version: 66.09
glider: 166
mission: 6
dive: 191
start: 9 8 111 17 9 36
data:
$ID,166
$MISSION,6
$DIVE,191
$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,260
$T_MISSION,290
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,1
$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,-24639.184
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,58
$R_STBD_OVSHOOT,47
$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
$GPS1,080911,170156,2118.075,12409.892,63,1.9,64,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.1
$GPS2,080911,170914,2117.973,12410.008,15,1.9,15,-2.8
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,307.8,341357,-17.2,-12.692
$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,17,-0.68,-243.3,0.0,0.0,0,126,0.00,0.00,-107.03,0.000,2,0.000,0.000,137,1485,3114,0,0,0,0,0,0
$GC,129,-0.68,-243.3,6.1,-11.0,15,160,9.38,1.92,-14.07,0.000,4,0.224,0.054,2508,218,3876,0,0,0,0,0,0
$GC,354,-0.61,-243.3,82.4,-27.4,56,363,0.12,1.95,0.00,0.000,6,0.138,0.034,2541,1499,3879,0,0,0,0,0,0
$GC,683,-0.54,-243.3,156.4,-20.4,117,691,0.00,2.12,0.00,0.000,4,0.000,0.042,2533,2906,3880,0,0,0,0,0,0
$GC,737,-0.51,-243.3,166.9,-18.2,126,745,0.12,2.10,0.00,0.000,6,0.128,0.032,2574,1508,3881,0,0,0,0,0,0
$GC,1058,-0.51,-243.3,210.6,-14.4,187,1066,0.00,2.12,0.00,0.000,4,0.000,0.040,2566,2909,3881,0,0,0,0,0,0
$GC,1122,-0.55,-243.3,218.0,-10.5,198,1130,0.00,2.10,0.00,0.000,6,0.000,0.031,2566,1502,3881,0,0,0,0,0,0
$GC,1446,-0.55,-243.3,259.8,-12.5,252,1450,0.00,2.10,0.00,0.000,4,0.000,0.040,2556,2915,3880,0,0,0,0,0,0
$GC,1501,-0.59,-243.3,266.0,-9.9,256,1509,0.00,2.12,0.00,0.000,6,0.000,0.031,2557,1496,3880,0,0,0,0,0,0
$GC,1828,-0.59,-243.3,309.1,-15.5,287,1832,0.00,2.10,0.00,0.000,4,0.000,0.041,2549,2907,3879,0,0,0,0,0,0
$GC,1879,-0.63,-243.3,316.1,-12.8,291,1883,0.00,2.10,0.00,0.000,6,0.000,0.031,2549,1488,3879,0,0,0,0,0,0
$GC,2205,-0.65,-243.3,360.8,-11.9,321,2209,0.00,2.15,0.00,0.000,4,0.000,0.041,2544,2919,3878,0,0,0,0,0,0
$GC,2235,-0.67,-243.3,364.2,-11.9,323,2239,0.00,2.10,0.00,0.000,6,0.000,0.033,2555,1499,3878,0,0,0,0,0,0
$GC,2561,-0.69,-243.3,403.4,-11.6,353,2565,0.00,2.12,0.00,0.000,4,0.000,0.043,2546,2916,3876,0,0,0,0,0,0
$GC,2616,-0.72,-243.3,409.6,-10.5,357,2624,0.10,2.10,0.00,0.000,6,0.095,0.033,2482,1499,3876,0,0,0,0,0,0
$GC,2942,-0.66,-243.3,470.3,-19.2,388,2946,0.17,1.98,0.00,0.000,4,0.162,0.044,2535,204,3874,0,0,0,0,0,0
$GC,2981,-0.66,-243.3,476.6,-14.8,391,2985,0.00,1.95,0.00,0.000,6,0.000,0.035,2527,1510,3874,0,0,0,0,0,0
$GC,3312,-0.66,-243.3,521.9,-14.5,422,3316,0.00,2.08,0.00,0.000,4,0.000,0.047,2516,2904,3872,0,0,0,0,0,0
$GC,3365,-0.68,-243.3,528.7,-13.1,426,3369,0.00,2.10,0.00,0.000,6,0.000,0.036,2517,1499,3872,0,0,0,0,0,0
$GC,3691,-0.68,-243.3,577.4,-13.9,456,3695,0.00,2.15,0.00,0.000,4,0.000,0.049,2506,2901,3869,0,0,0,0,0,0
$GC,3776,-0.70,-243.3,588.2,-11.7,463,3781,0.00,2.10,0.00,0.000,6,0.000,0.037,2506,1503,3868,0,0,0,0,0,0
$GC,4109,-0.70,-243.3,626.5,-11.1,483,4113,0.00,2.15,0.00,0.000,4,0.000,0.050,2496,2901,3866,0,0,0,0,0,0
$GC,4153,-0.70,-243.3,631.6,-10.1,485,4157,0.00,2.12,0.00,0.000,6,0.000,0.038,2496,1493,3865,0,0,0,0,0,0
$GC,4481,-0.70,-243.3,668.6,-11.6,501,4485,0.00,2.20,0.00,0.000,4,0.000,0.052,2486,2909,3862,0,0,0,0,0,0
$GC,4504,-0.70,-243.3,671.4,-11.6,502,4509,0.12,2.15,0.00,0.000,6,0.156,0.040,2521,1490,3862,0,0,0,0,0,0
$GC,4833,-0.72,-243.3,706.1,-11.0,518,4837,0.00,2.20,0.00,0.000,4,0.000,0.053,2513,2907,3859,0,0,0,0,0,0
$GC,4879,-0.74,-243.3,711.2,-10.9,520,4883,0.00,2.12,0.00,0.000,6,0.000,0.040,2513,1495,3858,0,0,0,0,0,0
$GC,5206,-0.76,-243.3,748.2,-11.2,536,5210,0.00,2.20,0.00,0.000,4,0.000,0.055,2502,2906,3855,0,0,0,0,0,0
$GC,5251,-0.78,-243.3,753.2,-10.6,538,5255,0.00,2.15,0.00,0.000,6,0.000,0.041,2502,1493,3855,0,0,0,0,0,0
$GC,5574,-0.78,-243.3,786.7,-10.0,554,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1493,3853,0,0,0,0,0,0
$GC,5882,-0.78,-243.3,817.7,-10.1,569,5886,0.00,2.20,0.00,0.000,4,0.000,0.057,2483,2897,3849,0,0,0,0,0,0
$GC,5917,-0.80,-243.3,821.1,-10.2,570,5924,0.00,2.15,0.00,0.000,6,0.000,0.043,2484,1490,3850,0,0,0,0,0,0
$GC,6235,-0.80,-243.3,855.7,-10.9,586,6239,0.00,2.20,0.00,0.000,4,0.000,0.058,2471,2898,3847,0,0,0,0,0,0
$GC,6268,-0.80,-243.3,859.8,-11.3,587,6272,0.00,2.12,0.00,0.000,6,0.000,0.043,2471,1501,3847,0,0,0,0,0,0
$GC,6592,-0.80,-243.3,898.5,-12.0,603,6596,0.00,2.03,0.00,0.000,4,0.000,0.057,2469,198,3844,0,0,0,0,0,0
$GC,6630,-0.78,-243.3,904.1,-13.9,604,6638,0.12,2.00,0.00,0.000,6,0.167,0.044,2493,1496,3844,0,0,0,0,0,0
$GC,6948,-0.80,-243.3,936.3,-10.3,620,6952,0.00,2.17,0.00,0.000,4,0.000,0.058,2486,2906,3841,0,0,0,0,0,0
$GC,7046,-0.84,-243.3,946.1,-9.9,624,7050,0.00,2.15,0.00,0.000,6,0.000,0.044,2486,1500,3841,0,0,0,0,0,0
$GC,7368,-0.85,-243.3,980.8,-10.7,640,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1500,3839,0,0,0,0,0,0
$STATE,7470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7470,begin apogee
$GC,7476,-0.11,0.0,991.5,10.4,645,7687,0.65,0.00,202.35,1.445,6,0.123,0.000,2702,1853,2883,0,0,0,0,0,0
$STATE,7688,end apogee,CONTROL_FINISHED_OK
$STATE,7688,begin climb
$GC,7692,0.68,243.3,998.3,0.0,655,7920,0.73,0.00,222.95,1.379,6,0.046,0.000,2984,1853,1892,0,0,0,0,0,0
$GC,8231,0.60,243.3,900.4,21.4,681,8236,0.17,2.22,0.00,0.000,4,0.180,0.063,2930,3248,1884,0,0,0,0,0,0
$GC,8304,0.60,243.3,886.6,15.6,684,8309,0.00,2.15,0.00,0.000,6,0.000,0.044,2938,1853,1882,0,0,0,0,0,0
$GC,8634,0.57,243.3,832.9,16.4,700,8638,0.00,2.20,0.00,0.000,4,0.000,0.055,2949,442,1881,0,0,0,0,0,0
$GC,8652,0.54,243.3,830.0,16.4,701,8656,0.00,2.17,0.00,0.000,6,0.000,0.044,2947,1839,1880,0,0,0,0,0,0
$GC,8985,0.51,243.3,777.4,15.5,717,8990,0.12,2.22,0.00,0.000,4,0.178,0.059,2903,3265,1879,0,0,0,0,0,0
$GC,9097,0.59,289.9,764.5,11.1,722,9144,0.00,2.17,41.95,1.287,6,0.000,0.043,2911,1843,1702,0,0,0,0,0,0
$GC,9469,0.69,360.4,724.5,10.2,740,9541,0.15,2.33,64.47,1.260,4,0.079,0.054,2993,443,1413,0,0,0,0,0,0
$GC,9556,0.64,360.4,709.7,18.6,744,9561,0.15,2.28,0.00,0.000,6,0.165,0.044,2954,1860,1412,0,0,0,0,0,0
$GC,9888,0.62,360.4,657.4,16.1,760,9892,0.00,2.17,0.00,0.000,4,0.000,0.058,2950,3261,1408,0,0,0,0,0,0
$GC,9982,0.64,360.4,641.4,14.5,764,9986,0.00,2.17,0.00,0.000,6,0.000,0.041,2957,1841,1408,0,0,0,0,0,0
$GC,10303,0.62,360.4,587.7,17.2,782,10307,0.00,2.22,0.00,0.000,4,0.000,0.057,2957,3258,1407,0,0,0,0,0,0
$GC,10322,0.61,360.4,584.2,17.4,783,10326,0.00,2.15,0.00,0.000,6,0.000,0.039,2966,1841,1407,0,0,0,0,0,0
$GC,10651,0.59,360.4,528.8,16.8,813,10655,0.00,2.22,0.00,0.000,4,0.000,0.054,2966,3261,1405,0,0,0,0,0,0
$GC,10707,0.60,360.4,519.0,15.5,817,10715,0.12,2.15,0.00,0.000,6,0.171,0.039,2943,1842,1405,0,0,0,0,0,0
$GC,11033,0.62,360.4,477.7,12.7,848,11036,0.00,2.15,0.00,0.000,4,0.000,0.050,2951,438,1405,0,0,0,0,0,0
$GC,11066,0.65,360.4,473.1,13.0,850,11073,0.00,2.15,0.00,0.000,6,0.000,0.038,2947,1862,1403,0,0,0,0,0,0
$GC,11391,0.67,360.4,427.5,13.7,881,11395,0.00,2.12,0.00,0.000,4,0.000,0.054,2947,3248,1403,0,0,0,0,0,0
$GC,11424,0.71,360.4,422.7,13.9,883,11431,0.00,2.10,0.00,0.000,6,0.000,0.038,2951,1850,1403,0,0,0,0,0,0
$GC,11750,0.72,360.4,379.2,13.0,914,11754,0.00,2.12,0.00,0.000,4,0.000,0.050,2959,446,1403,0,0,0,0,0,0
$GC,11802,0.80,402.6,373.1,11.2,918,11849,0.12,2.12,35.85,0.998,6,0.085,0.044,3034,1843,1242,0,0,0,0,0,0
$GC,12165,0.75,402.6,295.7,22.3,952,12170,0.17,2.20,0.00,0.000,4,0.158,0.052,2980,3263,1240,0,0,0,0,0,0
$GC,12283,0.79,402.6,278.1,13.5,962,12287,0.00,2.15,0.00,0.000,6,0.000,0.037,2989,1838,1240,0,0,0,0,0,0
$GC,12610,0.79,402.6,225.8,15.3,1007,12618,0.00,2.15,0.00,0.000,4,0.000,0.047,3001,446,1238,0,0,0,0,0,0
$GC,12644,0.81,402.6,221.2,14.2,1012,12652,0.00,2.15,0.00,0.000,6,0.000,0.037,3002,1845,1238,0,0,0,0,0,0
$GC,12971,0.82,414.6,177.4,12.3,1073,12988,0.00,2.22,11.55,0.741,4,0.000,0.049,3006,3265,1192,0,0,0,0,0,0
$GC,13012,0.87,431.3,172.0,12.1,1079,13035,0.00,2.15,15.32,0.755,6,0.000,0.036,3016,1851,1124,0,0,0,0,0,0
$GC,13351,0.89,431.3,126.3,13.1,1142,13359,0.00,2.17,0.00,0.000,4,0.000,0.045,3027,441,1123,0,0,0,0,0,0
$GC,13455,1.00,481.2,114.5,10.9,1160,13506,0.08,2.15,41.97,0.738,6,0.052,0.034,3093,1867,920,0,0,0,0,0,0
$GC,13821,0.99,481.2,49.8,16.0,1227,13829,0.00,2.12,0.00,0.000,4,0.000,0.046,3093,3245,918,0,0,0,0,0,0
$GC,13893,1.01,481.2,39.4,13.9,1240,13902,0.08,2.12,0.00,0.000,6,0.136,0.034,3077,1847,918,0,0,0,0,0,0
$STATE,14189,end climb,SURFACE_DEPTH_REACHED
$STATE,14189,begin surface coast
$FINISH,1.1,1.008151
$STATE,14217,end surface coast,CONTROL_FINISHED_OK
$STATE,14217,begin surface
$SM_CCo,14295,0.00,0.000,0,0,917,482.51
$SM_GC,1.93,7.55,0.00,0.00,0.033,0.000,0.000,153,1468,917,-8.05,-0.88,482.51,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12410.26,080911,131348
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.16
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.20
$XPDR_PINGS,76
$24V_AH,22.9,44.057
$10V_AH,10.1,32.294
$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,20.250,142.175,636.425,0.000,0.000,23.943,47.096,207.072,19.000,0.000,16.522,3102.880,7236.675,690.121,3254.452,433.118,0.000,1981.258,0.000,2972.989,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,62.730,1445.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.281,1331.806,1521.898,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330208
$DATA_FILE_SIZE,73469,1301
$CAP_FILE_SIZE,164363,0
$CFSIZE,260165632,130560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,210936,2117.734,12409.876,60,1.7,65,-2.8