version: 66.09
glider: 166
mission: 6
dive: 336
start: 10 7 111 6 4 48
data:
$ID,166
$MISSION,6
$DIVE,336
$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,200
$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,-24822.273
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,071011,055724,2320.952,12208.589,59,1.4,76,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.4
$GPS2,071011,060425,2321.093,12208.635,15,1.4,15,-3.1
$SPEED_LIMITS,0.204,0.313
$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,121.6,187974,-18.1,-11.786
$D_GRID,2998
$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,-0.64,-194.6,0.0,0.0,0,109,0.00,0.00,-89.60,0.000,2,0.000,0.000,151,1606,3247,0,0,0,0,0,0
$GC,112,-0.64,-194.6,6.5,-10.6,12,136,9.45,1.10,-8.12,0.000,4,0.221,0.066,2525,891,3680,0,0,0,0,0,0
$GC,211,-0.54,-194.6,44.0,-29.2,28,220,0.12,1.08,0.00,0.000,6,0.150,0.037,2561,1603,3682,0,0,0,0,0,0
$GC,539,-0.52,-194.6,101.9,-13.9,89,547,0.00,1.02,0.00,0.000,4,0.000,0.040,2556,2311,3684,0,0,0,0,0,0
$GC,735,-0.52,-194.6,126.5,-13.7,124,744,0.00,1.05,0.00,0.000,6,0.000,0.037,2553,1600,3684,0,0,0,0,0,0
$GC,1062,-0.52,-194.6,175.2,-12.4,185,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1600,3685,0,0,0,0,0,0
$GC,1388,-0.52,-194.6,216.2,-12.1,246,1396,0.00,1.05,0.00,0.000,4,0.000,0.040,2547,2310,3685,0,0,0,0,0,0
$GC,1507,-0.54,-194.6,229.7,-12.0,267,1515,0.00,1.02,0.00,0.000,6,0.000,0.037,2547,1617,3685,0,0,0,0,0,0
$GC,1842,-0.56,-194.6,268.9,-9.7,313,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1617,3685,0,0,0,0,0,0
$GC,2171,-0.58,-194.6,302.8,-10.4,344,2175,0.00,1.05,0.00,0.000,4,0.000,0.042,2543,2312,3684,0,0,0,0,0,0
$GC,2223,-0.61,-194.6,308.6,-10.8,348,2229,0.00,1.05,0.00,0.000,6,0.000,0.037,2543,1609,3684,0,0,0,0,0,0
$GC,2549,-0.64,-194.6,344.0,-10.6,379,2553,0.00,1.05,0.00,0.000,4,0.000,0.044,2540,2306,3684,0,0,0,0,0,0
$GC,2591,-0.67,-194.6,348.4,-10.7,382,2598,0.00,1.02,0.00,0.000,6,0.000,0.039,2540,1616,3683,0,0,0,0,0,0
$GC,2916,-0.69,-194.6,383.1,-10.4,413,2920,0.00,1.02,0.00,0.000,4,0.000,0.044,2539,2301,3682,0,0,0,0,0,0
$GC,2992,-0.72,-194.6,390.2,-9.0,419,2999,0.00,1.02,0.00,0.000,6,0.000,0.040,2542,1613,3681,0,0,0,0,0,0
$GC,3318,-0.75,-194.6,423.2,-9.5,450,3320,0.15,0.00,0.00,0.000,6,0.073,0.000,2471,1613,3679,0,0,0,0,0,0
$GC,3636,-0.70,-194.6,473.1,-16.4,480,3640,0.15,1.08,0.00,0.000,4,0.161,0.047,2513,914,3678,0,0,0,0,0,0
$GC,3696,-0.70,-194.6,482.2,-13.5,485,3704,0.00,1.05,0.00,0.000,6,0.000,0.042,2510,1606,3678,0,0,0,0,0,0
$GC,4022,-0.70,-194.6,525.5,-13.3,516,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1606,3677,0,0,0,0,0,0
$GC,4342,-0.70,-194.6,561.6,-11.6,546,4346,0.00,1.05,0.00,0.000,4,0.000,0.051,2504,2305,3674,0,0,0,0,0,0
$GC,4406,-0.72,-194.6,568.6,-10.6,551,4413,0.00,1.05,0.00,0.000,6,0.000,0.045,2505,1618,3673,0,0,0,0,0,0
$GC,4731,-0.72,-194.6,602.5,-10.3,581,4735,0.00,1.08,0.00,0.000,4,0.000,0.051,2505,908,3670,0,0,0,0,0,0
$GC,4779,-0.72,-194.6,607.5,-11.0,583,4783,0.00,1.08,0.00,0.000,6,0.000,0.047,2500,1605,3670,0,0,0,0,0,0
$GC,5112,-0.72,-194.6,646.9,-12.2,599,5116,0.00,1.08,0.00,0.000,4,0.000,0.051,2500,911,3668,0,0,0,0,0,0
$GC,5274,-0.72,-194.6,667.0,-12.7,606,5278,0.00,1.08,0.00,0.000,6,0.000,0.050,2495,1604,3667,0,0,0,0,0,0
$GC,5607,-0.72,-194.6,709.5,-12.6,622,5611,0.00,1.08,0.00,0.000,4,0.000,0.053,2494,912,3664,0,0,0,0,0,0
$GC,5675,-0.72,-194.6,718.5,-13.3,625,5678,0.00,1.08,0.00,0.000,6,0.000,0.050,2490,1604,3663,0,0,0,0,0,0
$GC,6010,-0.72,-194.6,761.4,-13.0,641,6013,0.00,1.08,0.00,0.000,4,0.000,0.053,2490,911,3661,0,0,0,0,0,0
$GC,6058,-0.72,-194.6,768.4,-13.0,643,6063,0.08,1.08,0.00,0.000,6,0.148,0.051,2508,1599,3660,0,0,0,0,0,0
$GC,6391,-0.73,-194.6,803.9,-10.9,659,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1599,3658,0,0,0,0,0,0
$GC,6695,-0.75,-194.6,837.8,-10.8,674,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1600,3656,0,0,0,0,0,0
$GC,7007,-0.77,-194.6,870.9,-10.4,689,7011,0.00,1.08,0.00,0.000,4,0.000,0.058,2509,916,3653,0,0,0,0,0,0
$GC,7057,-0.78,-194.6,876.7,-11.1,691,7061,0.00,1.10,0.00,0.000,6,0.000,0.051,2503,1616,3653,0,0,0,0,0,0
$GC,7386,-0.80,-194.6,908.9,-9.7,707,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1616,3651,0,0,0,0,0,0
$GC,7697,-0.82,-194.6,940.6,-10.4,722,7700,0.00,1.10,0.00,0.000,4,0.000,0.058,2503,918,3650,0,0,0,0,0,0
$GC,7803,-0.83,-194.6,952.7,-10.9,726,7811,0.00,1.10,0.00,0.000,6,0.000,0.052,2494,1616,3649,0,0,0,0,0,0
$GC,8122,-0.85,-194.6,986.1,-10.4,742,8126,0.00,1.10,0.00,0.000,4,0.000,0.057,2495,917,3648,0,0,0,0,0,0
$STATE,8158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8158,begin apogee
$GC,8165,-0.11,0.0,990.5,10.1,743,8343,0.65,0.00,167.35,1.443,6,0.119,0.000,2696,1777,2883,0,0,0,0,0,0
$STATE,8344,end apogee,CONTROL_FINISHED_OK
$STATE,8344,begin climb
$GC,8346,0.64,194.6,995.5,0.0,752,8538,0.70,1.15,181.25,1.386,4,0.063,0.060,2954,2483,2089,0,0,0,0,0,0
$GC,8631,0.61,194.6,961.7,15.8,765,8635,0.00,1.12,0.00,0.000,6,0.000,0.052,2958,1783,2084,0,0,0,0,0,0
$GC,8966,0.57,194.6,911.9,14.4,781,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1783,2080,0,0,0,0,0,0
$GC,9273,0.53,194.6,867.3,14.5,796,9278,0.15,1.10,0.00,0.000,4,0.176,0.060,2913,2487,2079,0,0,0,0,0,0
$GC,9347,0.56,216.3,858.3,10.9,799,9371,0.00,1.10,19.52,1.276,6,0.000,0.050,2915,1772,2002,0,0,0,0,0,0
$GC,9697,0.57,230.3,819.4,11.2,816,9713,0.00,0.00,14.00,1.219,6,0.000,0.000,2916,1772,1945,0,0,0,0,0,0
$GC,10023,0.61,264.1,783.8,10.4,832,10059,0.00,1.20,32.30,1.282,4,0.000,0.059,2913,2497,1807,0,0,0,0,0,0
$GC,10113,0.70,315.6,774.8,9.7,835,10173,0.12,1.12,50.28,1.275,6,0.049,0.048,2986,1783,1596,0,0,0,0,0,0
$GC,10484,0.67,315.6,713.7,17.0,853,10488,0.00,1.08,0.00,0.000,4,0.000,0.053,2992,1076,1590,0,0,0,0,0,0
$GC,10511,0.63,315.6,708.0,18.1,854,10516,0.12,1.10,0.00,0.000,6,0.145,0.047,2950,1788,1590,0,0,0,0,0,0
$GC,10840,0.63,315.6,661.4,14.0,870,10844,0.00,1.08,0.00,0.000,4,0.000,0.057,2950,2492,1589,0,0,0,0,0,0
$GC,10879,0.63,315.6,655.7,13.6,871,10887,0.00,1.10,0.00,0.000,6,0.000,0.047,2953,1774,1588,0,0,0,0,0,0
$GC,11195,0.63,315.6,613.3,13.7,887,11199,0.00,1.05,0.00,0.000,4,0.000,0.052,2959,1081,1587,0,0,0,0,0,0
$GC,11247,0.63,315.6,606.2,13.7,889,11251,0.00,1.08,0.00,0.000,6,0.000,0.045,2959,1780,1587,0,0,0,0,0,0
$GC,11571,0.63,315.6,558.0,15.1,917,11575,0.00,1.05,0.00,0.000,4,0.000,0.057,2960,2482,1586,0,0,0,0,0,0
$GC,11632,0.63,315.6,549.2,13.4,922,11639,0.00,1.08,0.00,0.000,6,0.000,0.046,2964,1776,1586,0,0,0,0,0,0
$GC,11957,0.63,315.6,505.6,14.4,953,11961,0.00,1.08,0.00,0.000,4,0.000,0.055,2967,2480,1586,0,0,0,0,0,0
$GC,11996,0.63,315.6,499.7,14.7,956,12003,0.00,1.08,0.00,0.000,6,0.000,0.045,2969,1769,1586,0,0,0,0,0,0
$GC,12321,0.63,315.6,449.9,14.4,987,12325,0.00,1.10,0.00,0.000,4,0.000,0.054,2974,2484,1585,0,0,0,0,0,0
$GC,12356,0.63,315.6,445.2,13.6,990,12360,0.08,1.08,0.00,0.000,6,0.153,0.045,2953,1779,1585,0,0,0,0,0,0
$GC,12686,0.65,315.6,406.0,12.3,1021,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1779,1585,0,0,0,0,0,0
$GC,13009,0.70,333.7,370.2,11.1,1051,13036,0.00,1.08,15.80,0.940,4,0.000,0.048,2959,1082,1522,0,0,0,0,0,0
$GC,13072,0.74,344.5,362.6,11.3,1056,13087,0.00,1.08,11.27,0.886,6,0.000,0.042,2960,1788,1479,0,0,0,0,0,0
$GC,13416,0.78,344.5,319.9,12.4,1088,13420,0.10,1.05,0.00,0.000,4,0.100,0.050,3021,2477,1477,0,0,0,0,0,0
$GC,13473,0.75,344.5,310.1,18.2,1093,13477,0.10,1.05,0.00,0.000,6,0.145,0.042,2994,1777,1477,0,0,0,0,0,0
$GC,13803,0.75,344.5,262.8,12.4,1124,13807,0.00,1.05,0.00,0.000,4,0.000,0.048,2993,2471,1477,0,0,0,0,0,0
$GC,13852,0.75,344.5,256.6,12.0,1128,13860,0.00,1.02,0.00,0.000,6,0.000,0.040,2996,1787,1477,0,0,0,0,0,0
$GC,14182,0.75,344.5,214.9,13.2,1184,14190,0.00,1.05,0.00,0.000,4,0.000,0.045,3001,1079,1477,0,0,0,0,0,0
$GC,14240,0.75,344.5,207.2,13.0,1194,14248,0.00,1.05,0.00,0.000,6,0.000,0.039,3001,1785,1477,0,0,0,0,0,0
$GC,14567,0.75,344.5,164.3,12.1,1255,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1785,1477,0,0,0,0,0,0
$GC,14891,0.81,371.5,128.2,10.7,1316,14922,0.00,1.12,25.38,0.743,4,0.000,0.044,3005,1071,1368,0,0,0,0,0,0
$GC,15001,0.90,422.2,117.2,9.7,1334,15050,0.00,1.05,44.55,0.741,6,0.000,0.037,3005,1780,1162,0,0,0,0,0,0
$GC,15372,1.04,489.1,80.9,9.1,1400,15434,0.20,1.12,56.03,0.705,4,0.060,0.043,3116,1072,888,0,0,0,0,0,0
$GC,15498,1.00,489.1,56.9,22.5,1419,15507,0.12,1.08,0.00,0.000,6,0.132,0.036,3075,1794,885,0,0,0,0,0,0
$GC,15829,1.04,489.1,14.8,12.3,1480,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1796,883,0,0,0,0,0,0
$STATE,15911,end climb,SURFACE_DEPTH_REACHED
$STATE,15911,begin surface coast
$FINISH,1.6,1.022282
$STATE,15933,end surface coast,CONTROL_FINISHED_OK
$STATE,15933,begin surface
$SM_CCo,16013,0.00,0.000,0,0,882,491.09
$SM_GC,1.84,7.53,0.00,0.00,0.032,0.000,0.000,145,1604,882,-8.04,-0.17,491.09,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12207.04,071011,010106
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.72
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.50
$XPDR_PINGS,113
$24V_AH,22.6,81.172
$10V_AH,9.8,56.949
$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,19.825,65.025,617.725,0.000,0.000,29.129,23.419,199.228,28.250,0.000,15.893,3719.450,7906.012,649.099,3638.640,497.144,0.000,2078.376,0.000,3401.275,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,65.790,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.119,1537.643,1780.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,83583,1499
$CAP_FILE_SIZE,172586,0
$CFSIZE,260165632,117276672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234, 14.7,1
$GPS,071011,103300,2321.820,12211.826,40,1.3,40,-3.1