version: 66.09
glider: 166
mission: 6
dive: 170
start: 9 4 111 20 38 58
data:
$ID,166
$MISSION,6
$DIVE,170
$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,-24611.176
$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,52
$R_STBD_OVSHOOT,35
$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
$GPS1,040911,203127,2125.687,12402.443,44,4.7,63,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.1
$GPS2,040911,203834,2125.555,12402.486,14,99.0,33,-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,328.5,9280,-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,16,-0.68,-155.7,0.0,0.0,0,105,0.00,0.00,-86.20,0.000,2,0.000,0.000,145,1481,3148,0,0,0,0,0,0
$GC,108,-0.68,-155.7,5.9,-10.4,12,132,9.25,2.20,-7.10,0.000,4,0.222,0.049,2507,2925,3520,0,0,0,0,0,0
$GC,173,-0.68,-155.7,35.4,-38.0,22,182,0.00,2.20,0.00,0.000,6,0.000,0.037,2508,1518,3521,0,0,0,0,0,0
$GC,501,-0.68,-155.7,129.3,-25.0,83,509,0.00,2.05,0.00,0.000,4,0.000,0.043,2507,195,3523,0,0,0,0,0,0
$GC,541,-0.68,-155.7,139.1,-23.2,89,548,0.00,2.00,0.00,0.000,6,0.000,0.036,2499,1501,3523,0,0,0,0,0,0
$GC,869,-0.68,-155.7,211.9,-21.6,150,878,0.00,2.17,0.00,0.000,4,0.000,0.048,2488,2906,3524,0,0,0,0,0,0
$GC,954,-0.68,-155.7,227.6,-15.6,165,963,0.08,2.17,0.00,0.000,6,0.149,0.037,2517,1492,3524,0,0,0,0,0,0
$GC,1291,-0.68,-155.7,279.3,-14.7,209,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1491,3524,0,0,0,0,0,0
$GC,1611,-0.68,-155.7,328.2,-15.6,239,1615,0.00,2.17,0.00,0.000,4,0.000,0.048,2509,2916,3524,0,0,0,0,0,0
$GC,1645,-0.68,-155.7,333.8,-15.2,241,1652,0.00,2.17,0.00,0.000,6,0.000,0.040,2515,1492,3524,0,0,0,0,0,0
$GC,1970,-0.68,-155.7,386.0,-16.0,272,1974,0.00,1.98,0.00,0.000,4,0.000,0.048,2519,202,3523,0,0,0,0,0,0
$GC,2010,-0.68,-155.7,392.3,-15.9,275,2017,0.00,1.98,0.00,0.000,6,0.000,0.037,2512,1514,3523,0,0,0,0,0,0
$GC,2335,-0.68,-155.7,434.7,-12.6,306,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1515,3521,0,0,0,0,0,0
$GC,2657,-0.68,-155.7,469.9,-11.2,336,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1515,3519,0,0,0,0,0,0
$GC,2985,-0.68,-155.7,510.2,-13.3,367,2988,0.00,2.08,0.00,0.000,4,0.000,0.050,2519,198,3516,0,0,0,0,0,0
$GC,3123,-0.68,-155.7,529.1,-13.4,379,3126,0.00,1.98,0.00,0.000,6,0.000,0.037,2509,1503,3515,0,0,0,0,0,0
$GC,3453,-0.68,-155.7,572.6,-12.3,410,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1503,3512,0,0,0,0,0,0
$GC,3772,-0.68,-155.7,610.7,-11.5,436,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1504,3510,0,0,0,0,0,0
$GC,4079,-0.68,-155.7,647.7,-11.9,451,4083,0.00,2.05,0.00,0.000,4,0.000,0.054,2508,198,3507,0,0,0,0,0,0
$GC,4151,-0.68,-155.7,657.1,-13.0,454,4156,0.00,2.00,0.00,0.000,6,0.000,0.040,2498,1493,3506,0,0,0,0,0,0
$GC,4481,-0.68,-155.7,698.6,-13.0,470,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1493,3504,0,0,0,0,0,0
$GC,4788,-0.68,-155.7,736.8,-11.9,485,4792,0.00,2.20,0.00,0.000,4,0.000,0.056,2482,2907,3500,0,0,0,0,0,0
$GC,4838,-0.68,-155.7,742.0,-11.2,487,4843,0.15,2.17,0.00,0.000,6,0.158,0.047,2524,1496,3500,0,0,0,0,0,0
$GC,5167,-0.68,-155.7,771.7,-8.6,503,5171,0.00,2.22,0.00,0.000,4,0.000,0.057,2515,2910,3498,0,0,0,0,0,0
$GC,5207,-0.68,-155.7,775.2,-8.6,505,5211,0.00,2.17,0.00,0.000,6,0.000,0.044,2514,1493,3497,0,0,0,0,0,0
$GC,5536,-0.68,-155.7,803.0,-8.3,521,5540,0.00,2.20,0.00,0.000,4,0.000,0.057,2501,2904,3495,0,0,0,0,0,0
$GC,5563,-0.68,-155.7,805.6,-8.3,522,5567,0.00,2.17,0.00,0.000,6,0.000,0.043,2501,1493,3494,0,0,0,0,0,0
$GC,5881,-0.68,-155.7,835.5,-9.6,537,5885,0.00,2.20,0.00,0.000,4,0.000,0.057,2490,2904,3493,0,0,0,0,0,0
$GC,5924,-0.68,-155.7,840.2,-9.9,539,5929,0.12,2.15,0.00,0.000,6,0.162,0.044,2524,1500,3492,0,0,0,0,0,0
$GC,6252,-0.68,-155.7,867.9,-8.5,555,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1500,3490,0,0,0,0,0,0
$GC,6563,-0.68,-155.7,894.3,-8.5,570,6567,0.00,2.25,0.00,0.000,4,0.000,0.061,2515,2913,3488,0,0,0,0,0,0
$GC,6590,-0.68,-155.7,896.8,-8.4,571,6594,0.00,2.20,0.00,0.000,6,0.000,0.046,2516,1491,3488,0,0,0,0,0,0
$GC,6912,-0.68,-155.7,923.0,-7.9,587,6916,0.00,2.25,0.00,0.000,4,0.000,0.063,2506,2907,3486,0,0,0,0,0,0
$GC,6953,-0.68,-155.7,926.2,-7.8,588,6960,0.00,2.17,0.00,0.000,6,0.000,0.044,2505,1495,3486,0,0,0,0,0,0
$GC,7269,-0.68,-155.7,950.3,-7.3,604,7273,0.00,2.20,0.00,0.000,4,0.000,0.058,2499,2904,3485,0,0,0,0,0,0
$GC,7309,-0.68,-155.7,953.3,-7.3,606,7313,0.00,2.17,0.00,0.000,6,0.000,0.044,2500,1491,3484,0,0,0,0,0,0
$GC,7638,-0.68,-155.7,979.6,-8.2,622,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1491,3483,0,0,0,0,0,0
$STATE,7778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7778,begin apogee
$GC,7783,-0.14,0.0,991.0,7.9,629,7919,0.60,0.00,127.25,1.462,6,0.127,0.000,2696,1858,2883,0,0,0,0,0,0
$STATE,7920,end apogee,CONTROL_FINISHED_OK
$STATE,7920,begin climb
$GC,7923,0.68,155.7,992.5,0.0,635,8073,0.75,2.40,142.38,1.400,4,0.070,0.060,2966,3252,2248,0,0,0,0,0,0
$GC,8112,0.68,155.7,971.5,15.8,644,8117,0.00,2.33,0.00,0.000,6,0.000,0.045,2975,1855,2246,0,0,0,0,0,0
$GC,8440,0.68,155.7,921.8,14.7,660,8444,0.00,2.25,0.00,0.000,4,0.000,0.060,2975,3261,2239,0,0,0,0,0,0
$GC,8475,0.68,155.7,916.5,15.1,661,8482,0.00,2.20,0.00,0.000,6,0.000,0.044,2984,1845,2239,0,0,0,0,0,0
$GC,8791,0.68,155.7,868.5,15.0,677,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1845,2237,0,0,0,0,0,0
$GC,9100,0.68,155.7,820.9,15.7,692,9104,0.00,2.22,0.00,0.000,4,0.000,0.057,2980,3260,2236,0,0,0,0,0,0
$GC,9149,0.68,155.7,813.4,16.4,694,9154,0.00,2.15,0.00,0.000,6,0.000,0.043,2988,1843,2235,0,0,0,0,0,0
$GC,9477,0.68,155.7,760.8,15.8,710,9481,0.00,2.22,0.00,0.000,4,0.000,0.055,2986,3263,2234,0,0,0,0,0,0
$GC,9567,0.68,155.7,745.2,17.6,714,9571,0.00,2.17,0.00,0.000,6,0.000,0.042,2995,1841,2234,0,0,0,0,0,0
$GC,9889,0.68,155.7,692.7,16.0,730,9893,0.00,2.22,0.00,0.000,4,0.000,0.054,2992,3261,2233,0,0,0,0,0,0
$GC,9966,0.68,155.7,679.6,16.3,733,9974,0.12,2.15,0.00,0.000,6,0.200,0.041,2971,1840,2233,0,0,0,0,0,0
$GC,10284,0.68,155.7,635.8,14.0,749,10288,0.00,2.15,0.00,0.000,4,0.000,0.050,2980,445,2232,0,0,0,0,0,0
$GC,10316,0.68,155.7,630.8,14.4,750,10323,0.00,2.17,0.00,0.000,6,0.000,0.041,2972,1852,2232,0,0,0,0,0,0
$GC,10637,0.68,155.7,589.4,12.3,770,10641,0.00,2.17,0.00,0.000,4,0.000,0.057,2970,3250,2232,0,0,0,0,0,0
$GC,10688,0.68,155.7,582.5,12.9,774,10692,0.00,2.12,0.00,0.000,6,0.000,0.041,2978,1849,2231,0,0,0,0,0,0
$GC,11020,0.68,155.7,540.3,13.1,805,11024,0.00,2.20,0.00,0.000,4,0.000,0.056,2974,3260,2231,0,0,0,0,0,0
$GC,11088,0.68,155.7,531.1,13.3,811,11092,0.00,2.15,0.00,0.000,6,0.000,0.041,2982,1849,2231,0,0,0,0,0,0
$GC,11415,0.68,155.7,483.6,15.7,841,11419,0.00,2.15,0.00,0.000,4,0.000,0.048,2993,430,2231,0,0,0,0,0,0
$GC,11432,0.68,155.7,480.5,16.0,842,11436,0.00,2.17,0.00,0.000,6,0.000,0.041,2988,1860,2231,0,0,0,0,0,0
$GC,11757,0.68,155.7,430.7,13.6,872,11761,0.00,2.15,0.00,0.000,4,0.000,0.054,2987,3248,2231,0,0,0,0,0,0
$GC,11938,0.68,155.7,408.7,11.2,887,11947,0.12,2.15,0.00,0.000,6,0.191,0.040,2966,1842,2230,0,0,0,0,0,0
$GC,12265,0.68,155.7,377.9,10.5,918,12269,0.00,2.20,0.00,0.000,4,0.000,0.053,2957,3259,2230,0,0,0,0,0,0
$GC,12328,0.68,155.7,371.3,10.2,923,12332,0.00,2.12,0.00,0.000,6,0.000,0.039,2965,1837,2230,0,0,0,0,0,0
$GC,12653,0.68,155.7,337.5,10.7,953,12657,0.00,2.12,0.00,0.000,4,0.000,0.049,2975,446,2230,0,0,0,0,0,0
$GC,12696,0.68,155.7,333.0,10.0,956,12703,0.00,2.12,0.00,0.000,6,0.000,0.038,2970,1847,2230,0,0,0,0,0,0
$GC,13023,0.72,184.2,303.2,8.5,987,13051,0.00,2.20,22.70,0.916,4,0.000,0.050,2970,3260,2132,0,0,0,0,0,0
$GC,13173,0.72,184.2,286.3,11.9,1000,13177,0.00,2.15,0.00,0.000,6,0.000,0.037,2977,1849,2131,0,0,0,0,0,0
$GC,13499,0.72,184.2,248.5,10.1,1031,13508,0.00,2.20,0.00,0.000,4,0.000,0.046,2983,439,2130,0,0,0,0,0,0
$GC,13598,0.73,193.8,239.0,9.3,1048,13614,0.00,2.17,9.90,0.773,6,0.000,0.036,2980,1861,2093,0,0,0,0,0,0
$GC,13936,0.73,193.8,203.4,12.0,1110,13943,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1862,2092,0,0,0,0,0,0
$GC,14261,0.75,210.3,168.5,9.0,1171,14284,0.00,2.20,15.75,0.757,4,0.000,0.043,2994,443,2024,0,0,0,0,0,0
$GC,14351,0.75,210.3,159.7,9.9,1186,14359,0.00,2.15,0.00,0.000,6,0.000,0.035,2991,1846,2023,0,0,0,0,0,0
$GC,14678,0.78,232.0,129.8,8.8,1247,14703,0.00,2.22,19.35,0.731,4,0.000,0.047,2991,3248,1937,0,0,0,0,0,0
$GC,14763,0.78,232.0,121.7,10.1,1261,14771,0.00,2.15,0.00,0.000,6,0.000,0.034,3000,1851,1937,0,0,0,0,0,0
$GC,15086,0.83,273.0,92.0,8.0,1322,15134,0.00,2.25,35.35,0.709,4,0.000,0.044,3010,440,1770,0,0,0,0,0,0
$GC,15285,0.88,314.7,76.3,8.0,1356,15330,0.00,2.15,36.30,0.689,6,0.000,0.034,3011,1842,1600,0,0,0,0,0,0
$GC,15652,1.01,421.7,46.8,5.2,1422,15748,0.17,0.00,87.95,0.664,6,0.067,0.000,3107,1844,1162,0,0,0,0,0,0
$STATE,15925,end climb,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,1.2,1.021699
$STATE,15945,end surface coast,CONTROL_FINISHED_OK
$STATE,15945,begin surface
$SM_CCo,15963,31.58,0.351,1,0,1048,450.13
$SM_GC,1.90,0.00,0.00,31.58,0.000,0.000,0.351,144,1476,1048,-8.12,-0.65,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2117.95,12401.30,040911,161607
$TT8_MAMPS,0.026215,0.026215
$HUMID,35.15
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,25.80
$XPDR_PINGS,76
$24V_AH,23.0,39.810
$10V_AH,10.1,28.940
$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,19.125,135.425,496.925,31.575,0.000,31.168,43.944,171.892,19.000,0.000,35.339,3637.771,8204.769,590.910,3526.120,453.130,0.000,1969.971,0.000,3263.987,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,62.730,1461.915,351.135,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.985,1507.872,1696.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83397,1471
$CAP_FILE_SIZE,164249,0
$CFSIZE,260165632,132341760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.271,134.8,1
$GPS,050911,010700,2125.626,12402.864,39,1.3,39,-2.8