0.050,2983,437,2232,0,0,0,0,0,0
$GC,10736,0.68,155.7,591.6,13.9,772,10743,0.00,2.17,0.00,0.000,6,0.000,0.041,2983,1859,2231,0,0,0,0,0,0
$GC,11062,0.68,155.7,545.4,14.5,803,11066,0.00,2.17,0.00,0.000,4,0.000,0.057,2983,3263,2231,0,0,0,0,0,0
$GC,11213,0.68,155.7,522.9,15.4,816,11217,0.00,2.12,0.00,0.000,6,0.000,0.042,2991,1851,2231,0,0,0,0,0,0
$GC,11538,0.68,155.7,478.0,13.4,846,11542,0.00,2.17,0.00,0.000,4,0.000,0.051,3002,440,2231,0,0,0,0,0,0
$GC,11627,0.68,155.7,465.4,13.6,853,11634,0.00,2.15,0.00,0.000,6,0.000,0.042,2995,1851,2230,0,0,0,0,0,0
$GC,11954,0.68,155.7,420.9,13.3,884,11958,0.00,2.17,0.00,0.000,4,0.000,0.055,2991,3260,2230,0,0,0,0,0,0
$GC,12157,0.68,155.7,393.0,12.5,901,12165,0.12,2.12,0.00,0.000,6,0.194,0.040,2970,1840,2230,0,0,0,0,0,0
$GC,12483,0.68,155.7,359.8,10.3,932,12487,0.00,2.20,0.00,0.000,4,0.000,0.053,2964,3256,2230,0,0,0,0,0,0
$GC,12585,0.68,155.7,348.3,11.5,940,12591,0.00,2.12,0.00,0.000,6,0.000,0.039,2972,1848,2230,0,0,0,0,0,0
$GC,12910,0.68,155.7,310.8,10.8,971,12914,0.00,2.15,0.00,0.000,4,0.000,0.049,2982,437,2230,0,0,0,0,0,0
$GC,12952,0.68,155.7,306.4,11.0,974,12960,0.00,2.15,0.00,0.000,6,0.000,0.038,2982,1864,2230,0,0,0,0,0,0
$GC,13279,0.75,212.9,276.5,7.3,1005,13331,0.00,2.17,46.90,0.913,4,0.000,0.050,2982,3248,2014,0,0,0,0,0,0
$GC,13499,0.75,212.9,254.9,11.1,1024,13503,0.00,2.15,0.00,0.000,6,0.000,0.036,2985,1836,2013,0,0,0,0,0,0
$GC,13825,0.75,212.9,209.0,14.7,1080,13833,0.00,2.15,0.00,0.000,4,0.000,0.047,2996,448,2011,0,0,0,0,0,0
$GC,13877,0.75,212.9,200.8,14.6,1089,13885,0.00,2.15,0.00,0.000,6,0.000,0.037,2997,1850,2011,0,0,0,0,0,0
$GC,14203,0.75,212.9,159.6,11.7,1150,14212,0.00,2.15,0.00,0.000,4,0.000,0.049,2999,3242,2011,0,0,0,0,0,0
$GC,14222,0.75,212.9,157.5,12.3,1152,14230,0.00,2.12,0.00,0.000,6,0.000,0.036,3010,1847,2011,0,0,0,0,0,0
$GC,14553,0.75,212.9,116.9,11.5,1213,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1847,2011,0,0,0,0,0,0
$GC,14876,0.81,255.8,84.0,7.9,1274,14921,0.00,2.22,36.42,0.714,4,0.000,0.047,3010,3252,1841,0,0,0,0,0,0
$GC,15125,0.93,358.3,66.7,5.4,1318,15217,0.00,2.15,84.90,0.697,6,0.000,0.034,3018,1846,1422,0,0,0,0,0,0
$GC,15543,1.00,416.7,34.4,7.3,1390,15597,0.15,2.25,47.95,0.646,4,0.073,0.044,3107,444,1184,0,0,0,0,0,0
$GC,15663,1.00,416.7,17.5,16.0,1409,15672,0.10,2.15,0.00,0.000,6,0.131,0.033,3073,1845,1182,0,0,0,0,0,0
$STATE,15762,end climb,SURFACE_DEPTH_REACHED
$STATE,15762,begin surface coast
$FINISH,1.1,1.021097
$STATE,15788,end surface coast,CONTROL_FINISHED_OK
$STATE,15788,begin surface
$SM_CCo,15806,31.67,0.350,1,0,1048,450.13
$SM_GC,1.72,0.00,0.00,31.67,0.000,0.000,0.350,142,1485,1048,-8.14,-0.42,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2120.26,12359.39,030911,161622
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.31
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.20
$XPDR_PINGS,77
$24V_AH,23.0,38.763
$10V_AH,10.1,27.928
$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,19.450,149.450,486.500,31.675,0.000,56.391,77.897,174.322,19.250,0.000,38.166,3581.309,8131.291,615.363,3588.199,460.896,0.000,1992.987,0.000,3264.404,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,60.435,1462.680,349.605,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.647,1467.882,1623.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330204
$DATA_FILE_SIZE,80358,1431
$CAP_FILE_SIZE,166803,0
$CFSIZE,260165632,132866048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.271,136.6,1
$GPS,030911,212820,2128.326,12401.608,42,99.0,61,-2.8