version: 66.09
glider: 166
mission: 6
dive: 345
start: 10 9 111 0 23 42
data:
$ID,166
$MISSION,6
$DIVE,345
$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,280
$T_MISSION,310
$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,200
$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,-24833.604
$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,51
$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,5
$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
$GPS1,091011,001537,2329.688,12236.330,37,1.6,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.0
$GPS2,091011,002319,2329.775,12236.384,36,1.6,48,-3.2
$SPEED_LIMITS,0.204,0.313
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,107.4,138348,-18.1,-11.786
$D_GRID,3769
$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,-0.64,-194.6,0.0,0.0,0,109,0.00,0.00,-90.03,0.000,2,0.000,0.000,123,1593,3031,0,0,0,0,0,0
$GC,113,-0.64,-194.6,5.3,-7.5,12,144,9.38,1.08,-13.12,0.000,4,0.216,0.063,2527,2298,3679,0,0,0,0,0,0
$GC,282,-0.56,-194.6,61.5,-25.0,41,291,0.10,1.02,0.00,0.000,6,0.142,0.037,2558,1608,3681,0,0,0,0,0,0
$GC,608,-0.54,-194.6,117.4,-15.8,102,616,0.00,1.02,0.00,0.000,4,0.000,0.044,2557,920,3682,0,0,0,0,0,0
$GC,722,-0.54,-194.6,134.9,-13.7,122,731,0.00,1.02,0.00,0.000,6,0.000,0.039,2554,1604,3682,0,0,0,0,0,0
$GC,1051,-0.52,-194.6,184.2,-15.3,183,1059,0.00,1.02,0.00,0.000,4,0.000,0.044,2549,2302,3682,0,0,0,0,0,0
$GC,1207,-0.52,-194.6,205.2,-13.4,211,1215,0.00,1.02,0.00,0.000,6,0.000,0.043,2549,1622,3682,0,0,0,0,0,0
$GC,1535,-0.52,-194.6,248.0,-12.0,272,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1622,3682,0,0,0,0,0,0
$GC,1874,-0.53,-194.6,288.9,-11.8,304,1878,0.00,1.02,0.00,0.000,4,0.000,0.045,2544,2299,3682,0,0,0,0,0,0
$GC,1955,-0.56,-194.6,298.5,-11.4,311,1959,0.00,1.05,0.00,0.000,6,0.000,0.041,2544,1607,3682,0,0,0,0,0,0
$GC,2289,-0.57,-194.6,338.2,-11.3,342,2292,0.00,1.05,0.00,0.000,4,0.000,0.046,2540,2300,3682,0,0,0,0,0,0
$GC,2395,-0.61,-194.6,349.2,-9.8,351,2402,0.00,1.05,0.00,0.000,6,0.000,0.042,2540,1609,3681,0,0,0,0,0,0
$GC,2721,-0.63,-194.6,383.1,-10.2,382,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1609,3681,0,0,0,0,0,0
$GC,3041,-0.66,-194.6,416.1,-10.5,412,3045,0.00,1.08,0.00,0.000,4,0.000,0.048,2539,2301,3678,0,0,0,0,0,0
$GC,3090,-0.69,-194.6,421.2,-10.6,416,3094,0.00,1.05,0.00,0.000,6,0.000,0.044,2539,1613,3678,0,0,0,0,0,0
$GC,3422,-0.72,-194.6,460.1,-12.5,447,3426,0.00,1.08,0.00,0.000,4,0.000,0.050,2545,2307,3677,0,0,0,0,0,0
$GC,3463,-0.76,-194.6,465.1,-12.2,450,3471,0.10,1.08,0.00,0.000,6,0.044,0.044,2474,1604,3677,0,0,0,0,0,0
$GC,3788,-0.72,-194.6,521.1,-15.9,481,3793,0.15,1.08,0.00,0.000,4,0.161,0.049,2517,911,3675,0,0,0,0,0,0
$GC,3815,-0.69,-194.6,524.7,-15.1,483,3818,0.00,1.05,0.00,0.000,6,0.000,0.044,2513,1601,3675,0,0,0,0,0,0
$GC,4146,-0.69,-194.6,561.6,-10.6,514,4149,0.00,1.05,0.00,0.000,4,0.000,0.051,2508,2299,3672,0,0,0,0,0,0
$GC,4239,-0.69,-194.6,571.2,-10.2,522,4243,0.00,1.05,0.00,0.000,6,0.000,0.045,2508,1609,3671,0,0,0,0,0,0
$GC,4577,-0.69,-194.6,610.9,-12.6,550,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1609,3669,0,0,0,0,0,0
$GC,4889,-0.69,-194.6,648.3,-12.1,565,4893,0.00,1.08,0.00,0.000,4,0.000,0.052,2508,905,3667,0,0,0,0,0,0
$GC,4984,-0.69,-194.6,659.9,-11.4,569,4987,0.00,1.08,0.00,0.000,6,0.000,0.046,2504,1604,3666,0,0,0,0,0,0
$GC,5311,-0.69,-194.6,694.9,-10.4,585,5315,0.00,1.08,0.00,0.000,4,0.000,0.054,2498,2311,3663,0,0,0,0,0,0
$GC,5363,-0.69,-194.6,700.4,-10.2,587,5367,0.00,1.08,0.00,0.000,6,0.000,0.046,2498,1609,3662,0,0,0,0,0,0
$GC,5691,-0.69,-194.6,736.5,-11.3,603,5695,0.00,1.05,0.00,0.000,4,0.000,0.054,2498,919,3661,0,0,0,0,0,0
$GC,5771,-0.69,-194.6,746.5,-12.6,606,5775,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1614,3659,0,0,0,0,0,0
$GC,6092,-0.69,-194.6,785.6,-12.6,622,6095,0.00,1.10,0.00,0.000,4,0.000,0.052,2493,905,3657,0,0,0,0,0,0
$GC,6252,-0.69,-194.6,805.9,-12.7,629,6256,0.10,1.10,0.00,0.000,6,0.140,0.048,2521,1610,3656,0,0,0,0,0,0
$GC,6588,-0.72,-194.6,837.0,-8.8,645,6592,0.00,1.10,0.00,0.000,4,0.000,0.054,2521,917,3653,0,0,0,0,0,0
$GC,6680,-0.74,-194.6,845.5,-9.0,649,6683,0.00,1.08,0.00,0.000,6,0.000,0.049,2518,1610,3653,0,0,0,0,0,0
$GC,7015,-0.77,-194.6,876.0,-9.1,665,7019,0.00,1.12,0.00,0.000,4,0.000,0.056,2518,908,3651,0,0,0,0,0,0
$GC,7129,-0.79,-194.6,887.4,-10.2,670,7133,0.00,1.10,0.00,0.000,6,0.000,0.050,2513,1610,3650,0,0,0,0,0,0
$GC,7465,-0.82,-194.6,919.9,-9.6,686,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1610,3648,0,0,0,0,0,0
$GC,7772,-0.84,-194.6,948.3,-9.1,701,7776,0.12,1.12,0.00,0.000,4,0.090,0.058,2450,918,3646,0,0,0,0,0,0
$GC,7830,-0.80,-194.6,955.5,-13.8,703,7835,0.10,1.10,0.00,0.000,6,0.151,0.052,2476,1612,3646,0,0,0,0,0,0
$STATE,8129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8129,begin apogee
$GC,8135,-0.11,0.0,990.4,11.5,718,8308,0.70,0.00,166.50,1.440,6,0.126,0.000,2703,1784,2883,0,0,0,0,0,0
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8311,0.64,194.6,996.0,0.0,726,8504,0.70,1.20,179.88,1.389,4,0.066,0.061,2957,2475,2089,0,0,0,0,0,0
$GC,8610,0.61,194.6,962.5,14.9,739,8616,0.00,1.10,0.00,0.000,6,0.000,0.051,2961,1789,2084,0,0,0,0,0,0
$GC,8928,0.57,194.6,914.2,15.5,755,8933,0.12,1.08,0.00,0.000,4,0.182,0.061,2926,2477,2081,0,0,0,0,0,0
$GC,8996,0.57,194.6,904.7,12.7,758,9000,0.00,1.08,0.00,0.000,6,0.000,0.049,2929,1786,2079,0,0,0,0,0,0
$GC,9331,0.57,194.6,862.4,12.4,774,9335,0.00,1.10,0.00,0.000,4,0.000,0.054,2934,1065,2078,0,0,0,0,0,0
$GC,9376,0.57,194.6,856.6,12.1,776,9380,0.00,1.12,0.00,0.000,6,0.000,0.049,2933,1785,2078,0,0,0,0,0,0
$GC,9709,0.57,194.6,816.2,12.2,792,9713,0.00,1.08,0.00,0.000,4,0.000,0.060,2933,2482,2077,0,0,0,0,0,0
$GC,9780,0.57,194.6,807.6,12.6,795,9784,0.00,1.10,0.00,0.000,6,0.000,0.047,2936,1771,2076,0,0,0,0,0,0
$GC,10113,0.57,194.6,764.6,12.9,811,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1771,2075,0,0,0,0,0,0
$GC,10422,0.57,194.6,724.8,12.3,826,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1771,2075,0,0,0,0,0,0
$GC,10733,0.57,194.6,686.5,12.6,841,10737,0.00,1.10,0.00,0.000,4,0.000,0.057,2934,2482,2074,0,0,0,0,0,0
$GC,10817,0.57,194.6,675.6,12.4,844,10824,0.00,1.08,0.00,0.000,6,0.000,0.047,2937,1779,2074,0,0,0,0,0,0
$GC,11135,0.57,194.6,637.1,11.8,860,11138,0.00,1.10,0.00,0.000,4,0.000,0.057,2934,2486,2074,0,0,0,0,0,0
$GC,11218,0.59,212.0,627.0,11.1,863,11239,0.00,1.08,14.65,1.138,6,0.000,0.046,2937,1787,2019,0,0,0,0,0,0
$GC,11558,0.63,241.8,590.4,10.6,884,11593,0.00,1.15,28.17,1.161,4,0.000,0.050,2942,1074,1897,0,0,0,0,0,0
$GC,11645,0.66,250.3,580.7,11.4,891,11663,0.00,1.12,9.48,1.012,6,0.000,0.046,2942,1787,1863,0,0,0,0,0,0
$GC,11982,0.70,272.5,544.1,10.9,923,12008,0.00,1.05,21.67,1.100,4,0.000,0.053,2942,2489,1772,0,0,0,0,0,0
$GC,12066,0.76,302.9,535.0,10.6,930,12100,0.10,1.10,29.65,1.097,6,0.052,0.044,3011,1785,1649,0,0,0,0,0,0
$GC,12420,0.73,302.9,475.9,17.6,963,12424,0.12,1.10,0.00,0.000,4,0.173,0.054,2975,2478,1644,0,0,0,0,0,0
$GC,12460,0.73,302.9,469.2,15.6,966,12468,0.00,1.08,0.00,0.000,6,0.000,0.044,2978,1769,1643,0,0,0,0,0,0
$GC,12785,0.73,302.9,420.5,14.7,997,12789,0.00,1.10,0.00,0.000,4,0.000,0.052,2975,2485,1642,0,0,0,0,0,0
$GC,12823,0.73,302.9,414.8,14.2,1000,12830,0.00,1.05,0.00,0.000,6,0.000,0.043,2978,1787,1642,0,0,0,0,0,0
$GC,13149,0.73,302.9,369.2,13.9,1031,13152,0.00,1.08,0.00,0.000,4,0.000,0.051,2976,2489,1642,0,0,0,0,0,0
$GC,13205,0.74,302.9,361.2,13.3,1036,13209,0.00,1.08,0.00,0.000,6,0.000,0.043,2979,1780,1642,0,0,0,0,0,0
$GC,13537,0.74,302.9,321.0,11.8,1067,13540,0.00,1.05,0.00,0.000,4,0.000,0.048,2984,1078,1641,0,0,0,0,0,0
$GC,13572,0.76,307.3,316.9,11.6,1070,13585,0.00,1.08,4.10,0.596,6,0.000,0.041,2981,1791,1632,0,0,0,0,0,0
$GC,13904,0.84,365.3,282.5,9.4,1101,13968,0.10,0.00,53.65,0.900,6,0.103,0.000,3040,1791,1392,0,0,0,0,0,0
$GC,14283,0.81,365.3,219.3,17.7,1153,14291,0.12,1.12,0.00,0.000,4,0.166,0.046,3012,1081,1389,0,0,0,0,0,0
$GC,14300,0.79,365.3,216.3,17.2,1155,14308,0.00,1.08,0.00,0.000,6,0.000,0.040,3008,1783,1389,0,0,0,0,0,0
$GC,14628,0.80,365.3,172.1,13.3,1216,14636,0.00,1.05,0.00,0.000,4,0.000,0.048,3007,2484,1389,0,0,0,0,0,0
$GC,14706,0.83,365.3,162.4,12.3,1229,14714,0.00,1.08,0.00,0.000,6,0.000,0.041,3011,1777,1389,0,0,0,0,0,0
$GC,15034,0.84,365.3,121.3,12.1,1290,15043,0.00,1.08,0.00,0.000,4,0.000,0.045,3008,2483,1389,0,0,0,0,0,0
$GC,15067,0.87,371.0,117.1,11.6,1295,15083,0.00,1.08,5.97,0.573,6,0.000,0.041,3011,1776,1371,0,0,0,0,0,0
$GC,15406,1.01,445.7,81.2,8.8,1357,15483,0.15,1.12,64.62,0.705,4,0.075,0.045,3102,1068,1064,0,0,0,0,0,0
$GC,15635,1.01,445.7,42.8,13.1,1395,15643,0.08,1.08,0.00,0.000,6,0.133,0.036,3076,1794,1062,0,0,0,0,0,0
$GC,15968,1.04,455.2,3.5,11.4,1456,15977,0.00,0.00,7.18,0.513,2,0.000,0.000,3075,1795,1036,0,0,0,0,0,0
$STATE,15977,end climb,SURFACE_DEPTH_REACHED
$STATE,15978,begin surface coast
$FINISH,1.3,1.021470
$STATE,16008,end surface coast,CONTROL_FINISHED_OK
$STATE,16008,begin surface
$SM_CCo,16088,0.00,0.000,0,0,1033,454.30
$SM_GC,2.17,7.57,0.00,0.00,0.038,0.000,0.000,130,1596,1033,-8.05,-0.40,454.30,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12229.71,081011,191959
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.80
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.50
$XPDR_PINGS,116
$24V_AH,22.7,83.188
$10V_AH,9.8,58.479
$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,19.825,69.550,585.525,0.000,0.000,25.005,38.656,197.163,29.000,0.000,49.249,3646.314,8131.262,634.997,3625.521,489.436,0.000,2060.716,0.000,3341.464,0.000,0.541,0.000
$DEVICE_MAMPS,216.495,73.440,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.152,1497.894,1656.204,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,83479,1462
$CAP_FILE_SIZE,173383,0
$CFSIZE,260165632,116461568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 18.2,1
$GPS,091011,045306,2330.434,12239.585,37,1.5,37,-3.2