version: 66.09
glider: 166
mission: 6
dive: 331
start: 10 6 111 6 22 2
data:
$ID,166
$MISSION,6
$DIVE,331
$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,280
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$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,-24815.98
$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,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,65
$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,5
$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
$GPS1,061011,061154,2313.944,12150.562,39,1.3,39,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-62.2
$GPS2,061011,062137,2314.141,12150.642,13,1.7,30,-3.1
$SPEED_LIMITS,0.204,0.374
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,120.6,220891,-14.6,-11.786
$D_GRID,3421
$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,-292.0,0.0,0.0,0,129,0.00,0.00,-109.30,0.000,2,0.000,0.000,130,1600,3012,0,0,0,0,0,0
$GC,134,-0.68,-292.0,5.1,-6.1,15,166,9.57,1.08,-18.30,0.000,4,0.227,0.066,2510,895,3963,0,0,0,0,0,0
$GC,296,-0.56,-292.0,57.1,-26.9,43,304,0.17,1.05,0.00,0.000,6,0.148,0.037,2560,1597,3965,0,0,0,0,0,0
$GC,624,-0.50,-292.0,125.0,-19.5,104,632,0.00,1.02,0.00,0.000,4,0.000,0.041,2556,2303,3965,0,0,0,0,0,0
$GC,879,-0.52,-292.0,161.3,-9.9,150,887,0.00,1.02,0.00,0.000,6,0.000,0.035,2555,1603,3966,0,0,0,0,0,0
$GC,1206,-0.52,-292.0,196.0,-10.7,211,1214,0.00,1.05,0.00,0.000,4,0.000,0.041,2550,2306,3966,0,0,0,0,0,0
$GC,1304,-0.54,-292.0,204.6,-8.9,228,1312,0.00,1.02,0.00,0.000,6,0.000,0.035,2550,1605,3966,0,0,0,0,0,0
$GC,1633,-0.54,-292.0,239.8,-11.7,289,1641,0.00,1.05,0.00,0.000,4,0.000,0.041,2545,2312,3966,0,0,0,0,0,0
$GC,1814,-0.56,-292.0,260.2,-11.1,313,1822,0.00,1.02,0.00,0.000,6,0.000,0.035,2546,1611,3965,0,0,0,0,0,0
$GC,2140,-0.58,-292.0,299.5,-11.4,344,2144,0.00,1.05,0.00,0.000,4,0.000,0.042,2545,2312,3964,0,0,0,0,0,0
$GC,2189,-0.60,-292.0,304.9,-10.5,348,2196,0.00,1.02,0.00,0.000,6,0.000,0.037,2544,1615,3963,0,0,0,0,0,0
$GC,2515,-0.60,-292.0,342.7,-11.5,379,2518,0.00,1.02,0.00,0.000,4,0.000,0.043,2553,2304,3962,0,0,0,0,0,0
$GC,2664,-0.62,-292.0,358.1,-9.8,392,2668,0.00,1.02,0.00,0.000,6,0.000,0.038,2554,1612,3960,0,0,0,0,0,0
$GC,2995,-0.62,-292.0,393.8,-10.3,423,2999,0.00,1.05,0.00,0.000,4,0.000,0.042,2550,2315,3958,0,0,0,0,0,0
$GC,3138,-0.65,-292.0,406.5,-9.0,435,3145,0.00,1.05,0.00,0.000,6,0.000,0.037,2550,1607,3956,0,0,0,0,0,0
$GC,3465,-0.67,-292.0,438.5,-9.8,466,3468,0.00,1.05,0.00,0.000,4,0.000,0.045,2545,2303,3954,0,0,0,0,0,0
$GC,3517,-0.68,-292.0,443.5,-9.5,470,3524,0.00,1.02,0.00,0.000,6,0.000,0.039,2545,1616,3954,0,0,0,0,0,0
$GC,3843,-0.70,-292.0,476.0,-10.4,501,3847,0.00,1.05,0.00,0.000,4,0.000,0.047,2540,2310,3952,0,0,0,0,0,0
$GC,3926,-0.73,-292.0,484.4,-10.1,508,3929,0.00,1.05,0.00,0.000,6,0.000,0.041,2540,1607,3951,0,0,0,0,0,0
$GC,4256,-0.73,-292.0,525.4,-12.4,539,4260,0.00,1.08,0.00,0.000,4,0.000,0.049,2535,2306,3948,0,0,0,0,0,0
$GC,4309,-0.74,-292.0,531.4,-11.2,543,4316,0.00,1.05,0.00,0.000,6,0.000,0.042,2535,1611,3948,0,0,0,0,0,0
$GC,4634,-0.74,-292.0,567.8,-10.9,574,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1611,3945,0,0,0,0,0,0
$GC,4967,-0.75,-292.0,602.5,-10.1,604,4970,0.00,1.08,0.00,0.000,4,0.000,0.054,2530,2303,3942,0,0,0,0,0,0
$GC,5039,-0.78,-292.0,610.2,-9.6,607,5043,0.08,1.05,0.00,0.000,6,0.057,0.046,2473,1618,3942,0,0,0,0,0,0
$GC,5369,-0.72,-292.0,660.5,-15.7,623,5374,0.15,1.08,0.00,0.000,4,0.163,0.057,2511,2293,3939,0,0,0,0,0,0
$GC,5424,-0.72,-292.0,668.1,-11.4,625,5428,0.00,1.05,0.00,0.000,6,0.000,0.047,2512,1607,3939,0,0,0,0,0,0
$GC,5748,-0.72,-292.0,706.1,-12.3,641,5752,0.00,1.08,0.00,0.000,4,0.000,0.057,2507,2294,3937,0,0,0,0,0,0
$GC,5797,-0.72,-292.0,712.2,-11.5,643,5801,0.00,1.05,0.00,0.000,6,0.000,0.047,2507,1610,3936,0,0,0,0,0,0
$GC,6125,-0.72,-292.0,749.7,-11.0,659,6129,0.00,1.10,0.00,0.000,4,0.000,0.056,2507,910,3934,0,0,0,0,0,0
$GC,6155,-0.72,-292.0,752.8,-10.6,660,6159,0.00,1.08,0.00,0.000,6,0.000,0.050,2502,1597,3934,0,0,0,0,0,0
$GC,6483,-0.71,-292.0,787.9,-10.4,676,6486,0.00,1.10,0.00,0.000,4,0.000,0.060,2497,2311,3931,0,0,0,0,0,0
$GC,6529,-0.71,-292.0,792.6,-10.0,678,6533,0.00,1.08,0.00,0.000,6,0.000,0.050,2497,1615,3931,0,0,0,0,0,0
$GC,6865,-0.69,-292.0,829.7,-11.4,694,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1615,3929,0,0,0,0,0,0
$GC,7172,-0.68,-292.0,865.5,-11.6,709,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1615,3927,0,0,0,0,0,0
$GC,7483,-0.68,-292.0,901.3,-11.9,724,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1615,3926,0,0,0,0,0,0
$GC,7790,-0.67,-292.0,938.5,-12.1,739,7795,0.12,1.12,0.00,0.000,4,0.165,0.063,2528,2309,3924,0,0,0,0,0,0
$GC,7817,-0.67,-292.0,941.5,-11.4,740,7821,0.00,1.10,0.00,0.000,6,0.000,0.053,2528,1604,3923,0,0,0,0,0,0
$GC,8147,-0.69,-292.0,971.7,-9.4,756,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1604,3922,0,0,0,0,0,0
$STATE,8349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8349,begin apogee
$GC,8355,-0.11,0.0,991.0,9.3,766,8587,0.52,0.00,226.38,1.439,6,0.112,0.000,2703,1782,2884,0,0,0,0,0,0
$STATE,8589,end apogee,CONTROL_FINISHED_OK
$STATE,8589,begin climb
$GC,8591,0.68,292.0,1003.4,0.0,776,8877,0.73,1.20,275.52,1.373,4,0.050,0.063,2975,2471,1693,0,0,0,0,0,0
$GC,9062,0.63,292.0,939.1,16.6,797,9070,0.10,1.08,0.00,0.000,6,0.153,0.050,2949,1789,1688,0,0,0,0,0,0
$GC,9379,0.59,292.0,894.9,13.7,813,9382,0.00,1.08,0.00,0.000,4,0.000,0.061,2948,2475,1685,0,0,0,0,0,0
$GC,9414,0.55,292.0,890.0,13.7,814,9418,0.00,1.08,0.00,0.000,6,0.000,0.050,2951,1784,1685,0,0,0,0,0,0
$GC,9740,0.51,292.0,843.2,14.5,830,9744,0.15,1.08,0.00,0.000,4,0.164,0.054,2914,1077,1684,0,0,0,0,0,0
$GC,9766,0.48,292.0,839.6,14.3,831,9770,0.00,1.10,0.00,0.000,6,0.000,0.048,2914,1783,1684,0,0,0,0,0,0
$GC,10099,0.55,346.9,803.8,10.3,847,10155,0.00,1.08,51.58,1.311,4,0.000,0.055,2914,2486,1468,0,0,0,0,0,0
$GC,10193,0.66,420.6,794.2,9.8,851,10269,0.08,1.12,68.90,1.285,6,0.054,0.047,2971,1771,1169,0,0,0,0,0,0
$GC,10577,0.62,420.6,730.0,17.5,869,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1771,1163,0,0,0,0,0,0
$GC,10888,0.59,420.6,678.9,16.3,884,10893,0.12,1.12,0.00,0.000,4,0.168,0.057,2938,2483,1162,0,0,0,0,0,0
$GC,10943,0.60,420.6,670.7,12.2,886,10947,0.00,1.08,0.00,0.000,6,0.000,0.045,2941,1786,1162,0,0,0,0,0,0
$GC,11267,0.60,420.6,630.1,13.0,902,11271,0.00,1.08,0.00,0.000,4,0.000,0.050,2946,1070,1161,0,0,0,0,0,0
$GC,11290,0.60,420.6,626.8,13.0,903,11294,0.00,1.10,0.00,0.000,6,0.000,0.044,2946,1790,1161,0,0,0,0,0,0
$GC,11619,0.60,420.6,584.8,12.9,924,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1790,1161,0,0,0,0,0,0
$GC,11950,0.60,420.6,544.9,11.8,955,11954,0.00,1.10,0.00,0.000,4,0.000,0.050,2951,1071,1160,0,0,0,0,0,0
$GC,11989,0.62,433.7,539.6,11.4,958,12008,0.00,1.08,11.77,1.047,6,0.000,0.045,2951,1779,1115,0,0,0,0,0,0
$GC,12326,0.62,433.7,499.8,12.4,990,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1779,1115,0,0,0,0,0,0
$GC,12646,0.62,433.7,460.0,13.0,1020,12649,0.00,1.12,0.00,0.000,4,0.000,0.050,2956,1064,1114,0,0,0,0,0,0
$GC,12675,0.62,433.7,456.2,12.8,1022,12683,0.00,1.10,0.00,0.000,6,0.000,0.043,2956,1788,1114,0,0,0,0,0,0
$GC,13000,0.62,433.7,415.7,12.0,1053,13003,0.00,1.10,0.00,0.000,4,0.000,0.048,2961,1068,1114,0,0,0,0,0,0
$GC,13030,0.63,442.4,412.2,11.5,1055,13048,0.00,1.08,9.40,0.921,6,0.000,0.042,2961,1778,1079,0,0,0,0,0,0
$GC,13366,0.64,442.4,372.8,11.9,1087,13370,0.00,1.05,0.00,0.000,4,0.000,0.052,2961,2471,1078,0,0,0,0,0,0
$GC,13396,0.65,442.4,369.2,12.0,1089,13403,0.00,1.08,0.00,0.000,6,0.000,0.042,2966,1768,1078,0,0,0,0,0,0
$GC,13721,0.65,442.4,327.8,12.9,1120,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1768,1078,0,0,0,0,0,0
$GC,14046,0.67,445.3,291.9,11.7,1150,14055,0.00,1.10,3.88,0.571,4,0.000,0.048,2971,1070,1068,0,0,0,0,0,0
$GC,14081,0.71,467.5,287.5,11.2,1153,14107,0.00,1.08,21.30,0.897,6,0.000,0.040,2971,1788,977,0,0,0,0,0,0
$GC,14424,0.80,519.3,249.2,10.4,1185,14478,0.00,1.12,46.10,0.882,4,0.000,0.045,2976,1080,765,0,0,0,0,0,0
$GC,14516,0.92,580.7,240.1,10.1,1198,14584,0.15,1.08,57.70,0.860,6,0.040,0.038,3068,1788,513,0,0,0,0,0,0
$GC,14904,0.86,580.7,155.1,21.3,1267,14913,0.17,1.02,0.00,0.000,4,0.151,0.048,3014,2473,501,0,0,0,0,0,0
$GC,14996,0.96,633.1,143.3,10.4,1283,15027,0.08,1.05,17.42,0.666,6,0.056,0.041,3075,1774,454,0,0,0,0,1,0
$GC,15351,0.95,633.1,80.0,16.7,1347,15358,0.00,1.02,0.00,0.000,4,0.000,0.045,3080,1087,441,0,0,0,0,0,0
$GC,15472,0.93,633.1,59.5,16.6,1369,15481,0.10,1.02,0.00,0.000,6,0.124,0.037,3046,1783,440,0,0,0,0,0,0
$GC,15803,1.21,787.7,30.7,7.6,1430,15813,0.25,1.08,0.00,0.000,4,0.057,0.041,3176,1084,437,0,0,0,0,0,0
$GC,15903,1.13,787.7,11.4,24.6,1447,15911,0.17,1.02,0.00,0.000,6,0.146,0.037,3117,1785,437,0,0,0,0,0,0
$STATE,15939,end climb,SURFACE_DEPTH_REACHED
$STATE,15939,begin surface coast
$FINISH,1.4,1.013627
$STATE,15951,end surface coast,CONTROL_FINISHED_OK
$STATE,15951,begin surface
$SM_CCo,16029,0.00,0.000,0,0,436,600.49
$SM_GC,1.94,7.65,0.00,0.00,0.030,0.000,0.000,159,1605,436,-8.05,-0.14,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2305.10,12152.12,061011,060632
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.43
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.80
$XPDR_PINGS,117
$24V_AH,22.3,79.888
$10V_AH,9.8,56.088
$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,20.375,66.825,789.950,0.000,0.000,48.930,63.879,214.386,29.250,0.000,31.125,3598.806,8122.646,780.706,3586.290,501.388,0.000,2232.343,0.000,3249.221,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,68.850,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.372,1489.891,1565.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,80129,1455
$CAP_FILE_SIZE,175490,0
$CFSIZE,260165632,117735424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.265, 21.2,1
$GPS,061011,105045,2314.759,12154.248,46,1.9,55,-3.1