version: 66.09
glider: 166
mission: 6
dive: 168
start: 9 4 111 11 30 31
data:
$ID,166
$MISSION,6
$DIVE,168
$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,-24608.658
$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,49
$R_STBD_OVSHOOT,50
$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
$GPS1,040911,112307,2127.378,12402.442,58,1.4,58,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.8
$GPS2,040911,113007,2127.300,12402.616,16,1.4,33,-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,309.6,6733,-17.2,-9.706
$D_GRID,4916
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-155.7,0.0,0.0,0,100,0.00,0.00,-81.15,0.000,2,0.000,0.000,129,1477,2981,0,0,0,0,0,0
$GC,103,-0.68,-155.7,5.0,-7.0,11,127,9.45,0.00,-10.95,0.000,6,0.229,0.000,2514,1477,3522,0,0,0,0,0,0
$GC,443,-0.68,-155.7,111.5,-19.2,74,451,0.00,1.95,0.00,0.000,4,0.000,0.040,2521,211,3524,0,0,0,0,0,0
$GC,545,-0.68,-155.7,130.2,-18.5,92,553,0.00,1.95,0.00,0.000,6,0.000,0.032,2513,1504,3524,0,0,0,0,0,0
$GC,874,-0.68,-155.7,198.0,-20.3,153,883,0.00,2.12,0.00,0.000,4,0.000,0.043,2502,2902,3525,0,0,0,0,0,0
$GC,969,-0.68,-155.7,214.9,-16.4,170,977,0.00,2.12,0.00,0.000,6,0.000,0.034,2504,1505,3525,0,0,0,0,0,0
$GC,1304,-0.68,-155.7,272.6,-15.3,219,1308,0.00,1.98,0.00,0.000,4,0.000,0.043,2505,201,3525,0,0,0,0,0,0
$GC,1409,-0.68,-155.7,290.8,-17.0,228,1417,0.00,1.95,0.00,0.000,6,0.000,0.034,2496,1498,3525,0,0,0,0,0,0
$GC,1734,-0.68,-155.7,344.1,-15.6,259,1738,0.00,2.12,0.00,0.000,4,0.000,0.046,2487,2911,3525,0,0,0,0,0,0
$GC,1763,-0.68,-155.7,348.6,-15.4,261,1768,0.10,2.12,0.00,0.000,6,0.175,0.037,2519,1496,3525,0,0,0,0,0,0
$GC,2091,-0.68,-155.7,397.1,-14.6,291,2094,0.00,1.98,0.00,0.000,4,0.000,0.047,2538,199,3524,0,0,0,0,0,0
$GC,2171,-0.68,-155.7,408.4,-13.2,298,2174,0.00,1.95,0.00,0.000,6,0.000,0.037,2531,1496,3524,0,0,0,0,0,0
$GC,2501,-0.68,-155.7,447.5,-11.6,329,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1496,3522,0,0,0,0,0,0
$GC,2822,-0.68,-155.7,481.3,-11.0,359,2825,0.00,2.00,0.00,0.000,4,0.000,0.050,2535,206,3520,0,0,0,0,0,0
$GC,2867,-0.68,-155.7,486.9,-11.9,363,2871,0.00,1.95,0.00,0.000,6,0.000,0.037,2526,1505,3519,0,0,0,0,0,0
$GC,3199,-0.68,-155.7,529.1,-12.8,394,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1506,3517,0,0,0,0,0,0
$GC,3520,-0.68,-155.7,566.4,-10.9,424,3524,0.00,2.15,0.00,0.000,4,0.000,0.054,2515,2907,3514,0,0,0,0,0,0
$GC,3563,-0.68,-155.7,571.0,-9.7,427,3570,0.00,2.15,0.00,0.000,6,0.000,0.041,2515,1488,3513,0,0,0,0,0,0
$GC,3900,-0.68,-155.7,605.0,-9.6,457,3904,0.00,1.98,0.00,0.000,4,0.000,0.052,2515,205,3511,0,0,0,0,0,0
$GC,3960,-0.68,-155.7,612.2,-11.4,459,3968,0.00,1.98,0.00,0.000,6,0.000,0.039,2506,1493,3510,0,0,0,0,0,0
$GC,4277,-0.68,-155.7,647.3,-11.2,475,4281,0.00,2.17,0.00,0.000,4,0.000,0.051,2495,2915,3507,0,0,0,0,0,0
$GC,4363,-0.68,-155.7,656.3,-10.8,479,4368,0.12,2.15,0.00,0.000,6,0.160,0.042,2525,1499,3506,0,0,0,0,0,0
$GC,4690,-0.68,-155.7,690.5,-11.0,495,4694,0.00,2.03,0.00,0.000,4,0.000,0.054,2527,174,3504,0,0,0,0,0,0
$GC,4722,-0.68,-155.7,694.6,-12.0,496,4727,0.00,2.05,0.00,0.000,6,0.000,0.041,2516,1500,3503,0,0,0,0,0,0
$GC,5046,-0.68,-155.7,733.7,-12.5,512,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1501,3501,0,0,0,0,0,0
$GC,5356,-0.68,-155.7,770.7,-11.6,527,5360,0.00,2.17,0.00,0.000,4,0.000,0.056,2500,2909,3498,0,0,0,0,0,0
$GC,5382,-0.68,-155.7,774.2,-11.4,528,5387,0.00,2.15,0.00,0.000,6,0.000,0.044,2501,1496,3498,0,0,0,0,0,0
$GC,5707,-0.68,-155.7,806.5,-9.4,544,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1496,3495,0,0,0,0,0,0
$GC,6014,-0.68,-155.7,833.5,-8.7,559,6018,0.00,2.03,0.00,0.000,4,0.000,0.063,2500,215,3493,0,0,0,0,0,0
$GC,6076,-0.68,-155.7,839.7,-10.3,561,6084,0.12,1.98,0.00,0.000,6,0.166,0.044,2525,1499,3492,0,0,0,0,0,0
$GC,6392,-0.68,-155.7,864.0,-7.6,577,6396,0.00,2.20,0.00,0.000,4,0.000,0.057,2516,2913,3490,0,0,0,0,0,0
$GC,6511,-0.68,-155.7,872.7,-7.3,582,6515,0.00,2.17,0.00,0.000,6,0.000,0.044,2517,1493,3489,0,0,0,0,0,0
$GC,6827,-0.68,-155.7,897.1,-7.8,597,6831,0.00,2.22,0.00,0.000,4,0.000,0.059,2507,2909,3487,0,0,0,0,0,0
$GC,6875,-0.68,-155.7,900.7,-7.8,599,6879,0.00,2.17,0.00,0.000,6,0.000,0.044,2506,1491,3487,0,0,0,0,0,0
$GC,7204,-0.68,-155.7,928.5,-8.4,615,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1491,3486,0,0,0,0,0,0
$GC,7512,-0.68,-155.7,955.0,-8.5,630,7516,0.00,2.22,0.00,0.000,4,0.000,0.060,2497,2909,3484,0,0,0,0,0,0
$GC,7580,-0.68,-155.7,960.7,-8.1,633,7584,0.00,2.17,0.00,0.000,6,0.000,0.046,2499,1500,3484,0,0,0,0,0,0
$GC,7909,-0.68,-155.7,989.1,-8.3,649,7913,0.00,2.05,0.00,0.000,4,0.000,0.060,2506,204,3483,0,0,0,0,0,0
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7917,begin apogee
$GC,7925,-0.14,0.0,990.6,8.4,649,8061,0.62,0.00,127.50,1.462,6,0.131,0.000,2694,1853,2883,0,0,0,0,0,0
$STATE,8062,end apogee,CONTROL_FINISHED_OK
$STATE,8062,begin climb
$GC,8064,0.68,155.7,992.4,0.0,655,8215,0.75,2.40,142.43,1.400,4,0.070,0.061,2962,3253,2247,0,0,0,0,0,0
$GC,8248,0.68,155.7,972.5,15.9,663,8252,0.00,2.30,0.00,0.000,6,0.000,0.045,2971,1847,2244,0,0,0,0,0,0
$GC,8570,0.68,155.7,923.3,14.9,679,8574,0.00,2.28,0.00,0.000,4,0.000,0.060,2970,3266,2238,0,0,0,0,0,0
$GC,8595,0.68,155.7,919.6,14.7,680,8599,0.00,2.22,0.00,0.000,6,0.000,0.044,2979,1837,2237,0,0,0,0,0,0
$GC,8917,0.68,155.7,871.3,14.8,696,8921,0.00,2.25,0.00,0.000,4,0.000,0.060,2977,3258,2236,0,0,0,0,0,0
$GC,8982,0.68,155.7,861.1,15.2,699,8987,0.00,2.17,0.00,0.000,6,0.000,0.044,2985,1845,2236,0,0,0,0,0,0
$GC,9312,0.68,155.7,812.0,15.6,715,9316,0.00,2.22,0.00,0.000,4,0.000,0.058,2977,3258,2234,0,0,0,0,0,0
$GC,9383,0.68,155.7,798.6,18.1,718,9388,0.00,2.17,0.00,0.000,6,0.000,0.042,2985,1850,2234,0,0,0,0,0,0
$GC,9713,0.68,155.7,739.1,18.2,734,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1851,2233,0,0,0,0,0,0
$GC,10020,0.68,155.7,684.1,16.9,749,10024,0.00,2.20,0.00,0.000,4,0.000,0.054,2977,3260,2232,0,0,0,0,0,0
$GC,10105,0.68,155.7,670.1,15.5,753,10109,0.00,2.15,0.00,0.000,6,0.000,0.041,2986,1851,2232,0,0,0,0,0,0
$GC,10434,0.68,155.7,623.3,13.2,769,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1851,2231,0,0,0,0,0,0
$GC,10746,0.68,155.7,578.2,15.7,790,10750,0.00,2.20,0.00,0.000,4,0.000,0.053,2977,3261,2231,0,0,0,0,0,0
$GC,10847,0.68,155.7,562.0,15.4,798,10854,0.00,2.17,0.00,0.000,6,0.000,0.041,2986,1834,2230,0,0,0,0,0,0
$GC,11172,0.68,155.7,517.8,12.4,829,11176,0.00,2.22,0.00,0.000,4,0.000,0.051,2977,3269,2230,0,0,0,0,0,0
$GC,11201,0.68,155.7,514.2,12.2,831,11208,0.00,2.15,0.00,0.000,6,0.000,0.037,2986,1851,2229,0,0,0,0,0,0
$GC,11526,0.68,155.7,471.9,13.4,862,11530,0.00,2.15,0.00,0.000,4,0.000,0.049,2996,443,2229,0,0,0,0,0,0
$GC,11580,0.68,155.7,464.4,14.3,866,11584,0.00,2.15,0.00,0.000,6,0.000,0.038,2988,1859,2228,0,0,0,0,0,0
$GC,11905,0.68,155.7,419.2,14.6,896,11909,0.00,2.15,0.00,0.000,4,0.000,0.054,2979,3251,2229,0,0,0,0,0,0
$GC,11967,0.68,155.7,409.9,15.0,901,11971,0.00,2.12,0.00,0.000,6,0.000,0.039,2987,1847,2228,0,0,0,0,0,0
$GC,12292,0.68,155.7,366.7,11.6,931,12296,0.00,2.20,0.00,0.000,4,0.000,0.053,2979,3257,2228,0,0,0,0,0,0
$GC,12344,0.68,155.7,360.9,11.6,935,12348,0.00,2.12,0.00,0.000,6,0.000,0.039,2987,1850,2229,0,0,0,0,0,0
$GC,12670,0.68,155.7,321.5,12.0,965,12674,0.00,2.17,0.00,0.000,4,0.000,0.051,2979,3252,2228,0,0,0,0,0,0
$GC,12710,0.68,155.7,316.1,13.3,968,12715,0.00,2.12,0.00,0.000,6,0.000,0.037,2987,1842,2228,0,0,0,0,0,0
$GC,13036,0.68,155.7,278.3,9.9,998,13040,0.00,2.12,0.00,0.000,4,0.000,0.048,2998,434,2229,0,0,0,0,0,0
$GC,13187,0.68,155.7,261.2,12.5,1011,13191,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1862,2228,0,0,0,0,0,0
$GC,13515,0.68,155.7,226.5,11.0,1062,13523,0.00,2.15,0.00,0.000,4,0.000,0.050,2989,3249,2228,0,0,0,0,0,0
$GC,13764,0.68,155.7,198.3,11.2,1108,13773,0.10,2.12,0.00,0.000,6,0.159,0.037,2967,1852,2228,0,0,0,0,0,0
$GC,14093,0.77,227.9,173.7,6.7,1169,14160,0.00,0.00,58.90,0.804,6,0.000,0.000,2968,1852,1953,0,0,0,0,0,0
$GC,14481,0.82,265.7,137.7,8.1,1238,14520,0.12,2.28,32.47,0.745,4,0.087,0.047,3035,3258,1799,0,0,0,0,0,0
$GC,14630,0.82,265.7,121.2,11.9,1263,14639,0.10,2.17,0.00,0.000,6,0.144,0.035,3011,1854,1797,0,0,0,0,0,0
$GC,14956,0.82,265.7,88.8,12.8,1324,14964,0.00,2.22,0.00,0.000,4,0.000,0.044,3020,437,1796,0,0,0,0,0,0
$GC,15144,0.82,265.7,66.0,11.0,1358,15152,0.00,2.15,0.00,0.000,6,0.000,0.033,3012,1851,1795,0,0,0,0,0,0
$GC,15472,0.96,380.4,46.2,4.9,1419,15575,0.12,2.20,94.68,0.666,4,0.085,0.043,3077,3254,1333,0,0,0,0,0,0
$GC,15600,0.96,380.4,32.7,11.9,1437,15610,0.08,2.20,0.00,0.000,6,0.139,0.033,3060,1847,1332,0,0,0,0,0,0
$STATE,15875,end climb,SURFACE_DEPTH_REACHED
$STATE,15875,begin surface coast
$FINISH,0.9,1.021572
$STATE,15904,end surface coast,CONTROL_FINISHED_OK
$STATE,15904,begin surface
$SM_CCo,15923,45.95,0.437,1,0,1048,450.13
$SM_GC,1.62,0.00,0.00,45.95,0.000,0.000,0.437,125,1489,1048,-8.19,-0.31,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2122.58,12357.47,040911,060601
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.01
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,92
$24V_AH,23.0,39.460
$10V_AH,10.1,28.611
$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,19.175,137.650,455.975,45.950,0.000,29.097,43.679,164.223,23.000,0.000,34.523,3722.520,7999.776,563.172,3637.712,456.714,0.000,1952.598,0.000,3382.412,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,63.495,1461.915,436.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.802,1529.836,1811.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83590,1493
$CAP_FILE_SIZE,165243,0
$CFSIZE,260165632,132513792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.314,150.8,1
$GPS,040911,155826,2126.135,12402.155,39,2.1,58,-2.8