version: 66.09
glider: 166
mission: 6
dive: 84
start: 8 19 111 15 32 8
data:
$ID,166
$MISSION,6
$DIVE,84
$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,310
$T_MISSION,330
$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,475
$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,-24495.293
$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,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$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,51
$R_STBD_OVSHOOT,45
$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
$GPS1,190811,151406,2348.102,12348.991,63,1.3,68,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.2
$GPS2,190811,153144,2348.195,12348.896,16,1.3,16,-3.4
$SPEED_LIMITS,0.184,0.333
$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,99.2,10868,-14.7,-10.645
$D_GRID,3195
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.83,-243.3,0.0,0.0,0,113,0.00,0.00,-92.30,0.000,2,0.000,0.000,143,1489,3208,0,0,0,0,0,0
$GC,116,-0.83,-243.3,6.3,-11.0,13,148,9.00,2.22,-11.85,0.000,4,0.222,0.056,2464,2911,3881,0,0,0,0,0,0
$GC,178,-0.49,-243.3,37.1,-47.2,22,188,0.38,2.15,0.00,0.000,6,0.157,0.034,2579,1507,3882,0,0,0,0,0,0
$GC,508,-0.40,-243.3,119.3,-20.3,83,517,0.12,2.00,0.00,0.000,4,0.166,0.041,2617,199,3883,0,0,0,0,0,0
$GC,533,-0.34,-243.3,124.3,-19.4,86,542,0.00,1.95,0.00,0.000,6,0.000,0.031,2610,1506,3883,0,0,0,0,0,0
$GC,863,-0.34,-243.3,173.7,-14.4,147,871,0.00,2.12,0.00,0.000,4,0.000,0.042,2599,2904,3884,0,0,0,0,0,0
$GC,954,-0.39,-243.3,184.6,-11.5,163,963,0.00,2.10,0.00,0.000,6,0.000,0.031,2599,1497,3883,0,0,0,0,0,0
$GC,1279,-0.39,-243.3,224.3,-11.4,224,1287,0.00,2.15,0.00,0.000,4,0.000,0.041,2590,2904,3882,0,0,0,0,0,0
$GC,1324,-0.42,-243.3,228.6,-10.3,231,1332,0.00,2.10,0.00,0.000,6,0.000,0.031,2590,1498,3882,0,0,0,0,0,0
$GC,1659,-0.42,-243.3,264.3,-10.6,281,1663,0.00,2.12,0.00,0.000,4,0.000,0.041,2581,2905,3881,0,0,0,0,0,0
$GC,1693,-0.45,-243.3,268.2,-10.7,284,1697,0.00,2.08,0.00,0.000,6,0.000,0.031,2581,1497,3881,0,0,0,0,0,0
$GC,2026,-0.45,-243.3,310.9,-12.7,315,2030,0.00,2.08,0.00,0.000,4,0.000,0.041,2571,2905,3879,0,0,0,0,0,0
$GC,2125,-0.50,-243.3,321.1,-9.7,323,2129,0.00,2.05,0.00,0.000,6,0.000,0.033,2572,1500,3879,0,0,0,0,0,0
$GC,2452,-0.50,-243.3,356.0,-9.3,353,2456,0.00,1.98,0.00,0.000,4,0.000,0.044,2573,209,3877,0,0,0,0,0,0
$GC,2476,-0.50,-243.3,358.5,-9.2,355,2479,0.00,1.88,0.00,0.000,6,0.000,0.034,2565,1496,3877,0,0,0,0,0,0
$GC,2806,-0.50,-243.3,394.2,-11.4,386,2810,0.00,2.10,0.00,0.000,4,0.000,0.044,2555,2902,3875,0,0,0,0,0,0
$GC,2886,-0.55,-243.3,402.6,-10.1,392,2893,0.00,2.10,0.00,0.000,6,0.000,0.034,2559,1495,3875,0,0,0,0,0,0
$GC,3214,-0.55,-243.3,446.1,-13.6,423,3218,0.00,2.15,0.00,0.000,4,0.000,0.046,2560,2908,3873,0,0,0,0,0,0
$GC,3246,-0.55,-243.3,451.1,-13.5,425,3253,0.00,2.12,0.00,0.000,6,0.000,0.035,2560,1495,3873,0,0,0,0,0,0
$GC,3571,-0.55,-243.3,491.2,-11.1,456,3575,0.00,2.12,0.00,0.000,4,0.000,0.047,2550,2899,3871,0,0,0,0,0,0
$GC,3602,-0.55,-243.3,494.3,-11.1,458,3606,0.00,2.08,0.00,0.000,6,0.000,0.036,2550,1492,3870,0,0,0,0,0,0
$GC,3927,-0.55,-243.3,532.9,-12.2,488,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1492,3868,0,0,0,0,0,0
$GC,4250,-0.55,-243.3,568.9,-9.9,518,4254,0.00,2.15,0.00,0.000,4,0.000,0.050,2541,2898,3866,0,0,0,0,0,0
$GC,4282,-0.55,-243.3,572.4,-9.5,520,4289,0.00,2.10,0.00,0.000,6,0.000,0.038,2541,1500,3865,0,0,0,0,0,0
$GC,4617,-0.55,-243.3,603.9,-9.5,550,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1500,3862,0,0,0,0,0,0
$GC,4926,-0.55,-243.3,636.4,-11.4,565,4930,0.00,2.20,0.00,0.000,4,0.000,0.054,2528,2902,3859,0,0,0,0,0,0
$GC,4967,-0.55,-243.3,641.0,-11.6,567,4972,0.15,2.12,0.00,0.000,6,0.141,0.042,2573,1497,3859,0,0,0,0,0,0
$GC,5298,-0.60,-243.3,671.3,-9.0,583,5302,0.00,2.17,0.00,0.000,4,0.000,0.055,2563,2903,3856,0,0,0,0,0,0
$GC,5353,-0.69,-243.3,676.6,-8.8,585,5361,0.12,2.12,0.00,0.000,6,0.082,0.042,2485,1497,3856,0,0,0,0,0,0
$GC,5671,-0.62,-243.3,722.1,-14.6,601,5674,0.22,0.00,0.00,0.000,6,0.145,0.000,2545,1497,3853,0,0,0,0,0,0
$GC,5979,-0.65,-243.3,751.5,-9.0,616,5983,0.00,2.17,0.00,0.000,4,0.000,0.057,2533,2898,3850,0,0,0,0,0,0
$GC,6031,-0.71,-243.3,756.0,-8.6,618,6036,0.00,2.12,0.00,0.000,6,0.000,0.044,2534,1503,3850,0,0,0,0,0,0
$GC,6348,-0.74,-243.3,784.5,-9.0,633,6352,0.00,2.17,0.00,0.000,4,0.000,0.058,2521,2903,3847,0,0,0,0,0,0
$GC,6398,-0.78,-243.3,788.9,-8.4,635,6402,0.00,2.15,0.00,0.000,6,0.000,0.044,2524,1488,3846,0,0,0,0,0,0
$GC,6721,-0.78,-243.3,818.1,-9.2,651,6725,0.00,2.20,0.00,0.000,4,0.000,0.057,2511,2904,3844,0,0,0,0,0,0
$GC,6744,-0.79,-243.3,820.5,-9.2,652,6748,0.00,2.15,0.00,0.000,6,0.000,0.044,2512,1489,3844,0,0,0,0,0,0
$GC,7067,-0.79,-243.3,855.3,-11.2,668,7071,0.00,2.20,0.00,0.000,4,0.000,0.061,2500,2904,3841,0,0,0,0,0,0
$GC,7104,-0.79,-243.3,859.9,-11.3,669,7112,0.00,2.15,0.00,0.000,6,0.000,0.044,2501,1497,3840,0,0,0,0,0,0
$GC,7421,-0.79,-243.3,898.3,-12.1,685,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1497,3838,0,0,0,0,0,0
$GC,7732,-0.79,-243.3,933.2,-10.7,700,7736,0.00,2.20,0.00,0.000,4,0.000,0.061,2489,2902,3836,0,0,0,0,0,0
$GC,7776,-0.79,-243.3,938.0,-10.4,702,7779,0.00,2.15,0.00,0.000,6,0.000,0.045,2490,1491,3836,0,0,0,0,0,0
$GC,8103,-0.77,-243.3,973.1,-10.9,718,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1491,3834,0,0,0,0,0,0
$STATE,8287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8287,begin apogee
$GC,8295,-0.18,0.0,991.9,10.1,727,8499,0.57,0.00,197.00,1.444,6,0.125,0.000,2679,1842,2883,0,0,0,0,0,0
$STATE,8502,end apogee,CONTROL_FINISHED_OK
$STATE,8502,begin climb
$GC,8504,0.83,243.3,998.0,0.0,736,8730,0.90,2.47,216.18,1.376,4,0.054,0.063,3011,3252,1891,0,0,0,0,0,0
$GC,8750,0.61,243.3,956.9,24.9,748,8755,0.28,2.30,0.00,0.000,6,0.183,0.044,2950,1852,1889,0,0,0,0,0,0
$GC,9066,0.49,243.3,894.9,18.8,763,9071,0.17,2.25,0.00,0.000,4,0.168,0.058,2892,3262,1883,0,0,0,0,0,0
$GC,9089,0.40,243.3,891.1,17.8,764,9093,0.00,2.20,0.00,0.000,6,0.000,0.043,2899,1844,1882,0,0,0,0,0,0
$GC,9410,0.35,243.3,849.7,12.7,780,9415,0.15,2.17,0.00,0.000,4,0.166,0.054,2868,441,1881,0,0,0,0,0,0
$GC,9450,0.35,243.3,845.3,10.9,782,9454,0.00,2.15,0.00,0.000,6,0.000,0.042,2868,1850,1881,0,0,0,0,0,0
$GC,9779,0.43,312.1,816.1,8.6,798,9847,0.00,2.33,61.90,1.326,4,0.000,0.058,2867,3244,1610,0,0,0,0,0,0
$GC,9884,0.54,362.1,806.2,9.2,802,9938,0.12,2.20,45.88,1.278,6,0.081,0.041,2939,1850,1408,0,0,0,0,0,0
$GC,10266,0.46,362.1,742.7,17.0,821,10267,0.15,0.00,0.00,0.000,6,0.164,0.000,2900,1849,1402,0,0,0,0,0,0
$GC,10577,0.46,362.1,704.9,12.0,836,10581,0.00,2.20,0.00,0.000,4,0.000,0.053,2907,442,1401,0,0,0,0,0,0
$GC,10598,0.46,362.1,701.8,12.4,837,10602,0.00,2.15,0.00,0.000,6,0.000,0.041,2907,1847,1399,0,0,0,0,0,0
$GC,10925,0.46,362.1,655.9,14.8,853,10929,0.00,2.17,0.00,0.000,4,0.000,0.057,2907,3261,1399,0,0,0,0,0,0
$GC,10987,0.49,362.1,646.4,14.6,855,10995,0.00,2.15,0.00,0.000,6,0.000,0.040,2917,1847,1399,0,0,0,0,0,0
$GC,11304,0.47,362.1,598.8,14.5,871,11308,0.00,2.15,0.00,0.000,4,0.000,0.051,2928,445,1399,0,0,0,0,0,0
$GC,11333,0.45,362.1,594.7,14.0,873,11338,0.12,2.17,0.00,0.000,6,0.151,0.041,2893,1870,1397,0,0,0,0,0,0
$GC,11659,0.54,403.7,563.9,9.4,903,11704,0.00,2.22,35.67,1.162,4,0.000,0.054,2893,3248,1237,0,0,0,0,0,0
$GC,11730,0.66,453.9,557.3,9.2,909,11780,0.15,2.17,44.70,1.129,6,0.072,0.038,2981,1845,1033,0,0,0,0,0,0
$GC,12101,0.58,453.9,482.6,20.5,943,12106,0.17,2.25,0.00,0.000,4,0.158,0.054,2929,3256,1028,0,0,0,0,0,0
$GC,12130,0.54,453.9,476.9,18.8,945,12134,0.00,2.15,0.00,0.000,6,0.000,0.037,2937,1837,1027,0,0,0,0,0,0
$GC,12457,0.54,453.9,428.7,14.3,975,12461,0.00,2.15,0.00,0.000,4,0.000,0.050,2948,441,1026,0,0,0,0,0,0
$GC,12489,0.54,453.9,423.8,13.6,977,12497,0.00,2.17,0.00,0.000,6,0.000,0.037,2948,1861,1025,0,0,0,0,0,0
$GC,12815,0.54,453.9,378.7,14.2,1008,12819,0.00,2.15,0.00,0.000,4,0.000,0.054,2949,3261,1026,0,0,0,0,0,0
$GC,12862,0.58,453.9,372.4,12.9,1011,12870,0.00,2.12,0.00,0.000,6,0.000,0.038,2959,1852,1025,0,0,0,0,0,0
$GC,13187,0.58,453.9,328.5,12.5,1042,13191,0.00,2.12,0.00,0.000,4,0.000,0.049,2975,444,1025,0,0,0,0,0,0
$GC,13220,0.58,453.9,324.1,12.9,1044,13228,0.15,2.15,0.00,0.000,6,0.133,0.037,2933,1860,1025,0,0,0,0,0,0
$GC,13547,0.76,524.3,298.1,8.6,1075,13612,0.17,2.28,58.10,0.906,4,0.067,0.045,3042,434,744,0,0,0,0,0,0
$GC,13629,0.71,524.3,283.9,20.9,1081,13634,0.22,2.20,0.00,0.000,6,0.130,0.037,2976,1861,742,0,0,0,0,0,0
$GC,13956,0.75,524.3,239.5,11.3,1119,13965,0.00,2.15,0.00,0.000,4,0.000,0.050,2974,3247,738,0,0,0,0,0,0
$GC,13994,0.84,524.3,235.5,10.8,1125,14002,0.00,2.15,0.00,0.000,6,0.000,0.035,2982,1843,738,0,0,0,0,0,0
$GC,14323,0.93,557.2,202.2,9.7,1186,14363,0.17,2.20,27.88,0.795,4,0.065,0.047,3085,449,608,0,0,0,0,0,0
$GC,14437,0.90,557.2,181.8,18.7,1204,14446,0.12,2.15,0.00,0.000,6,0.126,0.034,3040,1836,606,0,0,0,0,0,0
$GC,14768,0.90,557.2,127.0,15.9,1265,14776,0.00,2.20,0.00,0.000,4,0.000,0.047,3032,3268,604,0,0,0,0,0,0
$GC,14854,0.98,557.2,115.4,11.2,1280,14862,0.00,2.15,0.00,0.000,6,0.000,0.034,3041,1846,604,0,0,0,0,0,0
$GC,15184,1.17,650.6,81.4,7.9,1341,15222,0.22,2.22,32.85,0.695,4,0.057,0.044,3170,436,452,0,0,0,0,0,0
$GC,15317,1.13,650.6,56.1,19.2,1363,15326,0.17,2.17,0.00,0.000,6,0.125,0.033,3111,1855,446,0,0,0,0,0,0
$STATE,15647,end climb,SURFACE_DEPTH_REACHED
$STATE,15647,begin surface coast
$FINISH,1.1,1.021461
$STATE,15664,end surface coast,CONTROL_FINISHED_OK
$STATE,15664,begin surface
$SM_CCo,15741,0.00,0.000,0,0,445,598.29
$SM_GC,1.80,7.55,0.00,0.00,0.031,0.000,0.000,132,1469,445,-8.04,-0.85,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12347.94,190811,151518
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.03
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,25.80
$XPDR_PINGS,74
$24V_AH,23.4,22.553
$10V_AH,10.3,14.797
$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,21.600,151.925,720.150,0.000,0.000,140.046,116.147,346.299,18.500,0.000,16.836,3544.450,8204.765,768.120,3794.818,468.567,0.000,2149.601,0.000,3155.262,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,62.730,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.776,1459.622,1592.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80294,1427
$CAP_FILE_SIZE,179842,0
$CFSIZE,260165632,139866112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 36.5,1
$GPS,190811,195537,2349.156,12353.153,30,1.8,30,-3.4