version: 66.09
glider: 166
mission: 6
dive: 165
start: 9 3 111 21 39 33
data:
$ID,166
$MISSION,6
$DIVE,165
$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,-24604.783
$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,44
$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
$GPS1,030911,212820,2128.326,12401.608,42,99.0,61,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.9
$GPS2,030911,213908,2128.204,12401.679,16,1.5,16,-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,319.4,4408,-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,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,-82.50,0.000,2,0.000,0.000,140,1485,3029,0,0,0,0,0,0
$GC,106,-0.68,-155.7,5.3,-9.1,11,131,9.48,2.22,-9.65,0.000,4,0.228,0.052,2507,2907,3521,0,0,0,0,0,0
$GC,170,-0.68,-155.7,33.5,-37.9,21,179,0.00,2.15,0.00,0.000,6,0.000,0.034,2509,1509,3522,0,0,0,0,0,0
$GC,498,-0.68,-155.7,128.5,-23.9,82,506,0.00,2.12,0.00,0.000,4,0.000,0.041,2499,2899,3524,0,0,0,0,0,0
$GC,542,-0.68,-155.7,139.0,-23.2,89,551,0.00,2.12,0.00,0.000,6,0.000,0.034,2498,1502,3524,0,0,0,0,0,0
$GC,870,-0.68,-155.7,205.9,-18.4,150,878,0.00,2.00,0.00,0.000,4,0.000,0.043,2498,199,3525,0,0,0,0,0,0
$GC,959,-0.68,-155.7,223.8,-21.3,166,967,0.10,1.98,0.00,0.000,6,0.143,0.036,2522,1496,3525,0,0,0,0,0,0
$GC,1297,-0.68,-155.7,285.1,-16.4,210,1301,0.00,2.17,0.00,0.000,4,0.000,0.047,2512,2915,3525,0,0,0,0,0,0
$GC,1358,-0.68,-155.7,294.5,-15.5,215,1364,0.00,2.15,0.00,0.000,6,0.000,0.037,2515,1503,3525,0,0,0,0,0,0
$GC,1683,-0.68,-155.7,336.3,-10.0,246,1687,0.00,2.00,0.00,0.000,4,0.000,0.047,2515,199,3524,0,0,0,0,0,0
$GC,1757,-0.68,-155.7,344.8,-11.4,252,1764,0.00,1.95,0.00,0.000,6,0.000,0.037,2508,1500,3524,0,0,0,0,0,0
$GC,2082,-0.68,-155.7,388.2,-15.1,283,2086,0.00,2.15,0.00,0.000,4,0.000,0.049,2506,2911,3523,0,0,0,0,0,0
$GC,2133,-0.68,-155.7,395.9,-15.2,287,2137,0.00,2.15,0.00,0.000,6,0.000,0.039,2511,1490,3522,0,0,0,0,0,0
$GC,2465,-0.68,-155.7,443.1,-13.4,318,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1490,3520,0,0,0,0,0,0
$GC,2785,-0.68,-155.7,481.8,-12.1,348,2789,0.00,2.22,0.00,0.000,4,0.000,0.050,2506,2910,3517,0,0,0,0,0,0
$GC,2840,-0.68,-155.7,488.7,-11.0,352,2846,0.00,2.15,0.00,0.000,6,0.000,0.040,2506,1496,3517,0,0,0,0,0,0
$GC,3165,-0.68,-155.7,526.0,-11.3,383,3169,0.00,2.00,0.00,0.000,4,0.000,0.051,2506,197,3514,0,0,0,0,0,0
$GC,3306,-0.68,-155.7,544.6,-13.4,395,3312,0.00,1.98,0.00,0.000,6,0.000,0.039,2497,1505,3513,0,0,0,0,0,0
$GC,3633,-0.68,-155.7,588.9,-13.7,426,3637,0.00,2.12,0.00,0.000,4,0.000,0.052,2486,2909,3510,0,0,0,0,0,0
$GC,3707,-0.68,-155.7,599.1,-12.8,432,3712,0.12,2.15,0.00,0.000,6,0.164,0.041,2519,1490,3509,0,0,0,0,0,0
$GC,4034,-0.68,-155.7,635.4,-10.0,448,4038,0.00,2.00,0.00,0.000,4,0.000,0.053,2524,206,3506,0,0,0,0,0,0
$GC,4141,-0.68,-155.7,647.1,-11.2,452,4148,0.00,1.98,0.00,0.000,6,0.000,0.041,2515,1499,3505,0,0,0,0,0,0
$GC,4457,-0.68,-155.7,681.3,-11.2,468,4461,0.00,2.15,0.00,0.000,4,0.000,0.055,2501,2904,3503,0,0,0,0,0,0
$GC,4484,-0.68,-155.7,684.6,-11.2,469,4488,0.00,2.12,0.00,0.000,6,0.000,0.041,2501,1500,3502,0,0,0,0,0,0
$GC,4813,-0.68,-155.7,723.2,-11.9,485,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1500,3500,0,0,0,0,0,0
$GC,5120,-0.68,-155.7,760.4,-12.2,500,5124,0.00,2.22,0.00,0.000,4,0.000,0.057,2496,2904,3497,0,0,0,0,0,0
$GC,5147,-0.68,-155.7,764.0,-12.0,501,5152,0.00,2.15,0.00,0.000,6,0.000,0.044,2496,1493,3497,0,0,0,0,0,0
$GC,5471,-0.68,-155.7,804.4,-12.6,517,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1493,3494,0,0,0,0,0,0
$GC,5779,-0.68,-155.7,839.1,-10.9,532,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1493,3492,0,0,0,0,0,0
$GC,6090,-0.68,-155.7,869.9,-9.8,547,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1493,3490,0,0,0,0,0,0
$GC,6398,-0.68,-155.7,899.0,-9.5,562,6402,0.00,2.25,0.00,0.000,4,0.000,0.060,2486,2912,3488,0,0,0,0,0,0
$GC,6426,-0.68,-155.7,902.0,-9.6,563,6431,0.12,2.17,0.00,0.000,6,0.164,0.046,2519,1500,3488,0,0,0,0,0,0
$GC,6744,-0.68,-155.7,928.3,-8.5,578,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1500,3486,0,0,0,0,0,0
$GC,7051,-0.68,-155.7,957.1,-9.6,593,7055,0.00,2.25,0.00,0.000,4,0.000,0.063,2511,2902,3485,0,0,0,0,0,0
$GC,7089,-0.68,-155.7,961.0,-9.6,594,7096,0.00,2.17,0.00,0.000,6,0.000,0.047,2510,1503,3484,0,0,0,0,0,0
$STATE,7382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7382,begin apogee
$GC,7390,-0.14,0.0,990.2,9.9,609,7524,0.57,0.00,126.88,1.464,6,0.126,0.000,2695,1849,2883,0,0,0,0,0,0
$STATE,7525,end apogee,CONTROL_FINISHED_OK
$STATE,7525,begin climb
$GC,7529,0.68,155.7,994.3,0.0,615,7676,0.75,0.00,142.88,1.403,6,0.071,0.000,2962,1849,2249,0,0,0,0,0,0
$GC,7975,0.68,155.7,939.7,14.2,637,7979,0.00,2.22,0.00,0.000,4,0.000,0.064,2962,3251,2240,0,0,0,0,0,0
$GC,8027,0.68,155.7,931.9,15.2,639,8031,0.00,2.20,0.00,0.000,6,0.000,0.047,2972,1849,2239,0,0,0,0,0,0
$GC,8348,0.68,155.7,879.9,16.6,655,8352,0.00,2.25,0.00,0.000,4,0.000,0.063,2972,3257,2236,0,0,0,0,0,0
$GC,8374,0.68,155.7,875.1,17.2,656,8379,0.00,2.17,0.00,0.000,6,0.000,0.045,2981,1848,2236,0,0,0,0,0,0
$GC,8699,0.68,155.7,819.8,16.9,672,8703,0.00,2.22,0.00,0.000,4,0.000,0.060,2981,3253,2236,0,0,0,0,0,0
$GC,8749,0.68,155.7,810.3,18.0,674,8753,0.00,2.17,0.00,0.000,6,0.000,0.044,2989,1854,2235,0,0,0,0,0,0
$GC,9076,0.68,155.7,755.7,16.6,690,9080,0.00,2.20,0.00,0.000,4,0.000,0.059,2981,3253,2233,0,0,0,0,0,0
$GC,9146,0.68,155.7,744.5,16.0,693,9151,0.00,2.15,0.00,0.000,6,0.000,0.043,2989,1847,2233,0,0,0,0,0,0
$GC,9474,0.68,155.7,696.1,14.1,709,9478,0.00,2.22,0.00,0.000,4,0.000,0.057,2982,3263,2232,0,0,0,0,0,0
$GC,9508,0.68,155.7,691.2,14.2,710,9515,0.00,2.17,0.00,0.000,6,0.000,0.042,2990,1839,2232,0,0,0,0,0,0
$GC,9824,0.68,155.7,648.3,14.3,726,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1839,2232,0,0,0,0,0,0
$GC,10134,0.68,155.7,600.3,15.1,741,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1839,2231,0,0,0,0,0,0
$GC,10455,0.68,155.7,549.4,14.8,770,10459,0.00,2.22,0.00,0.000,4,0.000,0.056,2982,3255,2231,0,0,0,0,0,0
$GC,10543,0.68,155.7,535.8,14.2,777,10550,0.00,2.15,0.00,0.000,6,0.000,0.041,2990,1837,2230,0,0,0,0,0,0
$GC,10869,0.68,155.7,493.1,12.8,808,10873,0.00,2.12,0.00,0.000,4,0.000,0.051,3001,440,2230,0,0,0,0,0,0
$GC,10908,0.68,155.7,488.3,12.4,811,10913,0.00,2.15,0.00,0.000,6,0.000,0.041,2994,1854,2229,0,0,0,0,0,0
$GC,11233,0.68,155.7,450.9,12.7,841,11237,0.00,2.17,0.00,0.000,4,0.000,0.056,2992,3262,2229,0,0,0,0,0,0
$GC,11400,0.68,155.7,426.5,15.4,855,11409,0.12,2.17,0.00,0.000,6,0.195,0.041,2971,1845,2228,0,0,0,0,0,0
$GC,11726,0.68,155.7,388.7,10.1,886,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1845,2228,0,0,0,0,0,0
$GC,12048,0.68,155.7,357.1,9.9,916,12052,0.00,2.20,0.00,0.000,4,0.000,0.053,2961,3265,2229,0,0,0,0,0,0
$GC,12070,0.68,155.7,354.3,10.2,917,12077,0.00,2.15,0.00,0.000,6,0.000,0.038,2970,1834,2228,0,0,0,0,0,0
$GC,12396,0.68,155.7,316.8,12.1,948,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1835,2228,0,0,0,0,0,0
$GC,12719,0.71,177.0,284.4,8.8,978,12744,0.00,2.22,16.27,0.874,4,0.000,0.051,2961,3257,2161,0,0,0,0,0,0
$GC,12882,0.74,204.8,270.3,8.5,992,12918,0.00,2.12,25.38,0.884,6,0.000,0.037,2970,1841,2048,0,0,0,0,0,0
$GC,13235,0.76,221.4,237.4,9.0,1038,13255,0.00,2.22,15.30,0.813,4,0.000,0.047,2980,440,1981,0,0,0,0,0,0
$GC,13279,0.77,222.5,232.9,9.7,1044,13287,0.00,2.20,0.00,0.000,6,0.000,0.037,2971,1864,1979,0,0,0,0,0,0
$GC,13606,0.77,222.5,197.8,10.8,1105,13614,0.00,2.15,0.00,0.000,4,0.000,0.049,2971,3248,1979,0,0,0,0,0,0
$GC,13759,0.77,228.3,182.7,9.5,1133,13775,0.00,2.12,7.40,0.674,6,0.000,0.035,2981,1851,1953,0,0,0,0,0,0
$GC,14100,0.78,230.6,148.3,9.6,1195,14110,0.00,2.22,3.83,0.471,4,0.000,0.045,2991,433,1943,0,0,0,0,0,0
$GC,14176,0.78,230.6,140.5,9.8,1208,14184,0.00,2.15,0.00,0.000,6,0.000,0.034,2985,1853,1943,0,0,0,0,0,0
$GC,14503,0.84,282.9,114.5,7.5,1269,14557,0.00,2.25,45.22,0.742,4,0.000,0.043,2994,436,1729,0,0,0,0,0,0
$GC,14587,0.89,321.9,107.6,8.1,1281,14632,0.08,2.17,33.72,0.714,6,0.054,0.032,3056,1838,1571,0,0,0,0,0,0
$GC,14953,0.89,321.9,65.8,12.9,1347,14962,0.00,2.20,0.00,0.000,4,0.000,0.045,3053,3257,1567,0,0,0,0,0,0
$GC,15063,0.89,321.9,52.0,11.5,1367,15073,0.08,2.15,0.00,0.000,6,0.140,0.034,3036,1849,1567,0,0,0,0,0,0
$GC,15391,0.92,348.9,22.0,8.6,1428,15422,0.00,2.17,23.15,0.623,4,0.000,0.041,3042,433,1459,0,0,0,0,0,0
$GC,15470,0.93,356.6,14.7,9.4,1440,15485,0.00,2.15,7.82,0.529,6,0.000,0.031,3032,1848,1429,0,0,0,0,0,0
$STATE,15598,end climb,SURFACE_DEPTH_REACHED
$STATE,15598,begin surface coast
$FINISH,0.9,1.021549
$STATE,15631,end surface coast,CONTROL_FINISHED_OK
$STATE,15631,begin surface
$SM_CCo,15650,53.62,0.469,1,0,1048,450.13
$SM_GC,1.59,0.00,0.00,53.62,0.000,0.000,0.469,136,1465,1048,-8.16,-0.99,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2117.95,12402.60,030911,212145
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.89
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.50
$XPDR_PINGS,93
$24V_AH,23.0,38.937
$10V_AH,10.1,28.096
$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,18.850,130.250,447.850,53.625,0.000,84.732,90.435,185.565,23.250,0.000,17.243,3635.207,8035.813,624.285,3593.391,453.568,0.000,1937.372,0.000,3235.306,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,64.260,1464.210,468.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.407,1505.757,1745.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330240
$DATA_FILE_SIZE,83642,1469
$CAP_FILE_SIZE,160995,0
$CFSIZE,260165632,132780032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.257,131.8,1
$GPS,040911,020256,2128.155,12401.624,32,99.0,51,-2.8