version: 66.09
glider: 166
mission: 6
dive: 316
start: 10 3 111 23 9 1
data:
$ID,166
$MISSION,6
$DIVE,316
$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,-24797.02
$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,48
$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
$GPS1,031011,230051,2258.748,12138.361,80,2.3,99,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-61.0
$GPS2,031011,230837,2258.900,12138.435,49,1.8,49,-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,257.3,23160,-17.2,-12.692
$D_GRID,2596
$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,-243.3,0.0,0.0,0,129,0.00,0.00,-108.78,0.000,2,0.000,0.000,132,1590,3020,0,0,0,0,0,0
$GC,132,-0.68,-243.3,5.2,-5.4,15,164,9.80,1.10,-16.65,0.000,4,0.235,0.070,2516,2302,3879,0,0,0,0,0,0
$GC,300,-0.55,-243.3,63.4,-32.6,44,309,0.15,1.02,0.00,0.000,6,0.160,0.039,2557,1611,3881,0,0,0,0,0,0
$GC,627,-0.55,-243.3,129.2,-15.3,105,635,0.00,1.02,0.00,0.000,4,0.000,0.045,2560,919,3883,0,0,0,0,0,0
$GC,694,-0.55,-243.3,140.9,-17.5,116,703,0.00,1.02,0.00,0.000,6,0.000,0.039,2557,1604,3883,0,0,0,0,0,0
$GC,1024,-0.56,-243.3,182.1,-10.6,177,1032,0.00,1.02,0.00,0.000,4,0.000,0.047,2551,2302,3884,0,0,0,0,0,0
$GC,1137,-0.59,-243.3,193.9,-8.9,197,1145,0.00,1.02,0.00,0.000,6,0.000,0.042,2552,1618,3883,0,0,0,0,0,0
$GC,1466,-0.61,-243.3,233.1,-11.7,258,1474,0.00,1.05,0.00,0.000,4,0.000,0.047,2552,914,3883,0,0,0,0,0,0
$GC,1535,-0.64,-243.3,241.4,-11.8,270,1543,0.00,1.05,0.00,0.000,6,0.000,0.041,2547,1611,3883,0,0,0,0,0,0
$GC,1868,-0.67,-243.3,279.0,-11.1,308,1871,0.00,1.02,0.00,0.000,4,0.000,0.047,2541,2307,3881,0,0,0,0,0,0
$GC,1971,-0.71,-243.3,289.1,-9.6,317,1975,0.00,1.05,0.00,0.000,6,0.000,0.043,2543,1610,3881,0,0,0,0,0,0
$GC,2303,-0.74,-243.3,323.1,-8.9,348,2307,0.15,1.08,0.00,0.000,4,0.073,0.049,2474,2305,3879,0,0,0,0,0,0
$GC,2340,-0.69,-243.3,328.7,-15.9,351,2348,0.12,1.05,0.00,0.000,6,0.140,0.044,2516,1607,3879,0,0,0,0,0,0
$GC,2666,-0.69,-243.3,372.7,-13.7,382,2669,0.00,1.05,0.00,0.000,4,0.000,0.048,2516,912,3877,0,0,0,0,0,0
$GC,2734,-0.69,-243.3,382.3,-14.2,388,2737,0.00,1.05,0.00,0.000,6,0.000,0.044,2513,1603,3877,0,0,0,0,0,0
$GC,3064,-0.69,-243.3,429.4,-14.0,419,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1604,3875,0,0,0,0,0,0
$GC,3388,-0.69,-243.3,468.8,-11.8,449,3391,0.00,1.05,0.00,0.000,4,0.000,0.050,2508,2299,3872,0,0,0,0,0,0
$GC,3426,-0.69,-243.3,473.9,-11.3,452,3434,0.00,1.05,0.00,0.000,6,0.000,0.044,2508,1612,3872,0,0,0,0,0,0
$GC,3751,-0.69,-243.3,513.5,-12.9,483,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1612,3870,0,0,0,0,0,0
$GC,4074,-0.69,-243.3,556.7,-14.0,513,4078,0.00,1.08,0.00,0.000,4,0.000,0.055,2504,2296,3866,0,0,0,0,0,0
$GC,4181,-0.71,-243.3,571.5,-12.6,522,4188,0.00,1.05,0.00,0.000,6,0.000,0.046,2503,1613,3866,0,0,0,0,0,0
$GC,4508,-0.71,-243.3,613.2,-12.6,548,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1613,3863,0,0,0,0,0,0
$GC,4812,-0.71,-243.3,650.8,-12.3,563,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1613,3860,0,0,0,0,0,0
$GC,5124,-0.71,-243.3,685.3,-10.6,578,5127,0.00,1.08,0.00,0.000,4,0.000,0.057,2499,2296,3858,0,0,0,0,0,0
$GC,5163,-0.72,-243.3,689.8,-10.5,579,5170,0.00,1.08,0.00,0.000,6,0.000,0.048,2499,1603,3857,0,0,0,0,0,0
$GC,5481,-0.72,-243.3,726.5,-11.9,595,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1603,3855,0,0,0,0,0,0
$GC,5788,-0.72,-243.3,763.4,-11.9,610,5792,0.00,1.08,0.00,0.000,4,0.000,0.054,2498,904,3853,0,0,0,0,0,0
$GC,5849,-0.72,-243.3,771.3,-12.7,612,5857,0.00,1.08,0.00,0.000,6,0.000,0.048,2493,1601,3852,0,0,0,0,0,0
$GC,6168,-0.72,-243.3,810.4,-12.4,628,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1601,3850,0,0,0,0,0,0
$GC,6475,-0.72,-243.3,847.5,-11.9,643,6479,0.00,1.08,0.00,0.000,4,0.000,0.060,2488,2299,3848,0,0,0,0,0,0
$GC,6508,-0.73,-243.3,851.3,-11.1,644,6512,0.00,1.08,0.00,0.000,6,0.000,0.049,2488,1603,3848,0,0,0,0,0,0
$GC,6832,-0.73,-243.3,889.6,-12.2,660,6835,0.00,1.08,0.00,0.000,4,0.000,0.055,2488,904,3846,0,0,0,0,0,0
$GC,6900,-0.73,-243.3,898.8,-13.7,663,6904,0.00,1.10,0.00,0.000,6,0.000,0.050,2483,1606,3846,0,0,0,0,0,0
$GC,7235,-0.73,-243.3,941.2,-12.6,679,7239,0.00,1.08,0.00,0.000,4,0.000,0.059,2478,2307,3844,0,0,0,0,0,0
$GC,7263,-0.73,-243.3,945.1,-12.6,680,7267,0.08,1.08,0.00,0.000,6,0.138,0.050,2503,1610,3843,0,0,0,0,0,0
$GC,7592,-0.76,-243.3,977.9,-9.6,696,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1610,3842,0,0,0,0,0,0
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7732,begin apogee
$GC,7740,-0.11,0.0,991.0,9.1,703,7956,0.60,0.00,209.10,1.442,6,0.120,0.000,2702,1783,2883,0,0,0,0,0,0
$STATE,7956,end apogee,CONTROL_FINISHED_OK
$STATE,7956,begin climb
$GC,7961,0.68,243.3,998.2,0.0,713,8201,0.73,1.25,226.68,1.379,4,0.054,0.056,2976,1081,1892,0,0,0,0,0,0
$GC,8229,0.64,243.3,966.4,15.8,725,8236,0.00,1.15,0.00,0.000,6,0.000,0.048,2976,1772,1889,0,0,0,0,0,0
$GC,8547,0.60,243.3,917.7,14.9,741,8552,0.15,1.12,0.00,0.000,4,0.174,0.059,2934,2487,1884,0,0,0,0,0,0
$GC,8641,0.63,274.4,905.6,11.6,745,8674,0.00,1.10,29.35,1.311,6,0.000,0.050,2937,1775,1765,0,0,0,0,0,0
$GC,8989,0.63,274.4,858.9,14.9,761,8993,0.00,1.08,0.00,0.000,4,0.000,0.054,2942,1074,1761,0,0,0,0,0,0
$GC,9058,0.63,274.4,847.7,15.0,764,9062,0.00,1.10,0.00,0.000,6,0.000,0.047,2942,1786,1760,0,0,0,0,0,0
$GC,9391,0.63,274.4,799.3,13.9,780,9394,0.00,1.05,0.00,0.000,4,0.000,0.057,2942,2478,1760,0,0,0,0,0,0
$GC,9439,0.63,274.4,793.1,13.0,782,9443,0.00,1.08,0.00,0.000,6,0.000,0.047,2946,1781,1759,0,0,0,0,0,0
$GC,9772,0.63,274.4,748.6,12.9,798,9776,0.00,1.08,0.00,0.000,4,0.000,0.053,2951,1072,1758,0,0,0,0,0,0
$GC,9832,0.63,274.4,740.6,13.4,800,9840,0.00,1.10,0.00,0.000,6,0.000,0.044,2951,1789,1758,0,0,0,0,0,0
$GC,10151,0.64,275.5,700.5,12.7,816,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1789,1758,0,0,0,0,0,0
$GC,10458,0.64,275.5,660.1,13.1,831,10461,0.00,1.10,0.00,0.000,4,0.000,0.052,2954,1074,1757,0,0,0,0,0,0
$GC,10492,0.64,278.1,655.8,12.6,832,10496,0.00,1.08,0.00,0.000,6,0.000,0.044,2954,1780,1757,0,0,0,0,0,0
$GC,10816,0.64,278.1,612.1,14.5,848,10819,0.00,1.08,0.00,0.000,4,0.000,0.055,2954,2479,1756,0,0,0,0,0,0
$GC,10888,0.64,278.1,601.1,14.3,851,10892,0.00,1.08,0.00,0.000,6,0.000,0.045,2958,1771,1756,0,0,0,0,0,0
$GC,11214,0.63,278.1,556.7,12.9,881,11218,0.00,1.05,0.00,0.000,4,0.000,0.050,2963,1074,1756,0,0,0,0,0,0
$GC,11250,0.62,278.1,552.1,12.7,884,11254,0.00,1.08,0.00,0.000,6,0.000,0.043,2960,1782,1756,0,0,0,0,0,0
$GC,11581,0.62,278.1,509.2,12.7,915,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1782,1755,0,0,0,0,0,0
$GC,11901,0.62,278.1,468.6,12.8,945,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1784,1755,0,0,0,0,0,0
$GC,12224,0.62,278.1,428.7,13.8,975,12227,0.00,1.10,0.00,0.000,4,0.000,0.049,2963,1067,1756,0,0,0,0,0,0
$GC,12371,0.62,278.1,408.9,12.8,988,12374,0.00,1.08,0.00,0.000,6,0.000,0.042,2960,1775,1754,0,0,0,0,0,0
$GC,12701,0.62,278.1,366.4,12.8,1019,12705,0.00,1.08,0.00,0.000,4,0.000,0.048,2963,1074,1755,0,0,0,0,0,0
$GC,12762,0.67,324.5,359.3,11.1,1024,12814,0.00,1.08,45.60,1.000,6,0.000,0.041,2960,1788,1560,0,0,0,0,0,0
$GC,13132,0.71,347.5,316.4,11.9,1059,13158,0.00,1.05,21.33,0.923,4,0.000,0.047,2956,2473,1466,0,0,0,0,0,0
$GC,13237,0.82,404.3,305.1,10.7,1068,13296,0.10,1.08,51.15,0.934,6,0.051,0.041,3028,1771,1234,0,0,0,0,0,0
$GC,13618,0.78,404.3,235.3,19.0,1110,13626,0.12,0.00,0.00,0.000,6,0.161,0.000,2996,1771,1230,0,0,0,0,0,0
$GC,13946,0.78,404.3,185.3,13.6,1171,13954,0.00,1.05,0.00,0.000,4,0.000,0.047,2999,1074,1230,0,0,0,0,0,0
$GC,14020,0.79,404.3,174.8,14.0,1184,14028,0.00,1.08,0.00,0.000,6,0.000,0.040,2996,1790,1229,0,0,0,0,0,0
$GC,14349,0.91,479.3,133.7,10.1,1245,14419,0.12,1.15,62.83,0.787,4,0.089,0.045,3072,1078,928,0,0,0,0,0,0
$GC,14602,0.89,479.3,91.5,16.1,1288,14611,0.10,1.05,0.00,0.000,6,0.132,0.038,3038,1779,924,0,0,0,0,0,0
$GC,14934,1.16,633.6,58.2,7.3,1349,15048,0.22,1.12,103.95,0.685,4,0.055,0.042,3168,1072,454,0,0,0,0,1,0
$GC,15082,1.12,633.6,27.6,23.5,1369,15091,0.17,1.08,0.00,0.000,6,0.147,0.036,3111,1790,448,0,0,0,0,0,0
$STATE,15226,end climb,SURFACE_DEPTH_REACHED
$STATE,15226,begin surface coast
$FINISH,1.2,1.021979
$STATE,15246,end surface coast,CONTROL_FINISHED_OK
$STATE,15246,begin surface
$SM_CCo,15324,0.00,0.000,0,0,439,599.76
$SM_GC,1.91,7.80,0.00,0.00,0.037,0.000,0.000,158,1594,439,-8.05,-0.45,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2251.04,12139.98,031011,181813
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.11
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.80
$XPDR_PINGS,86
$24V_AH,22.4,75.816
$10V_AH,9.8,53.855
$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,20.425,60.700,749.975,0.000,0.000,24.410,21.461,220.398,21.500,0.000,50.421,3428.256,7712.597,736.635,3432.585,462.453,0.000,2116.074,0.000,3135.900,0.000,0.540,0.000
$DEVICE_MAMPS,234.855,69.615,1442.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,956.510,1431.090,1576.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,80124,1398
$CAP_FILE_SIZE,161869,0
$CFSIZE,260165632,118923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.223, 24.7,1
$GPS,041011,032615,2259.939,12136.299,63,1.6,71,-3.0