version: 66.09
glider: 166
mission: 6
dive: 313
start: 10 3 111 9 53 2
data:
$ID,166
$MISSION,6
$DIVE,313
$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,260
$T_MISSION,300
$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,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,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,-24793.242
$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,51
$R_STBD_OVSHOOT,56
$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
$GPS1,031011,093027,2254.557,12145.576,30,99.0,49,-3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-53.8
$GPS2,031011,095238,2254.591,12145.360,33,1.7,45,-3.0
$SPEED_LIMITS,0.220,0.354
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,255.3,37213,-17.2,-12.692
$D_GRID,3709
$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,-243.3,0.0,0.0,0,132,0.00,0.00,-112.30,0.000,2,0.000,0.000,152,1582,3193,0,0,0,0,0,0
$GC,135,-0.68,-243.3,5.9,-8.5,15,167,9.55,1.02,-12.80,0.000,4,0.226,0.074,2500,919,3879,0,0,0,0,0,0
$GC,408,-0.60,-243.3,86.2,-22.3,64,416,0.15,1.02,0.00,0.000,6,0.138,0.040,2544,1597,3880,0,0,0,0,0,0
$GC,738,-0.58,-243.3,145.9,-15.6,125,747,0.00,1.02,0.00,0.000,4,0.000,0.044,2543,916,3881,0,0,0,0,0,0
$GC,791,-0.58,-243.3,153.5,-14.8,133,799,0.00,1.05,0.00,0.000,6,0.000,0.041,2539,1612,3881,0,0,0,0,0,0
$GC,1118,-0.57,-243.3,198.2,-13.6,194,1127,0.00,1.02,0.00,0.000,4,0.000,0.047,2534,2305,3881,0,0,0,0,0,0
$GC,1273,-0.57,-243.3,220.2,-14.0,222,1282,0.00,1.02,0.00,0.000,6,0.000,0.042,2534,1626,3880,0,0,0,0,0,0
$GC,1611,-0.57,-243.3,267.6,-11.2,271,1615,0.00,1.08,0.00,0.000,4,0.000,0.047,2534,911,3879,0,0,0,0,0,0
$GC,1638,-0.57,-243.3,271.0,-11.4,273,1647,0.08,1.05,0.00,0.000,6,0.134,0.041,2555,1609,3878,0,0,0,0,0,0
$GC,1964,-0.61,-243.3,300.5,-8.3,304,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1610,3877,0,0,0,0,0,0
$GC,2287,-0.66,-243.3,329.6,-9.6,334,2290,0.00,1.10,0.00,0.000,4,0.000,0.048,2557,910,3875,0,0,0,0,0,0
$GC,2357,-0.72,-243.3,335.9,-8.7,340,2362,0.12,1.05,0.00,0.000,6,0.040,0.041,2485,1608,3875,0,0,0,0,0,0
$GC,2690,-0.69,-243.3,388.6,-15.7,371,2695,0.12,1.05,0.00,0.000,4,0.165,0.050,2518,2299,3872,0,0,0,0,0,0
$GC,2882,-0.70,-243.3,410.3,-11.0,388,2886,0.00,1.05,0.00,0.000,6,0.000,0.044,2518,1605,3870,0,0,0,0,0,0
$GC,3213,-0.70,-243.3,448.6,-11.7,419,3217,0.00,1.05,0.00,0.000,4,0.000,0.048,2518,907,3867,0,0,0,0,0,0
$GC,3281,-0.70,-243.3,457.0,-12.2,425,3285,0.00,1.08,0.00,0.000,6,0.000,0.044,2512,1609,3866,0,0,0,0,0,0
$GC,3612,-0.70,-243.3,500.2,-13.4,456,3615,0.00,1.08,0.00,0.000,4,0.000,0.053,2507,2305,3863,0,0,0,0,0,0
$GC,3673,-0.71,-243.3,508.4,-12.7,461,3681,0.00,1.05,0.00,0.000,6,0.000,0.046,2507,1619,3863,0,0,0,0,0,0
$GC,3999,-0.71,-243.3,545.4,-10.1,492,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1619,3860,0,0,0,0,0,0
$GC,4320,-0.71,-243.3,581.6,-11.8,522,4323,0.00,1.10,0.00,0.000,4,0.000,0.050,2507,904,3857,0,0,0,0,0,0
$GC,4361,-0.71,-243.3,586.9,-12.5,525,4368,0.00,1.10,0.00,0.000,6,0.000,0.046,2502,1612,3856,0,0,0,0,0,0
$GC,4680,-0.71,-243.3,626.1,-12.2,546,4684,0.00,1.05,0.00,0.000,4,0.000,0.055,2497,2302,3854,0,0,0,0,0,0
$GC,4761,-0.72,-243.3,635.1,-10.8,549,4765,0.00,1.08,0.00,0.000,6,0.000,0.047,2497,1607,3852,0,0,0,0,0,0
$GC,5083,-0.72,-243.3,673.0,-11.7,565,5087,0.00,1.08,0.00,0.000,4,0.000,0.053,2497,906,3850,0,0,0,0,0,0
$GC,5154,-0.72,-243.3,681.8,-11.8,568,5158,0.00,1.10,0.00,0.000,6,0.000,0.049,2492,1610,3849,0,0,0,0,0,0
$GC,5483,-0.72,-243.3,722.4,-12.9,584,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1610,3847,0,0,0,0,0,0
$GC,5791,-0.72,-243.3,765.4,-13.7,599,5794,0.00,1.12,0.00,0.000,4,0.000,0.056,2492,912,3845,0,0,0,0,0,0
$GC,5829,-0.72,-243.3,771.0,-13.7,600,5836,0.00,1.10,0.00,0.000,6,0.000,0.050,2487,1613,3845,0,0,0,0,0,0
$GC,6147,-0.72,-243.3,812.8,-12.9,616,6151,0.00,1.10,0.00,0.000,4,0.000,0.055,2487,911,3842,0,0,0,0,0,0
$GC,6193,-0.72,-243.3,819.1,-13.0,618,6198,0.00,1.10,0.00,0.000,6,0.000,0.051,2482,1611,3842,0,0,0,0,0,0
$GC,6529,-0.72,-243.3,865.5,-14.2,634,6533,0.10,1.10,0.00,0.000,4,0.182,0.060,2504,2310,3840,0,0,0,0,0,0
$GC,6556,-0.74,-243.3,869.5,-14.2,635,6559,0.00,1.08,0.00,0.000,6,0.000,0.051,2505,1614,3839,0,0,0,0,0,0
$GC,6888,-0.76,-243.3,907.3,-10.9,651,6891,0.00,1.10,0.00,0.000,4,0.000,0.062,2500,2308,3837,0,0,0,0,0,0
$GC,6923,-0.79,-243.3,911.3,-10.4,652,6928,0.00,1.10,0.00,0.000,6,0.000,0.052,2500,1604,3837,0,0,0,0,0,0
$GC,7246,-0.81,-243.3,944.0,-10.2,668,7249,0.00,1.08,0.00,0.000,4,0.000,0.056,2500,911,3835,0,0,0,0,0,0
$GC,7316,-0.82,-243.3,951.4,-11.2,671,7320,0.00,1.10,0.00,0.000,6,0.000,0.049,2495,1615,3835,0,0,0,0,0,0
$GC,7650,-0.84,-243.3,988.7,-11.3,687,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1615,3833,0,0,0,0,0,0
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7667,begin apogee
$GC,7674,-0.11,0.0,991.0,11.2,688,7889,0.62,0.00,207.05,1.436,6,0.120,0.000,2700,1789,2883,0,0,0,0,0,0
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7892,0.68,243.3,1001.9,0.0,698,8130,0.73,1.17,224.88,1.380,4,0.054,0.061,2968,2471,1892,0,0,0,0,0,0
$GC,8179,0.65,243.3,973.6,13.9,711,8183,0.00,1.12,0.00,0.000,6,0.000,0.051,2973,1784,1888,0,0,0,0,0,0
$GC,8512,0.61,243.3,925.1,14.6,727,8515,0.00,1.10,0.00,0.000,4,0.000,0.056,2978,1070,1884,0,0,0,0,0,0
$GC,8598,0.58,243.3,912.1,15.3,730,8605,0.12,1.12,0.00,0.000,6,0.150,0.050,2937,1785,1883,0,0,0,0,0,0
$GC,8914,0.61,267.5,873.2,11.8,746,8940,0.00,1.12,22.90,1.299,4,0.000,0.058,2936,2483,1792,0,0,0,0,0,0
$GC,8976,0.66,312.1,865.9,11.1,749,9023,0.00,1.12,43.62,1.317,6,0.000,0.048,2939,1769,1611,0,0,0,0,0,0
$GC,9346,0.68,327.8,821.8,12.1,767,9369,0.00,0.00,15.12,1.220,6,0.000,0.000,2940,1769,1546,0,0,0,0,0,0
$GC,9677,0.68,327.8,780.0,13.1,783,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1769,1542,0,0,0,0,0,0
$GC,9984,0.68,327.8,739.0,12.9,798,9988,0.00,1.08,0.00,0.000,4,0.000,0.053,2945,1065,1542,0,0,0,0,0,0
$GC,10022,0.71,339.7,734.2,12.3,799,10039,0.00,1.10,12.05,1.159,6,0.000,0.044,2945,1782,1498,0,0,0,0,0,0
$GC,10366,0.73,339.7,691.9,12.8,816,10367,0.10,0.00,0.00,0.000,6,0.100,0.000,3000,1783,1494,0,0,0,0,0,0
$GC,10671,0.69,339.7,635.6,18.4,831,10675,0.12,1.12,0.00,0.000,4,0.173,0.052,2972,1066,1494,0,0,0,0,0,0
$GC,10699,0.67,339.7,630.8,17.3,832,10703,0.00,1.10,0.00,0.000,6,0.000,0.044,2969,1787,1494,0,0,0,0,0,0
$GC,11019,0.67,339.7,580.1,15.2,853,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1790,1493,0,0,0,0,0,0
$GC,11342,0.67,339.7,532.1,14.8,883,11345,0.00,1.10,0.00,0.000,4,0.000,0.050,2972,1077,1493,0,0,0,0,0,0
$GC,11380,0.67,339.7,525.7,14.5,886,11387,0.00,1.08,0.00,0.000,6,0.000,0.043,2970,1780,1493,0,0,0,0,0,0
$GC,11708,0.67,339.7,480.0,13.8,917,11711,0.00,1.08,0.00,0.000,4,0.000,0.054,2966,2475,1493,0,0,0,0,0,0
$GC,11746,0.67,339.7,474.1,13.7,920,11753,0.00,1.05,0.00,0.000,6,0.000,0.043,2969,1782,1493,0,0,0,0,0,0
$GC,12072,0.67,339.7,427.6,15.0,951,12075,0.00,1.05,0.00,0.000,4,0.000,0.049,2975,1081,1493,0,0,0,0,0,0
$GC,12176,0.67,339.7,411.7,15.7,960,12180,0.00,1.05,0.00,0.000,6,0.000,0.042,2971,1780,1492,0,0,0,0,0,0
$GC,12507,0.67,339.7,360.3,14.9,991,12510,0.00,1.05,0.00,0.000,4,0.000,0.052,2966,2481,1492,0,0,0,0,0,0
$GC,12548,0.69,339.7,354.5,14.2,994,12555,0.00,1.08,0.00,0.000,6,0.000,0.043,2970,1777,1492,0,0,0,0,0,0
$GC,12873,0.71,357.4,313.3,12.1,1025,12896,0.00,1.05,17.00,0.919,4,0.000,0.046,2976,1075,1425,0,0,0,0,0,0
$GC,13046,0.74,367.9,292.0,12.3,1040,13063,0.00,1.08,10.62,0.844,6,0.000,0.041,2972,1783,1384,0,0,0,0,0,0
$GC,13385,0.78,384.1,249.2,12.1,1072,13408,0.00,1.08,15.85,0.848,4,0.000,0.045,2976,1066,1317,0,0,0,0,0,0
$GC,13534,0.83,396.7,230.8,12.3,1098,13552,0.08,1.08,12.75,0.799,6,0.060,0.040,3033,1782,1265,0,0,0,0,0,0
$GC,13876,0.81,396.7,169.9,16.7,1160,13884,0.00,1.02,0.00,0.000,4,0.000,0.047,3033,2477,1264,0,0,0,0,0,0
$GC,13931,0.81,396.7,161.0,15.3,1169,13939,0.08,1.05,0.00,0.000,6,0.143,0.041,3012,1785,1264,0,0,0,0,0,0
$GC,14262,0.87,437.1,120.8,11.3,1230,14308,0.00,1.12,35.22,0.761,4,0.000,0.046,3015,1065,1100,0,0,0,0,0,0
$GC,14428,0.96,482.1,101.1,11.1,1258,14475,0.10,1.08,38.95,0.734,6,0.051,0.037,3079,1784,917,0,0,0,0,0,0
$GC,14796,1.00,512.9,44.7,11.6,1324,14827,0.00,1.08,26.35,0.667,4,0.000,0.044,3079,2484,791,0,0,0,0,0,0
$GC,14841,1.08,561.2,39.7,11.0,1330,14890,0.00,1.08,41.78,0.668,6,0.000,0.040,3084,1782,594,0,0,0,0,0,0
$STATE,15128,end climb,SURFACE_DEPTH_REACHED
$STATE,15128,begin surface coast
$FINISH,1.3,1.010381
$STATE,15159,end surface coast,CONTROL_FINISHED_OK
$STATE,15159,begin surface
$SM_CCo,15239,0.00,0.000,0,0,585,563.94
$SM_GC,1.95,7.65,0.00,0.00,0.034,0.000,0.000,154,1580,585,-8.05,-0.85,563.94,0,0,0,0,0,0
$IRIDIUM_FIX,2244.02,12143.96,031011,090950
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.47
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.90
$XPDR_PINGS,105
$24V_AH,22.6,75.011
$10V_AH,9.8,53.369
$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,19.725,65.175,724.150,0.000,0.000,143.699,163.698,485.329,26.250,0.000,46.799,3427.305,7890.007,721.169,4009.813,502.631,0.000,2103.476,0.000,3125.333,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,74.205,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.697,1420.174,1559.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,76919,1386
$CAP_FILE_SIZE,173220,0
$CFSIZE,260165632,119177216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,  2.6,1
$GPS,031011,140825,2255.427,12142.730,45,1.9,45,-3.0