version: 66.09
glider: 166
mission: 6
dive: 181
start: 9 6 111 23 15 1
data:
$ID,166
$MISSION,6
$DIVE,181
$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,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,-24625.219
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,060911,230657,2118.553,12407.868,39,99.0,58,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-73.4
$GPS2,060911,231437,2118.438,12407.907,34,1.7,34,-2.8
$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,311.7,25380,-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,16,-0.68,-155.7,0.0,0.0,0,105,0.00,0.00,-86.55,0.000,2,0.000,0.000,152,1488,3172,0,0,0,0,0,0
$GC,108,-0.68,-155.7,6.3,-11.0,12,133,9.30,2.17,-6.57,0.000,4,0.222,0.050,2506,2911,3520,0,0,0,0,0,0
$GC,169,-0.68,-155.7,34.0,-38.1,21,177,0.00,2.17,0.00,0.000,6,0.000,0.035,2506,1502,3521,0,0,0,0,0,0
$GC,495,-0.68,-155.7,128.3,-22.6,82,504,0.00,1.98,0.00,0.000,4,0.000,0.040,2492,199,3522,0,0,0,0,0,0
$GC,551,-0.68,-155.7,141.4,-22.3,91,559,0.10,1.95,0.00,0.000,6,0.154,0.032,2517,1493,3522,0,0,0,0,0,0
$GC,880,-0.68,-155.7,200.7,-18.5,152,888,0.00,2.12,0.00,0.000,4,0.000,0.040,2508,2905,3523,0,0,0,0,0,0
$GC,917,-0.68,-155.7,208.4,-20.0,158,926,0.00,2.12,0.00,0.000,6,0.000,0.033,2508,1495,3523,0,0,0,0,0,0
$GC,1247,-0.68,-155.7,265.4,-16.0,210,1250,0.00,1.95,0.00,0.000,4,0.000,0.040,2509,193,3523,0,0,0,0,0,0
$GC,1429,-0.68,-155.7,295.5,-15.9,226,1433,0.00,1.95,0.00,0.000,6,0.000,0.031,2499,1514,3523,0,0,0,0,0,0
$GC,1760,-0.68,-155.7,349.2,-16.9,257,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1515,3523,0,0,0,0,0,0
$GC,2082,-0.68,-155.7,400.7,-15.3,287,2086,0.00,2.00,0.00,0.000,4,0.000,0.041,2518,199,3522,0,0,0,0,0,0
$GC,2119,-0.68,-155.7,406.6,-15.6,290,2123,0.00,1.92,0.00,0.000,6,0.000,0.033,2508,1498,3522,0,0,0,0,0,0
$GC,2451,-0.68,-155.7,452.6,-13.9,321,2455,0.00,2.08,0.00,0.000,4,0.000,0.044,2498,2899,3520,0,0,0,0,0,0
$GC,2490,-0.68,-155.7,458.1,-13.5,324,2494,0.00,2.10,0.00,0.000,6,0.000,0.035,2498,1496,3520,0,0,0,0,0,0
$GC,2815,-0.68,-155.7,501.2,-13.2,354,2819,0.00,1.98,0.00,0.000,4,0.000,0.047,2498,202,3517,0,0,0,0,0,0
$GC,2908,-0.68,-155.7,514.3,-14.4,362,2912,0.12,1.95,0.00,0.000,6,0.173,0.037,2522,1495,3517,0,0,0,0,0,0
$GC,3233,-0.68,-155.7,552.5,-11.0,392,3237,0.00,2.15,0.00,0.000,4,0.000,0.049,2514,2910,3515,0,0,0,0,0,0
$GC,3256,-0.68,-155.7,555.0,-11.1,393,3262,0.00,2.12,0.00,0.000,6,0.000,0.037,2514,1502,3514,0,0,0,0,0,0
$GC,3581,-0.68,-155.7,591.1,-10.3,424,3585,0.00,2.17,0.00,0.000,4,0.000,0.050,2504,2911,3511,0,0,0,0,0,0
$GC,3634,-0.68,-155.7,596.4,-10.5,428,3638,0.00,2.12,0.00,0.000,6,0.000,0.039,2504,1502,3511,0,0,0,0,0,0
$GC,3966,-0.68,-155.7,630.4,-10.5,446,3970,0.00,2.00,0.00,0.000,4,0.000,0.051,2504,202,3507,0,0,0,0,0,0
$GC,4049,-0.68,-155.7,640.5,-12.0,449,4057,0.08,2.00,0.00,0.000,6,0.150,0.041,2528,1501,3507,0,0,0,0,0,0
$GC,4371,-0.68,-155.7,672.9,-10.6,465,4375,0.00,2.15,0.00,0.000,4,0.000,0.054,2519,2911,3504,0,0,0,0,0,0
$GC,4414,-0.68,-155.7,678.2,-10.8,467,4419,0.00,2.15,0.00,0.000,6,0.000,0.041,2519,1496,3504,0,0,0,0,0,0
$GC,4744,-0.68,-155.7,715.6,-11.7,483,4748,0.00,2.20,0.00,0.000,4,0.000,0.055,2503,2915,3500,0,0,0,0,0,0
$GC,4794,-0.68,-155.7,721.7,-10.9,485,4798,0.00,2.15,0.00,0.000,6,0.000,0.043,2509,1504,3500,0,0,0,0,0,0
$GC,5121,-0.68,-155.7,759.9,-11.7,501,5126,0.00,2.22,0.00,0.000,4,0.000,0.056,2499,2915,3498,0,0,0,0,0,0
$GC,5156,-0.68,-155.7,763.9,-11.5,502,5164,0.00,2.17,0.00,0.000,6,0.000,0.043,2499,1500,3498,0,0,0,0,0,0
$GC,5472,-0.68,-155.7,799.7,-10.9,518,5476,0.00,2.03,0.00,0.000,4,0.000,0.057,2499,203,3495,0,0,0,0,0,0
$GC,5510,-0.68,-155.7,804.3,-11.7,519,5518,0.10,2.03,0.00,0.000,6,0.146,0.045,2531,1499,3494,0,0,0,0,0,0
$GC,5829,-0.68,-155.7,830.0,-7.9,535,5833,0.00,2.20,0.00,0.000,4,0.000,0.056,2522,2913,3492,0,0,0,0,0,0
$GC,5873,-0.68,-155.7,833.7,-7.6,537,5877,0.00,2.17,0.00,0.000,6,0.000,0.043,2522,1493,3492,0,0,0,0,0,0
$GC,6203,-0.68,-155.7,861.9,-8.9,553,6207,0.00,2.22,0.00,0.000,4,0.000,0.057,2512,2915,3490,0,0,0,0,0,0
$GC,6265,-0.68,-155.7,867.7,-9.1,556,6269,0.00,2.20,0.00,0.000,6,0.000,0.044,2512,1490,3489,0,0,0,0,0,0
$GC,6592,-0.68,-155.7,900.3,-10.1,572,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1490,3488,0,0,0,0,0,0
$GC,6903,-0.68,-155.7,931.5,-9.8,587,6908,0.00,2.22,0.00,0.000,4,0.000,0.059,2502,2907,3486,0,0,0,0,0,0
$GC,6944,-0.68,-155.7,935.3,-8.9,589,6948,0.00,2.17,0.00,0.000,6,0.000,0.045,2502,1499,3486,0,0,0,0,0,0
$GC,7271,-0.68,-155.7,967.0,-9.5,605,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1498,3485,0,0,0,0,0,0
$STATE,7516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7524,-0.14,0.0,990.8,9.5,617,7658,0.60,0.00,127.75,1.461,6,0.127,0.000,2693,1860,2884,0,0,0,0,0,0
$STATE,7659,end apogee,CONTROL_FINISHED_OK
$STATE,7659,begin climb
$GC,7663,0.68,155.7,994.2,0.0,623,7810,0.77,0.00,143.55,1.400,6,0.072,0.000,2966,1859,2249,0,0,0,0,0,0
$GC,8110,0.68,155.7,937.7,14.3,645,8114,0.00,2.25,0.00,0.000,4,0.000,0.065,2966,3258,2240,0,0,0,0,0,0
$GC,8151,0.68,155.7,931.5,15.3,647,8155,0.00,2.20,0.00,0.000,6,0.000,0.047,2975,1852,2239,0,0,0,0,0,0
$GC,8479,0.68,155.7,881.0,15.3,663,8483,0.00,2.25,0.00,0.000,4,0.000,0.063,2974,3260,2237,0,0,0,0,0,0
$GC,8534,0.68,155.7,871.8,16.1,665,8538,0.00,2.20,0.00,0.000,6,0.000,0.045,2982,1835,2237,0,0,0,0,0,0
$GC,8857,0.68,155.7,819.2,16.6,681,8861,0.00,2.25,0.00,0.000,4,0.000,0.061,2979,3261,2236,0,0,0,0,0,0
$GC,8906,0.68,155.7,810.2,17.0,683,8910,0.00,2.15,0.00,0.000,6,0.000,0.043,2987,1850,2235,0,0,0,0,0,0
$GC,9235,0.68,155.7,754.4,17.3,699,9239,0.00,2.20,0.00,0.000,4,0.000,0.057,2980,3259,2234,0,0,0,0,0,0
$GC,9304,0.68,155.7,742.5,17.3,702,9308,0.00,2.17,0.00,0.000,6,0.000,0.042,2988,1836,2234,0,0,0,0,0,0
$GC,9631,0.68,155.7,690.4,15.0,718,9635,0.00,2.22,0.00,0.000,4,0.000,0.056,2980,3260,2232,0,0,0,0,0,0
$GC,9726,0.68,155.7,675.9,14.4,722,9730,0.00,2.15,0.00,0.000,6,0.000,0.042,2988,1846,2232,0,0,0,0,0,0
$GC,10054,0.68,155.7,630.2,13.5,738,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1846,2232,0,0,0,0,0,0
$GC,10367,0.68,155.7,587.3,13.4,757,10371,0.00,2.20,0.00,0.000,4,0.000,0.054,2980,3256,2232,0,0,0,0,0,0
$GC,10378,0.68,155.7,585.5,13.4,757,10385,0.00,2.15,0.00,0.000,6,0.000,0.039,2989,1848,2231,0,0,0,0,0,0
$GC,10704,0.68,155.7,544.5,12.7,788,10708,0.00,2.20,0.00,0.000,4,0.000,0.053,2987,3257,2231,0,0,0,0,0,0
$GC,10738,0.68,155.7,540.0,13.0,790,10745,0.00,2.15,0.00,0.000,6,0.000,0.040,2996,1848,2231,0,0,0,0,0,0
$GC,11063,0.68,155.7,498.2,13.5,821,11067,0.00,2.20,0.00,0.000,4,0.000,0.051,2993,3262,2231,0,0,0,0,0,0
$GC,11109,0.68,155.7,491.6,15.0,824,11116,0.15,2.15,0.00,0.000,6,0.188,0.039,2965,1849,2230,0,0,0,0,0,0
$GC,11434,0.68,155.7,455.1,10.4,855,11438,0.00,2.15,0.00,0.000,4,0.000,0.049,2974,437,2230,0,0,0,0,0,0
$GC,11524,0.68,155.7,445.3,10.9,862,11531,0.00,2.17,0.00,0.000,6,0.000,0.039,2966,1871,2230,0,0,0,0,0,0
$GC,11850,0.68,155.7,413.5,10.0,893,11854,0.00,2.12,0.00,0.000,4,0.000,0.054,2958,3247,2229,0,0,0,0,0,0
$GC,11978,0.68,155.7,400.5,10.3,904,11982,0.00,2.12,0.00,0.000,6,0.000,0.040,2966,1847,2229,0,0,0,0,0,0
$GC,12303,0.68,155.7,366.5,10.8,934,12307,0.00,2.15,0.00,0.000,4,0.000,0.049,2977,441,2229,0,0,0,0,0,0
$GC,12459,0.68,155.7,349.1,11.8,947,12463,0.00,2.12,0.00,0.000,6,0.000,0.039,2969,1852,2229,0,0,0,0,0,0
$GC,12790,0.68,155.7,312.0,10.6,978,12794,0.00,2.15,0.00,0.000,4,0.000,0.052,2959,3256,2229,0,0,0,0,0,0
$GC,12961,0.69,162.2,294.8,9.4,993,12966,0.00,2.15,0.00,0.000,6,0.000,0.037,2967,1836,2229,0,0,0,0,0,0
$GC,13288,0.72,185.4,268.8,8.7,1023,13317,0.00,2.15,23.77,0.870,4,0.000,0.046,2976,437,2128,0,0,0,0,0,0
$GC,13376,0.73,194.7,260.6,9.3,1030,13392,0.00,2.15,9.75,0.773,6,0.000,0.037,2967,1849,2089,0,0,0,0,0,0
$GC,13712,0.73,194.7,226.7,10.3,1083,13721,0.00,2.20,0.00,0.000,4,0.000,0.046,2975,447,2087,0,0,0,0,0,0
$GC,13775,0.73,194.7,220.0,11.0,1093,13783,0.00,2.15,0.00,0.000,6,0.000,0.036,2968,1849,2087,0,0,0,0,0,0
$GC,14102,0.77,222.9,190.8,8.5,1154,14134,0.00,2.17,25.23,0.792,4,0.000,0.046,2970,3255,1974,0,0,0,0,0,0
$GC,14236,0.77,222.9,176.9,10.7,1177,14244,0.00,2.15,0.00,0.000,6,0.000,0.035,2979,1854,1973,0,0,0,0,0,0
$GC,14562,0.78,232.6,144.5,9.3,1238,14577,0.00,0.00,9.88,0.676,6,0.000,0.000,2980,1854,1934,0,0,0,0,0,0
$GC,14895,0.78,236.0,113.2,9.6,1300,14905,0.00,2.20,4.47,0.493,4,0.000,0.044,2990,444,1920,0,0,0,0,0,0
$GC,15012,0.81,258.6,102.9,8.8,1320,15043,0.00,2.12,20.52,0.698,6,0.000,0.034,2987,1841,1828,0,0,0,0,0,0
$GC,15363,0.89,327.7,78.7,6.8,1384,15429,0.12,0.00,58.58,0.695,6,0.084,0.000,3061,1842,1548,0,0,0,0,0,0
$GC,15751,0.89,327.7,30.3,12.4,1453,15759,0.00,2.20,0.00,0.000,4,0.000,0.044,3059,3251,1546,0,0,0,0,0,0
$GC,15794,0.89,327.7,25.3,12.1,1460,15802,0.08,2.15,0.00,0.000,6,0.142,0.033,3042,1848,1545,0,0,0,0,0,0
$STATE,16041,end climb,SURFACE_DEPTH_REACHED
$STATE,16041,begin surface coast
$FINISH,1.1,1.012453
$STATE,16074,end surface coast,CONTROL_FINISHED_OK
$STATE,16074,begin surface
$SM_CCo,16091,67.55,0.504,1,0,1048,450.13
$SM_GC,1.78,0.00,0.00,67.55,0.000,0.000,0.504,142,1488,1048,-8.13,-0.34,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2113.32,12400.01,060911,181830
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.13
$INTERNAL_PRESSURE,9.43854
$TCM_TEMP,26.00
$XPDR_PINGS,84
$24V_AH,22.9,41.693
$10V_AH,10.1,30.781
$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,18.900,146.300,423.500,67.550,0.000,28.650,38.382,204.428,21.000,0.000,35.299,3783.040,8039.322,605.813,3706.848,474.724,0.000,1992.682,0.000,3419.438,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,65.025,1461.150,504.135,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.184,1548.728,1808.857,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330172
$DATA_FILE_SIZE,86835,1512
$CAP_FILE_SIZE,169060,0
$CFSIZE,260165632,131379200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.297,134.2,1
$GPS,070911,034557,2117.837,12408.070,28,2.2,47,-2.8