version: 66.09
glider: 166
mission: 6
dive: 154
start: 9 1 111 17 39 32
data:
$ID,166
$MISSION,6
$DIVE,154
$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,340
$T_MISSION,370
$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,160
$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,400
$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,-24590.936
$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,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,54
$R_STBD_OVSHOOT,38
$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
$GPS1,010911,172444,2200.147,12358.698,40,2.3,59,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.8
$GPS2,010911,173906,2200.138,12358.630,34,1.9,44,-3.0
$SPEED_LIMITS,0.168,0.265
$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,155.6,55865,-17.2,-9.706
$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,-155.7,0.0,0.0,0,132,0.00,0.00,-112.70,0.000,2,0.000,0.000,138,1483,3242,0,0,0,0,0,0
$GC,135,-0.68,-155.7,6.7,-12.6,15,160,9.50,2.22,-5.07,0.000,4,0.228,0.049,2505,2907,3523,0,0,0,0,0,0
$GC,270,-0.68,-155.7,58.2,-25.9,38,278,0.00,2.15,0.00,0.000,6,0.000,0.034,2493,1513,3524,0,0,0,0,0,0
$GC,596,-0.68,-155.7,128.8,-20.2,99,605,0.10,2.05,0.00,0.000,4,0.189,0.044,2527,202,3525,0,0,0,0,0,0
$GC,706,-0.68,-155.7,151.9,-20.9,118,714,0.00,2.00,0.00,0.000,6,0.000,0.038,2519,1510,3526,0,0,0,0,0,0
$GC,1033,-0.68,-155.7,218.4,-16.2,179,1041,0.00,2.15,0.00,0.000,4,0.000,0.048,2508,2901,3526,0,0,0,0,0,0
$GC,1065,-0.68,-155.7,223.5,-16.3,184,1072,0.00,2.15,0.00,0.000,6,0.000,0.037,2509,1500,3526,0,0,0,0,0,0
$GC,1399,-0.68,-155.7,272.3,-12.8,231,1403,0.00,2.03,0.00,0.000,4,0.000,0.048,2509,202,3526,0,0,0,0,0,0
$GC,1446,-0.68,-155.7,279.2,-15.6,235,1450,0.00,1.98,0.00,0.000,6,0.000,0.035,2500,1527,3526,0,0,0,0,0,0
$GC,1777,-0.68,-155.7,338.5,-18.0,266,1781,0.00,2.10,0.00,0.000,4,0.000,0.048,2502,2913,3524,0,0,0,0,0,0
$GC,1793,-0.68,-155.7,341.7,-17.3,267,1800,0.00,2.17,0.00,0.000,6,0.000,0.037,2502,1494,3524,0,0,0,0,0,0
$GC,2119,-0.68,-155.7,389.1,-12.8,298,2123,0.00,1.98,0.00,0.000,4,0.000,0.049,2505,202,3522,0,0,0,0,0,0
$GC,2180,-0.68,-155.7,398.0,-14.5,303,2188,0.10,1.92,0.00,0.000,6,0.181,0.038,2519,1499,3521,0,0,0,0,0,0
$GC,2506,-0.68,-155.7,438.8,-11.9,334,2510,0.00,2.03,0.00,0.000,4,0.000,0.049,2519,196,3518,0,0,0,0,0,0
$GC,2597,-0.68,-155.7,450.5,-13.3,342,2600,0.00,1.95,0.00,0.000,6,0.000,0.037,2508,1505,3517,0,0,0,0,0,0
$GC,2927,-0.68,-155.7,487.0,-10.7,373,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1506,3514,0,0,0,0,0,0
$GC,3248,-0.68,-155.7,518.1,-9.2,403,3252,0.00,2.05,0.00,0.000,4,0.000,0.050,2516,195,3511,0,0,0,0,0,0
$GC,3385,-0.68,-155.7,532.9,-10.8,415,3389,0.00,1.98,0.00,0.000,6,0.000,0.038,2507,1508,3509,0,0,0,0,0,0
$GC,3717,-0.68,-155.7,574.8,-15.1,446,3720,0.00,2.12,0.00,0.000,4,0.000,0.051,2497,2908,3506,0,0,0,0,0,0
$GC,3745,-0.68,-155.7,579.1,-14.5,448,3752,0.00,2.12,0.00,0.000,6,0.000,0.041,2497,1500,3506,0,0,0,0,0,0
$GC,4065,-0.68,-155.7,630.9,-16.1,470,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1500,3503,0,0,0,0,0,0
$GC,4374,-0.68,-155.7,675.5,-12.6,485,4379,0.12,2.05,0.00,0.000,4,0.169,0.054,2529,205,3500,0,0,0,0,0,0
$GC,4416,-0.68,-155.7,679.7,-10.8,487,4419,0.00,1.95,0.00,0.000,6,0.000,0.042,2521,1497,3499,0,0,0,0,0,0
$GC,4749,-0.68,-155.7,701.7,-5.4,503,4753,0.00,2.17,0.00,0.000,4,0.000,0.053,2506,2911,3497,0,0,0,0,0,0
$GC,4814,-0.68,-155.7,705.1,-5.5,506,4818,0.00,2.15,0.00,0.000,6,0.000,0.042,2507,1502,3496,0,0,0,0,0,0
$GC,5148,-0.68,-155.7,729.4,-7.9,522,5151,0.00,2.03,0.00,0.000,4,0.000,0.054,2506,199,3493,0,0,0,0,0,0
$GC,5231,-0.68,-155.7,738.1,-10.6,525,5241,0.00,2.03,0.00,0.000,6,0.000,0.041,2494,1507,3492,0,0,0,0,0,0
$GC,5549,-0.68,-155.7,772.9,-11.8,541,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1506,3491,0,0,0,0,0,0
$GC,5857,-0.68,-155.7,813.7,-13.8,556,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1507,3488,0,0,0,0,0,0
$GC,6166,-0.68,-155.7,856.2,-13.6,571,6170,0.00,2.17,0.00,0.000,4,0.000,0.064,2494,2904,3486,0,0,0,0,0,0
$GC,6217,-0.68,-155.7,863.0,-13.4,573,6222,0.12,2.15,0.00,0.000,6,0.161,0.046,2526,1502,3486,0,0,0,0,0,0
$GC,6538,-0.68,-155.7,897.5,-9.8,589,6542,0.00,2.22,0.00,0.000,4,0.000,0.060,2518,2907,3484,0,0,0,0,0,0
$GC,6590,-0.68,-155.7,902.0,-9.1,591,6594,0.00,2.17,0.00,0.000,6,0.000,0.046,2517,1500,3483,0,0,0,0,0,0
$GC,6911,-0.68,-155.7,930.1,-8.6,607,6915,0.00,2.20,0.00,0.000,4,0.000,0.059,2510,2907,3482,0,0,0,0,0,0
$GC,6984,-0.68,-155.7,936.5,-8.5,610,6988,0.00,2.17,0.00,0.000,6,0.000,0.044,2509,1491,3481,0,0,0,0,0,0
$GC,7302,-0.68,-155.7,964.4,-8.7,625,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1491,3480,0,0,0,0,0,0
$STATE,7586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7586,begin apogee
$GC,7592,-0.14,0.0,990.7,9.3,639,7724,0.57,0.00,123.88,1.466,6,0.127,0.000,2693,1858,2884,0,0,0,0,0,0
$STATE,7725,end apogee,CONTROL_FINISHED_OK
$STATE,7725,begin climb
$GC,7727,0.68,155.7,993.5,0.0,645,7880,0.77,2.45,142.12,1.403,4,0.074,0.062,2966,3250,2249,0,0,0,0,0,0
$GC,7908,0.68,155.7,974.8,15.6,653,7912,0.00,2.28,0.00,0.000,6,0.000,0.044,2974,1853,2246,0,0,0,0,0,0
$GC,8235,0.68,155.7,922.8,15.5,669,8239,0.00,2.25,0.00,0.000,4,0.000,0.060,2974,3255,2241,0,0,0,0,0,0
$GC,8270,0.68,155.7,917.2,16.4,670,8277,0.00,2.17,0.00,0.000,6,0.000,0.044,2982,1841,2240,0,0,0,0,0,0
$GC,8586,0.68,155.7,866.4,16.1,686,8590,0.00,2.25,0.00,0.000,4,0.000,0.058,2979,3260,2239,0,0,0,0,0,0
$GC,8659,0.68,155.7,853.4,17.3,689,8663,0.00,2.17,0.00,0.000,6,0.000,0.044,2987,1840,2238,0,0,0,0,0,0
$GC,8983,0.68,155.7,797.6,17.4,705,8987,0.00,2.20,0.00,0.000,4,0.000,0.057,2980,3252,2236,0,0,0,0,0,0
$GC,9051,0.68,155.7,785.1,18.1,708,9055,0.00,2.12,0.00,0.000,6,0.000,0.042,2988,1848,2236,0,0,0,0,0,0
$GC,9380,0.68,155.7,727.7,16.9,724,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1848,2235,0,0,0,0,0,0
$GC,9687,0.68,155.7,680.3,14.6,739,9691,0.00,2.20,0.00,0.000,4,0.000,0.054,2981,3261,2233,0,0,0,0,0,0
$GC,9747,0.68,155.7,671.4,14.2,741,9755,0.00,2.12,0.00,0.000,6,0.000,0.041,2989,1848,2233,0,0,0,0,0,0
$GC,10065,0.68,155.7,631.0,12.6,757,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1848,2233,0,0,0,0,0,0
$GC,10375,0.68,155.7,588.3,14.0,775,10379,0.00,2.20,0.00,0.000,4,0.000,0.053,2982,3264,2232,0,0,0,0,0,0
$GC,10415,0.68,155.7,582.8,14.0,778,10419,0.00,2.12,0.00,0.000,6,0.000,0.041,2990,1849,2231,0,0,0,0,0,0
$GC,10740,0.68,155.7,535.7,15.0,808,10744,0.00,2.20,0.00,0.000,4,0.000,0.053,2984,3265,2231,0,0,0,0,0,0
$GC,10829,0.68,155.7,521.9,14.6,815,10837,0.00,2.15,0.00,0.000,6,0.000,0.040,2992,1831,2231,0,0,0,0,0,0
$GC,11156,0.68,155.7,478.6,12.2,846,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1831,2231,0,0,0,0,0,0
$GC,11477,0.68,155.7,441.6,10.5,876,11481,0.00,2.22,0.00,0.000,4,0.000,0.052,2990,3257,2231,0,0,0,0,0,0
$GC,11520,0.68,155.7,436.3,11.2,879,11528,0.12,2.10,0.00,0.000,6,0.200,0.039,2970,1851,2230,0,0,0,0,0,0
$GC,11848,0.68,155.7,399.6,13.2,910,11851,0.00,2.15,0.00,0.000,4,0.000,0.047,2979,442,2230,0,0,0,0,0,0
$GC,11893,0.68,155.7,392.9,14.1,913,11901,0.00,2.15,0.00,0.000,6,0.000,0.037,2970,1865,2230,0,0,0,0,0,0
$GC,12218,0.68,155.7,347.2,13.1,944,12222,0.00,2.12,0.00,0.000,4,0.000,0.054,2960,3260,2230,0,0,0,0,0,0
$GC,12318,0.68,155.7,333.7,13.9,952,12322,0.00,2.15,0.00,0.000,6,0.000,0.039,2969,1835,2230,0,0,0,0,0,0
$GC,12643,0.80,254.1,306.1,5.6,982,12738,0.10,2.33,80.95,0.956,4,0.110,0.052,3025,3246,1847,0,0,0,0,0,0
$GC,12809,0.80,254.1,287.7,13.3,996,12817,0.00,2.20,0.00,0.000,6,0.000,0.037,3034,1856,1844,0,0,0,0,0,0
$GC,13136,0.80,254.1,223.7,22.1,1038,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1856,1840,0,0,0,0,0,0
$GC,13466,0.80,254.1,171.8,13.3,1099,13474,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,3246,1840,0,0,0,0,0,0
$GC,13492,0.80,254.1,168.0,14.2,1103,13500,0.00,2.15,0.00,0.000,6,0.000,0.036,3033,1848,1840,0,0,0,0,0,0
$GC,13820,0.80,254.1,118.2,10.5,1164,13828,0.00,2.20,0.00,0.000,4,0.000,0.047,3046,436,1839,0,0,0,0,0,0
$GC,13858,0.80,254.1,114.5,10.1,1170,13867,0.10,2.15,0.00,0.000,6,0.142,0.035,3008,1844,1839,0,0,0,0,0,0
$GC,14189,0.80,254.1,77.6,10.2,1231,14197,0.00,2.17,0.00,0.000,4,0.000,0.048,2998,3258,1838,0,0,0,0,0,0
$GC,14348,0.88,312.7,63.0,7.3,1260,14403,0.00,2.15,48.60,0.710,6,0.000,0.035,3007,1836,1608,0,0,0,0,0,0
$GC,14722,0.97,385.0,42.4,6.7,1327,14793,0.15,2.25,59.22,0.669,4,0.074,0.045,3099,447,1313,0,0,0,0,0,0
$GC,14832,0.97,385.0,29.2,15.4,1342,14841,0.12,2.17,0.00,0.000,6,0.132,0.033,3057,1856,1311,0,0,0,0,0,0
$STATE,15025,end climb,SURFACE_DEPTH_REACHED
$STATE,15025,begin surface coast
$FINISH,1.1,1.021564
$STATE,15053,end surface coast,CONTROL_FINISHED_OK
$STATE,15053,begin surface
$SM_CCo,15071,20.48,0.185,1,0,1253,400.08
$SM_GC,2.06,0.00,0.00,20.48,0.000,0.000,0.185,153,1486,1253,-8.10,-0.37,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2150.42,12209.19,010911,171727
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.46
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,26.20
$XPDR_PINGS,84
$24V_AH,23.1,36.701
$10V_AH,10.1,26.182
$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,19.400,129.525,454.775,20.475,0.000,59.537,95.644,428.884,21.000,0.000,45.188,3427.355,7806.047,578.098,3690.182,445.498,0.000,1885.588,0.000,3066.541,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,64.260,1465.740,185.130,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.242,1415.465,1554.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330208
$DATA_FILE_SIZE,76847,1383
$CAP_FILE_SIZE,158238,0
$CFSIZE,260165632,133820416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,195.6,1
$GPS,010911,215250,2157.258,12359.574,39,99.0,58,-2.9