version: 66.09
glider: 166
mission: 6
dive: 87
start: 8 20 111 5 1 38
data:
$ID,166
$MISSION,6
$DIVE,87
$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,-24499.068
$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,47
$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
$GPS1,200811,045357,2350.107,12355.274,40,3.3,59,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-72.8
$GPS2,200811,050113,2350.163,12355.271,16,1.2,33,-3.4
$SPEED_LIMITS,0.184,0.333
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,208.8,259710,-14.7,-10.645
$D_GRID,2788
$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,16,-0.83,-243.3,0.0,0.0,0,106,0.00,0.00,-87.12,0.000,2,0.000,0.000,146,1491,3060,0,0,0,0,0,0
$GC,109,-0.83,-243.3,5.2,-8.1,12,141,9.05,1.98,-15.57,0.000,4,0.228,0.053,2481,199,3879,0,0,0,0,0,0
$GC,267,-0.57,-243.3,68.2,-36.9,39,276,0.28,1.98,0.00,0.000,6,0.151,0.037,2557,1485,3881,0,0,0,0,0,0
$GC,593,-0.45,-243.3,145.8,-21.1,100,601,0.15,0.00,0.00,0.000,6,0.167,0.000,2597,1490,3882,0,0,0,0,0,0
$GC,922,-0.41,-243.3,198.2,-15.6,161,930,0.00,2.15,0.00,0.000,4,0.000,0.044,2589,2904,3883,0,0,0,0,0,0
$GC,1020,-0.44,-243.3,211.7,-12.6,178,1029,0.00,2.12,0.00,0.000,6,0.000,0.033,2586,1502,3883,0,0,0,0,0,0
$GC,1353,-0.44,-243.3,253.9,-11.7,237,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1502,3883,0,0,0,0,0,0
$GC,1675,-0.44,-243.3,292.5,-13.8,267,1679,0.00,2.15,0.00,0.000,4,0.000,0.044,2580,2911,3882,0,0,0,0,0,0
$GC,1741,-0.50,-243.3,301.7,-11.7,272,1748,0.00,2.10,0.00,0.000,6,0.000,0.034,2580,1501,3882,0,0,0,0,0,0
$GC,2067,-0.50,-243.3,339.4,-10.1,303,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1501,3881,0,0,0,0,0,0
$GC,2387,-0.53,-243.3,372.0,-10.5,333,2391,0.00,2.15,0.00,0.000,4,0.000,0.047,2572,2917,3880,0,0,0,0,0,0
$GC,2489,-0.60,-243.3,382.2,-9.8,341,2496,0.00,2.10,0.00,0.000,6,0.000,0.037,2580,1504,3879,0,0,0,0,0,0
$GC,2814,-0.64,-243.3,415.1,-9.0,372,2819,0.12,2.15,0.00,0.000,4,0.080,0.048,2499,2905,3877,0,0,0,0,0,0
$GC,2861,-0.58,-243.3,420.7,-13.4,376,2866,0.20,2.12,0.00,0.000,6,0.140,0.038,2559,1491,3877,0,0,0,0,0,0
$GC,3189,-0.56,-243.3,461.5,-13.5,406,3193,0.00,2.17,0.00,0.000,4,0.000,0.050,2551,2911,3875,0,0,0,0,0,0
$GC,3221,-0.56,-243.3,466.0,-12.2,408,3229,0.00,2.15,0.00,0.000,6,0.000,0.039,2549,1504,3874,0,0,0,0,0,0
$GC,3547,-0.56,-243.3,503.7,-11.0,439,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1504,3872,0,0,0,0,0,0
$GC,3870,-0.56,-243.3,539.8,-11.7,469,3874,0.00,2.17,0.00,0.000,4,0.000,0.053,2541,2906,3869,0,0,0,0,0,0
$GC,3903,-0.56,-243.3,544.4,-11.7,471,3910,0.00,2.10,0.00,0.000,6,0.000,0.041,2542,1497,3869,0,0,0,0,0,0
$GC,4229,-0.54,-243.3,582.9,-12.2,502,4234,0.12,2.20,0.00,0.000,4,0.154,0.054,2564,2905,3867,0,0,0,0,0,0
$GC,4261,-0.57,-243.3,586.2,-10.7,504,4268,0.00,2.10,0.00,0.000,6,0.000,0.041,2564,1501,3866,0,0,0,0,0,0
$GC,4596,-0.62,-243.3,614.5,-8.5,528,4600,0.00,2.15,0.00,0.000,4,0.000,0.055,2553,2903,3863,0,0,0,0,0,0
$GC,4665,-0.68,-243.3,620.5,-8.2,531,4669,0.00,2.10,0.00,0.000,6,0.000,0.041,2556,1499,3863,0,0,0,0,0,0
$GC,4995,-0.71,-243.3,653.5,-10.5,547,4999,0.00,2.17,0.00,0.000,4,0.000,0.061,2540,2910,3859,0,0,0,0,0,0
$GC,5019,-0.74,-243.3,656.1,-10.5,548,5024,0.10,2.10,0.00,0.000,6,0.096,0.041,2474,1501,3859,0,0,0,0,0,0
$GC,5348,-0.65,-243.3,707.4,-15.8,564,5350,0.22,0.00,0.00,0.000,6,0.150,0.000,2535,1501,3857,0,0,0,0,0,0
$GC,5658,-0.67,-243.3,738.7,-9.7,579,5662,0.00,2.20,0.00,0.000,4,0.000,0.058,2526,2912,3854,0,0,0,0,0,0
$GC,5709,-0.72,-243.3,744.0,-9.8,581,5713,0.00,2.15,0.00,0.000,6,0.000,0.044,2528,1500,3853,0,0,0,0,0,0
$GC,6028,-0.72,-243.3,778.2,-10.7,596,6032,0.00,2.22,0.00,0.000,4,0.000,0.058,2515,2913,3851,0,0,0,0,0,0
$GC,6077,-0.75,-243.3,784.0,-10.7,598,6081,0.00,2.15,0.00,0.000,6,0.000,0.044,2516,1494,3850,0,0,0,0,0,0
$GC,6393,-0.75,-243.3,818.9,-10.8,613,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1494,3849,0,0,0,0,0,0
$GC,6705,-0.75,-243.3,851.5,-10.2,628,6709,0.00,2.20,0.00,0.000,4,0.000,0.059,2504,2911,3846,0,0,0,0,0,0
$GC,6755,-0.78,-243.3,856.8,-10.1,630,6759,0.00,2.15,0.00,0.000,6,0.000,0.045,2505,1504,3845,0,0,0,0,0,0
$GC,7078,-0.78,-243.3,888.3,-9.6,646,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1504,3843,0,0,0,0,0,0
$GC,7386,-0.78,-243.3,916.6,-9.3,661,7390,0.00,2.20,0.00,0.000,4,0.000,0.060,2493,2907,3841,0,0,0,0,0,0
$GC,7430,-0.78,-243.3,920.6,-9.0,663,7434,0.00,2.15,0.00,0.000,6,0.000,0.046,2494,1486,3841,0,0,0,0,0,0
$GC,7759,-0.75,-243.3,955.0,-10.9,679,7763,0.00,2.22,0.00,0.000,4,0.000,0.060,2483,2905,3838,0,0,0,0,0,0
$GC,7799,-0.75,-243.3,959.7,-11.1,681,7804,0.00,2.12,0.00,0.000,6,0.000,0.046,2482,1501,3838,0,0,0,0,0,0
$STATE,8083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8084,begin apogee
$GC,8091,-0.18,0.0,991.9,11.2,695,8295,0.60,0.00,197.82,1.441,6,0.127,0.000,2678,1851,2883,0,0,0,0,0,0
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8300,0.83,243.3,998.2,0.0,704,8527,0.90,2.40,217.30,1.376,4,0.052,0.063,3016,3252,1891,0,0,0,0,0,0
$GC,8551,0.60,243.3,955.0,25.2,716,8557,0.32,2.30,0.00,0.000,6,0.183,0.044,2944,1849,1889,0,0,0,0,0,0
$GC,8882,0.48,243.3,893.5,18.1,732,8887,0.15,2.22,0.00,0.000,4,0.174,0.060,2894,3251,1883,0,0,0,0,0,0
$GC,8924,0.44,243.3,886.4,14.8,734,8928,0.00,2.17,0.00,0.000,6,0.000,0.043,2901,1843,1881,0,0,0,0,0,0
$GC,9253,0.38,243.3,842.1,13.5,750,9255,0.12,0.00,0.00,0.000,6,0.176,0.000,2870,1843,1880,0,0,0,0,0,0
$GC,9560,0.42,277.2,810.9,9.6,765,9592,0.00,0.00,30.15,1.306,6,0.000,0.000,2870,1843,1754,0,0,0,0,0,0
$GC,9892,0.49,319.3,780.2,9.4,781,9937,0.10,2.33,39.15,1.291,4,0.101,0.054,2933,444,1581,0,0,0,0,0,0
$GC,9978,0.45,319.3,768.6,13.7,784,9985,0.15,2.25,0.00,0.000,6,0.152,0.044,2894,1859,1580,0,0,0,0,0,0
$GC,10296,0.46,323.5,733.9,10.5,800,10305,0.00,2.20,4.70,0.860,4,0.000,0.059,2892,3257,1565,0,0,0,0,0,0
$GC,10356,0.47,323.7,727.1,10.6,802,10364,0.00,2.17,0.00,0.000,6,0.000,0.041,2900,1848,1565,0,0,0,0,0,0
$GC,10674,0.47,323.7,690.3,11.9,818,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1848,1564,0,0,0,0,0,0
$GC,10981,0.47,323.7,651.8,12.3,833,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1848,1564,0,0,0,0,0,0
$GC,11290,0.47,323.7,614.7,11.6,848,11294,0.00,2.17,0.00,0.000,4,0.000,0.052,2911,440,1563,0,0,0,0,0,0
$GC,11319,0.47,323.7,611.3,11.5,849,11323,0.00,2.15,0.00,0.000,6,0.000,0.043,2911,1849,1561,0,0,0,0,0,0
$GC,11643,0.45,323.7,572.5,12.3,874,11647,0.00,2.20,0.00,0.000,4,0.000,0.058,2911,3261,1562,0,0,0,0,0,0
$GC,11730,0.45,323.7,561.7,12.2,881,11735,0.00,2.15,0.00,0.000,6,0.000,0.041,2921,1843,1561,0,0,0,0,0,0
$GC,12062,0.42,323.7,517.4,14.4,912,12063,0.15,0.00,0.00,0.000,6,0.162,0.000,2879,1843,1561,0,0,0,0,0,0
$GC,12380,0.57,391.0,487.9,8.7,942,12449,0.15,2.28,58.78,1.105,4,0.076,0.051,2968,449,1289,0,0,0,0,0,0
$GC,12487,0.54,391.0,471.7,17.0,951,12491,0.17,2.22,0.00,0.000,6,0.142,0.047,2920,1866,1287,0,0,0,0,0,0
$GC,12819,0.56,391.0,432.4,11.1,982,12823,0.00,2.15,0.00,0.000,4,0.000,0.054,2920,3261,1286,0,0,0,0,0,0
$GC,12876,0.62,391.0,426.2,10.7,986,12884,0.00,2.17,0.00,0.000,6,0.000,0.039,2928,1839,1286,0,0,0,0,0,0
$GC,13201,0.62,391.0,386.5,11.9,1017,13205,0.00,2.15,0.00,0.000,4,0.000,0.050,2941,443,1286,0,0,0,0,0,0
$GC,13266,0.65,391.5,379.7,10.6,1022,13270,0.00,2.12,0.00,0.000,6,0.000,0.037,2944,1855,1285,0,0,0,0,0,0
$GC,13591,0.65,391.5,340.4,13.1,1052,13595,0.00,2.12,0.00,0.000,4,0.000,0.053,2948,3258,1285,0,0,0,0,0,0
$GC,13626,0.67,391.5,335.7,13.8,1054,13634,0.00,2.12,0.00,0.000,6,0.000,0.037,2956,1844,1285,0,0,0,0,0,0
$GC,13952,0.67,391.5,293.3,11.7,1085,13956,0.00,2.12,0.00,0.000,4,0.000,0.048,2963,443,1285,0,0,0,0,0,0
$GC,14006,0.69,391.5,287.1,11.6,1089,14010,0.00,2.10,0.00,0.000,6,0.000,0.036,2965,1852,1285,0,0,0,0,0,0
$GC,14332,0.69,391.5,247.1,12.7,1121,14340,0.00,2.15,0.00,0.000,4,0.000,0.050,2965,3254,1285,0,0,0,0,0,0
$GC,14444,0.72,391.5,232.5,12.9,1141,14452,0.00,2.12,0.00,0.000,6,0.000,0.036,2977,1847,1285,0,0,0,0,0,0
$GC,14772,0.72,391.5,189.4,12.9,1202,14781,0.00,2.15,0.00,0.000,4,0.000,0.047,2988,440,1285,0,0,0,0,0,0
$GC,14810,0.72,391.5,184.6,12.3,1208,14818,0.00,2.12,0.00,0.000,6,0.000,0.035,2990,1843,1285,0,0,0,0,0,0
$GC,15138,0.75,416.8,145.4,9.9,1269,15168,0.00,2.15,22.48,0.750,4,0.000,0.046,2992,3268,1184,0,0,0,0,0,0
$GC,15214,0.80,421.4,136.9,10.5,1281,15231,0.00,2.15,5.65,0.568,6,0.000,0.034,3001,1848,1164,0,0,0,0,0,0
$GC,15555,0.87,446.1,101.0,9.9,1343,15586,0.00,2.17,21.20,0.696,4,0.000,0.044,3013,447,1063,0,0,0,0,0,0
$GC,15637,1.01,492.4,92.9,9.3,1356,15683,0.12,2.15,38.53,0.703,6,0.041,0.032,3100,1867,875,0,0,0,0,0,0
$GC,16003,0.97,492.4,35.9,15.7,1422,16012,0.15,2.12,0.00,0.000,4,0.147,0.044,3049,3241,872,0,0,0,0,0,0
$GC,16044,1.00,492.4,30.8,13.7,1428,16052,0.00,2.12,0.00,0.000,6,0.000,0.034,3051,1841,871,0,0,0,0,0,0
$STATE,16320,end climb,SURFACE_DEPTH_REACHED
$STATE,16320,begin surface coast
$FINISH,1.0,1.008459
$STATE,16352,end surface coast,CONTROL_FINISHED_OK
$STATE,16352,begin surface
$SM_CCo,16429,0.00,0.000,0,0,870,494.03
$SM_GC,1.82,7.47,0.00,0.00,0.034,0.000,0.000,136,1500,870,-8.04,0.00,494.03,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12334.22,200811,000048
$TT8_MAMPS,0.026964,0.026964
$HUMID,33.73
$INTERNAL_PRESSURE,9.44831
$TCM_TEMP,26.40
$XPDR_PINGS,67
$24V_AH,23.4,23.140
$10V_AH,10.3,15.289
$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,20.825,134.975,635.750,0.000,0.000,27.470,38.183,193.795,16.750,0.000,33.946,3703.953,8481.066,719.589,3499.090,443.289,0.000,2077.818,0.000,3224.148,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,63.495,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.721,1519.303,1625.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83548,1485
$CAP_FILE_SIZE,173979,0
$CFSIZE,260165632,139599872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219, 56.4,1
$GPS,200811,093736,2348.670,12355.462,86,1.9,91,-3.4