version: 66.09
glider: 166
mission: 6
dive: 233
start: 9 16 111 0 44 15
data:
$ID,166
$MISSION,6
$DIVE,233
$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,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,-24692.049
$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,20
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,53
$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
$GPS1,160911,003437,2109.896,12339.798,37,1.0,37,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.7
$GPS2,160911,004349,2109.878,12339.901,14,1.2,31,-2.7
$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,282.2,310715,-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,-243.3,0.0,0.0,0,129,0.00,0.00,-109.47,0.000,2,0.000,0.000,154,1534,3052,0,0,0,0,0,0
$GC,133,-0.68,-243.3,5.3,-6.3,15,165,9.38,0.00,-15.18,0.000,6,0.226,0.000,2517,1532,3878,0,0,0,0,0,0
$GC,485,-0.57,-243.3,124.7,-26.8,79,494,0.15,1.02,0.00,0.000,4,0.172,0.044,2544,859,3882,0,0,0,0,0,0
$GC,534,-0.53,-243.3,136.7,-20.9,87,542,0.08,1.02,0.00,0.000,6,0.147,0.038,2566,1544,3882,0,0,0,0,0,0
$GC,866,-0.52,-243.3,192.5,-15.2,148,875,0.00,1.02,0.00,0.000,4,0.000,0.045,2563,2243,3882,0,0,0,0,0,0
$GC,998,-0.53,-243.3,211.4,-14.6,172,1007,0.00,1.02,0.00,0.000,6,0.000,0.041,2563,1560,3882,0,0,0,0,0,0
$GC,1334,-0.53,-243.3,260.1,-13.0,227,1337,0.00,1.02,0.00,0.000,4,0.000,0.046,2558,2245,3882,0,0,0,0,0,0
$GC,1395,-0.55,-243.3,267.6,-12.1,232,1403,0.00,1.05,0.00,0.000,6,0.000,0.041,2559,1543,3881,0,0,0,0,0,0
$GC,1720,-0.55,-243.3,310.3,-12.9,263,1724,0.00,1.05,0.00,0.000,4,0.000,0.047,2563,2242,3880,0,0,0,0,0,0
$GC,1795,-0.57,-243.3,319.1,-11.0,269,1803,0.00,1.02,0.00,0.000,6,0.000,0.041,2559,1555,3880,0,0,0,0,0,0
$GC,2121,-0.58,-243.3,358.6,-11.3,300,2125,0.00,1.05,0.00,0.000,4,0.000,0.047,2558,2252,3878,0,0,0,0,0,0
$GC,2225,-0.61,-243.3,369.2,-9.7,309,2229,0.00,1.05,0.00,0.000,6,0.000,0.042,2564,1553,3877,0,0,0,0,0,0
$GC,2559,-0.63,-243.3,408.0,-12.1,340,2563,0.00,1.05,0.00,0.000,4,0.000,0.047,2562,2246,3876,0,0,0,0,0,0
$GC,2605,-0.66,-243.3,413.4,-10.9,344,2610,0.00,1.05,0.00,0.000,6,0.000,0.042,2563,1547,3875,0,0,0,0,0,0
$GC,2939,-0.69,-243.3,448.4,-9.8,375,2944,0.12,1.08,0.00,0.000,4,0.084,0.049,2485,2245,3874,0,0,0,0,0,0
$GC,3011,-0.66,-243.3,458.6,-14.6,381,3019,0.12,1.02,0.00,0.000,6,0.130,0.043,2528,1557,3873,0,0,0,0,0,0
$GC,3339,-0.66,-243.3,497.9,-11.7,412,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1557,3872,0,0,0,0,0,0
$GC,3667,-0.68,-243.3,537.7,-12.2,443,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1557,3870,0,0,0,0,0,0
$GC,3987,-0.69,-243.3,578.7,-13.4,473,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1557,3866,0,0,0,0,0,0
$GC,4307,-0.71,-243.3,623.0,-13.5,496,4311,0.00,1.08,0.00,0.000,4,0.000,0.053,2525,2247,3863,0,0,0,0,0,0
$GC,4370,-0.73,-243.3,630.9,-12.3,498,4377,0.00,1.08,0.00,0.000,6,0.000,0.046,2525,1547,3863,0,0,0,0,0,0
$GC,4687,-0.75,-243.3,670.8,-12.4,514,4691,0.00,1.08,0.00,0.000,4,0.000,0.054,2520,2238,3860,0,0,0,0,0,0
$GC,4820,-0.78,-243.3,686.5,-11.5,519,4827,0.00,1.05,0.00,0.000,6,0.000,0.047,2520,1554,3859,0,0,0,0,0,0
$GC,5137,-0.79,-243.3,722.5,-11.0,535,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1555,3856,0,0,0,0,0,0
$GC,5446,-0.81,-243.3,753.8,-9.8,550,5448,0.10,0.00,0.00,0.000,6,0.103,0.000,2465,1555,3853,0,0,0,0,0,0
$GC,5757,-0.79,-243.3,796.4,-14.1,565,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1555,3850,0,0,0,0,0,0
$GC,6064,-0.76,-243.3,839.8,-13.6,580,6068,0.12,1.10,0.00,0.000,4,0.165,0.055,2502,851,3848,0,0,0,0,0,0
$GC,6184,-0.78,-243.3,853.2,-10.9,585,6188,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1550,3847,0,0,0,0,0,0
$GC,6512,-0.78,-243.3,888.8,-10.8,601,6515,0.00,1.05,0.00,0.000,4,0.000,0.056,2493,2243,3845,0,0,0,0,0,0
$GC,6564,-0.79,-243.3,894.2,-10.8,603,6568,0.00,1.08,0.00,0.000,6,0.000,0.050,2493,1546,3844,0,0,0,0,0,0
$GC,6892,-0.79,-243.3,930.8,-11.4,619,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1545,3842,0,0,0,0,0,0
$GC,7201,-0.79,-243.3,967.5,-11.9,634,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1545,3840,0,0,0,0,0,0
$STATE,7384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7384,begin apogee
$GC,7392,-0.11,0.0,990.0,12.2,643,7606,0.65,0.00,203.43,1.434,6,0.120,0.000,2705,1815,2883,0,0,0,0,0,0
$STATE,7607,end apogee,CONTROL_FINISHED_OK
$STATE,7607,begin climb
$GC,7611,0.68,243.3,1001.2,0.0,653,7839,0.73,0.00,224.12,1.373,6,0.048,0.000,2975,1815,1892,0,0,0,0,0,0
$GC,8137,0.64,243.3,928.7,16.5,679,8141,0.00,1.10,0.00,0.000,4,0.000,0.060,2974,2517,1885,0,0,0,0,0,0
$GC,8206,0.60,243.3,916.9,16.6,682,8210,0.10,1.10,0.00,0.000,6,0.156,0.050,2947,1817,1884,0,0,0,0,0,0
$GC,8539,0.58,243.3,868.5,14.6,698,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1817,1882,0,0,0,0,0,0
$GC,8850,0.56,243.3,823.6,14.7,713,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1817,1880,0,0,0,0,0,0
$GC,9157,0.54,243.3,776.7,15.5,728,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1817,1880,0,0,0,0,0,0
$GC,9469,0.53,243.3,727.4,16.0,743,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1817,1878,0,0,0,0,0,0
$GC,9776,0.51,243.3,681.8,13.8,758,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1817,1878,0,0,0,0,0,0
$GC,10086,0.50,248.5,640.8,12.5,773,10089,0.00,1.10,0.00,0.000,4,0.000,0.057,2936,2525,1878,0,0,0,0,0,0
$GC,10299,0.56,297.0,615.0,11.0,782,10354,0.00,1.08,48.05,1.197,6,0.000,0.045,2939,1820,1672,0,0,0,0,0,0
$GC,10670,0.57,299.8,571.5,12.6,811,10674,0.00,1.10,0.00,0.000,4,0.000,0.050,2944,1112,1668,0,0,0,0,0,0
$GC,10726,0.58,309.7,564.3,12.3,816,10743,0.00,1.10,12.48,1.056,6,0.000,0.045,2944,1825,1621,0,0,0,0,0,0
$GC,11063,0.58,309.7,516.9,14.5,847,11066,0.00,1.10,0.00,0.000,4,0.000,0.048,2948,1109,1619,0,0,0,0,0,0
$GC,11101,0.58,309.7,510.9,14.4,850,11109,0.00,1.10,0.00,0.000,6,0.000,0.044,2949,1829,1618,0,0,0,0,0,0
$GC,11427,0.58,309.7,464.3,13.0,881,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1828,1618,0,0,0,0,0,0
$GC,11748,0.67,383.1,427.0,10.1,911,11818,0.00,1.15,64.55,1.042,4,0.000,0.047,2959,1118,1321,0,0,0,0,0,0
$GC,11919,0.75,425.3,409.0,11.2,926,11960,0.00,1.08,36.97,0.991,6,0.000,0.041,2960,1822,1150,0,0,0,0,0,0
$GC,12278,0.79,425.3,362.0,12.9,960,12282,0.10,1.10,0.00,0.000,4,0.101,0.046,3032,1115,1146,0,0,0,0,0,0
$GC,12334,0.76,425.3,352.4,18.4,965,12339,0.12,1.08,0.00,0.000,6,0.132,0.041,2992,1832,1146,0,0,0,0,0,0
$GC,12665,0.76,425.3,302.6,14.6,996,12668,0.00,1.08,0.00,0.000,4,0.000,0.044,2994,1117,1146,0,0,0,0,0,0
$GC,12737,0.78,425.3,292.1,14.0,1002,12746,0.00,1.05,0.00,0.000,6,0.000,0.039,2995,1827,1145,0,0,0,0,0,0
$GC,13064,0.79,425.3,247.3,13.1,1034,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1828,1145,0,0,0,0,0,0
$GC,13391,0.81,425.3,205.2,13.1,1095,13399,0.00,1.08,0.00,0.000,4,0.000,0.044,3000,1109,1145,0,0,0,0,0,0
$GC,13537,0.86,436.0,187.4,12.3,1121,13554,0.00,1.05,10.27,0.708,6,0.000,0.037,3000,1825,1105,0,0,0,0,0,0
$GC,13876,0.89,436.0,141.4,14.1,1183,13884,0.00,1.08,0.00,0.000,4,0.000,0.043,3005,1106,1105,0,0,0,0,0,0
$GC,13935,0.97,461.6,133.5,11.8,1193,13967,0.10,1.05,22.77,0.725,6,0.045,0.036,3080,1827,1000,0,0,0,0,0,0
$GC,14286,0.96,461.6,70.3,16.9,1257,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1827,998,0,0,0,0,0,0
$GC,14612,1.03,504.4,29.2,11.2,1318,14657,0.00,1.10,35.78,0.646,4,0.000,0.043,3085,1117,825,0,0,0,0,0,0
$GC,14734,1.10,534.5,15.0,11.6,1337,14765,0.00,1.02,25.40,0.619,6,0.000,0.035,3085,1811,703,0,0,0,0,0,0
$STATE,14828,end climb,SURFACE_DEPTH_REACHED
$STATE,14828,begin surface coast
$FINISH,1.1,1.021378
$STATE,14852,end surface coast,CONTROL_FINISHED_OK
$STATE,14852,begin surface
$SM_CCo,14931,0.00,0.000,0,0,699,535.98
$SM_GC,1.89,7.65,0.00,0.00,0.031,0.000,0.000,154,1541,699,-8.06,-0.25,535.98,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,12337.56,160911,000003
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.08
$INTERNAL_PRESSURE,9.42877
$TCM_TEMP,25.80
$XPDR_PINGS,76
$24V_AH,22.8,54.955
$10V_AH,10.0,38.562
$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,19.525,45.625,683.825,0.000,0.000,62.284,88.899,163.631,19.000,0.000,32.219,3328.503,7685.773,739.794,3291.204,422.966,0.000,1997.225,0.000,2967.245,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,62.730,1433.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.751,1390.970,1473.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330180
$DATA_FILE_SIZE,76832,1357
$CAP_FILE_SIZE,152575,0
$CFSIZE,260165632,126971904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.284, 94.2,1
$GPS,160911,045424,2110.541,12339.583,25,1.1,42,-2.7