version: 66.09
glider: 166
mission: 6
dive: 367
start: 10 13 111 5 2 30
data:
$ID,166
$MISSION,6
$DIVE,367
$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,-9
$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,-24861.275
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,131011,045436,2350.865,12356.883,27,1.2,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-72.6
$GPS2,131011,050206,2351.021,12357.049,38,1.8,42,-3.4
$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,243.8,3953,-18.1,-11.786
$D_GRID,2718
$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,-0.64,-194.6,0.0,0.0,0,99,0.00,0.00,-79.75,0.000,2,0.000,0.000,144,1602,2946,0,0,0,0,0,0
$GC,102,-0.64,-194.6,5.1,-5.8,11,133,9.25,1.00,-15.12,0.000,4,0.214,0.063,2531,901,3679,0,0,0,0,0,0
$GC,260,-0.56,-194.6,53.9,-26.4,38,269,0.10,1.05,0.00,0.000,6,0.148,0.038,2559,1601,3680,0,0,0,0,0,0
$GC,588,-0.53,-194.6,116.3,-16.4,99,596,0.00,1.05,0.00,0.000,4,0.000,0.043,2556,2317,3681,0,0,0,0,0,0
$GC,702,-0.52,-194.6,134.6,-14.2,119,710,0.00,1.05,0.00,0.000,6,0.000,0.037,2555,1606,3682,0,0,0,0,0,0
$GC,1030,-0.52,-194.6,173.7,-11.8,180,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1606,3682,0,0,0,0,0,0
$GC,1358,-0.53,-194.6,216.4,-12.5,241,1366,0.00,1.05,0.00,0.000,4,0.000,0.042,2550,2312,3683,0,0,0,0,0,0
$GC,1403,-0.56,-194.6,221.7,-11.9,248,1411,0.00,1.02,0.00,0.000,6,0.000,0.037,2550,1612,3682,0,0,0,0,0,0
$GC,1737,-0.57,-194.6,261.1,-11.6,301,1741,0.00,1.05,0.00,0.000,4,0.000,0.045,2545,2307,3683,0,0,0,0,0,0
$GC,1785,-0.59,-194.6,266.3,-10.2,305,1788,0.00,1.02,0.00,0.000,6,0.000,0.040,2545,1620,3683,0,0,0,0,0,0
$GC,2118,-0.61,-194.6,299.8,-10.0,336,2122,0.00,1.05,0.00,0.000,4,0.000,0.045,2540,2305,3682,0,0,0,0,0,0
$GC,2176,-0.63,-194.6,306.0,-10.3,341,2179,0.00,1.05,0.00,0.000,6,0.000,0.040,2540,1607,3683,0,0,0,0,0,0
$GC,2509,-0.65,-194.6,341.6,-11.0,372,2513,0.00,1.05,0.00,0.000,4,0.000,0.045,2541,908,3681,0,0,0,0,0,0
$GC,2567,-0.68,-194.6,348.8,-12.7,377,2571,0.00,1.05,0.00,0.000,6,0.000,0.041,2536,1604,3681,0,0,0,0,0,0
$GC,2900,-0.69,-194.6,387.1,-10.6,408,2904,0.00,1.05,0.00,0.000,4,0.000,0.047,2531,2309,3680,0,0,0,0,0,0
$GC,3054,-0.72,-194.6,402.3,-9.5,421,3062,0.00,1.05,0.00,0.000,6,0.000,0.042,2531,1616,3678,0,0,0,0,0,0
$GC,3380,-0.75,-194.6,439.6,-11.7,452,3384,0.00,1.05,0.00,0.000,4,0.000,0.047,2531,917,3677,0,0,0,0,0,0
$GC,3452,-0.77,-194.6,448.7,-12.2,458,3459,0.00,1.05,0.00,0.000,6,0.000,0.041,2528,1611,3677,0,0,0,0,0,0
$GC,3778,-0.79,-194.6,487.1,-11.7,489,3782,0.12,1.05,0.00,0.000,4,0.086,0.050,2470,2301,3675,0,0,0,0,0,0
$GC,3857,-0.75,-194.6,499.3,-16.5,496,3861,0.08,1.05,0.00,0.000,6,0.145,0.044,2499,1609,3675,0,0,0,0,0,0
$GC,4187,-0.73,-194.6,547.6,-14.3,527,4191,0.00,1.08,0.00,0.000,4,0.000,0.050,2496,2306,3672,0,0,0,0,0,0
$GC,4226,-0.72,-194.6,552.9,-12.9,530,4233,0.00,1.05,0.00,0.000,6,0.000,0.044,2496,1612,3672,0,0,0,0,0,0
$GC,4552,-0.70,-194.6,594.5,-12.4,561,4555,0.00,1.08,0.00,0.000,4,0.000,0.052,2492,2305,3670,0,0,0,0,0,0
$GC,4568,-0.69,-194.6,596.6,-11.9,562,4575,0.08,1.05,0.00,0.000,6,0.137,0.044,2518,1618,3670,0,0,0,0,0,0
$GC,4898,-0.69,-194.6,628.7,-9.5,580,4901,0.00,1.08,0.00,0.000,4,0.000,0.051,2518,907,3667,0,0,0,0,0,0
$GC,4944,-0.69,-194.6,633.3,-9.8,582,4948,0.00,1.08,0.00,0.000,6,0.000,0.045,2515,1607,3667,0,0,0,0,0,0
$GC,5277,-0.69,-194.6,667.1,-10.3,598,5281,0.00,1.05,0.00,0.000,4,0.000,0.052,2510,2303,3665,0,0,0,0,0,0
$GC,5312,-0.70,-194.6,670.7,-10.5,599,5316,0.00,1.05,0.00,0.000,6,0.000,0.045,2510,1612,3664,0,0,0,0,0,0
$GC,5634,-0.70,-194.6,707.8,-11.5,615,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1612,3662,0,0,0,0,0,0
$GC,5946,-0.70,-194.6,742.5,-11.1,630,5950,0.00,1.08,0.00,0.000,4,0.000,0.053,2510,910,3659,0,0,0,0,0,0
$GC,6007,-0.70,-194.6,750.0,-11.8,632,6014,0.00,1.08,0.00,0.000,6,0.000,0.047,2505,1607,3659,0,0,0,0,0,0
$GC,6323,-0.70,-194.6,786.2,-11.4,648,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1607,3656,0,0,0,0,0,0
$GC,6635,-0.70,-194.6,821.4,-11.2,663,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1607,3654,0,0,0,0,0,0
$GC,6943,-0.71,-194.6,853.5,-10.0,678,6946,0.00,1.08,0.00,0.000,4,0.000,0.057,2500,2307,3652,0,0,0,0,0,0
$GC,6971,-0.72,-194.6,856.5,-9.8,679,6974,0.00,1.08,0.00,0.000,6,0.000,0.048,2500,1609,3652,0,0,0,0,0,0
$GC,7300,-0.72,-194.6,889.2,-10.0,695,7304,0.00,1.08,0.00,0.000,4,0.000,0.055,2500,910,3650,0,0,0,0,0,0
$GC,7339,-0.72,-194.6,893.7,-10.7,696,7346,0.00,1.10,0.00,0.000,6,0.000,0.049,2494,1613,3650,0,0,0,0,0,0
$GC,7658,-0.72,-194.6,926.6,-10.6,712,7661,0.00,1.10,0.00,0.000,4,0.000,0.054,2494,912,3648,0,0,0,0,0,0
$GC,7718,-0.72,-194.6,933.8,-11.0,714,7725,0.00,1.10,0.00,0.000,6,0.000,0.050,2490,1608,3647,0,0,0,0,0,0
$GC,8035,-0.72,-194.6,969.5,-11.1,730,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1609,3646,0,0,0,0,0,0
$STATE,8238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8238,begin apogee
$GC,8246,-0.11,0.0,991.5,10.5,740,8420,0.68,0.00,167.12,1.447,6,0.126,0.000,2705,1783,2884,0,0,0,0,0,0
$STATE,8421,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8426,0.64,194.6,995.8,0.0,748,8612,0.68,0.00,180.77,1.385,6,0.067,0.000,2952,1783,2090,0,0,0,0,0,0
$GC,8918,0.62,194.6,936.7,13.7,772,8922,0.00,1.08,0.00,0.000,4,0.000,0.060,2952,2483,2081,0,0,0,0,0,0
$GC,8965,0.60,194.6,930.0,13.9,774,8969,0.00,1.10,0.00,0.000,6,0.000,0.050,2957,1784,2080,0,0,0,0,0,0
$GC,9298,0.57,194.6,882.5,14.2,790,9302,0.00,1.10,0.00,0.000,4,0.000,0.053,2962,1066,2078,0,0,0,0,0,0
$GC,9347,0.55,194.6,875.7,14.4,792,9351,0.10,1.12,0.00,0.000,6,0.148,0.050,2930,1783,2078,0,0,0,0,0,0
$GC,9679,0.55,196.5,835.9,11.7,808,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1783,2077,0,0,0,0,0,0
$GC,9988,0.56,201.7,800.4,11.6,823,9998,0.00,1.10,5.60,0.984,4,0.000,0.054,2927,2487,2060,0,0,0,0,0,0
$GC,10039,0.57,210.5,794.5,11.4,825,10057,0.00,1.10,9.85,1.154,6,0.000,0.047,2930,1780,2025,0,0,0,0,0,0
$GC,10365,0.57,210.5,756.1,12.0,841,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1780,2023,0,0,0,0,0,0
$GC,10677,0.59,227.8,719.9,11.1,856,10699,0.00,1.15,17.23,1.211,4,0.000,0.051,2936,1060,1955,0,0,0,0,0,0
$GC,10727,0.63,260.4,714.0,10.5,858,10766,0.00,1.12,31.85,1.232,6,0.000,0.044,2934,1785,1821,0,0,0,0,0,0
$GC,11075,0.69,288.7,676.2,10.6,875,11106,0.00,1.17,27.23,1.202,4,0.000,0.050,2937,1066,1707,0,0,0,0,0,0
$GC,11129,0.75,318.6,670.1,10.6,877,11163,0.10,1.12,29.83,1.187,6,0.057,0.044,2996,1784,1584,0,0,0,0,0,0
$GC,11485,0.73,318.6,614.2,15.4,895,11489,0.00,1.05,0.00,0.000,4,0.000,0.054,2995,2480,1578,0,0,0,0,0,0
$GC,11580,0.71,318.6,599.5,15.5,899,11583,0.00,1.08,0.00,0.000,6,0.000,0.045,3000,1779,1578,0,0,0,0,0,0
$GC,11906,0.69,318.6,545.5,17.4,929,11908,0.12,0.00,0.00,0.000,6,0.183,0.000,2969,1779,1578,0,0,0,0,0,0
$GC,12224,0.69,318.6,499.2,15.2,959,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1779,1576,0,0,0,0,0,0
$GC,12545,0.70,318.6,455.5,13.0,989,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1779,1576,0,0,0,0,0,0
$GC,12866,0.72,318.6,415.6,11.8,1019,12869,0.00,1.08,0.00,0.000,4,0.000,0.048,2973,1066,1576,0,0,0,0,0,0
$GC,12957,0.74,318.6,403.7,12.5,1027,12961,0.00,1.10,0.00,0.000,6,0.000,0.043,2969,1783,1575,0,0,0,0,0,0
$GC,13288,0.75,318.6,361.0,12.8,1058,13292,0.00,1.05,0.00,0.000,4,0.000,0.052,2969,2477,1574,0,0,0,0,0,0
$GC,13315,0.77,318.6,357.2,13.0,1060,13322,0.00,1.08,0.00,0.000,6,0.000,0.043,2972,1766,1574,0,0,0,0,0,0
$GC,13641,0.80,328.7,318.2,11.4,1091,13654,0.00,1.08,9.23,0.831,4,0.000,0.047,2977,1078,1543,0,0,0,0,0,0
$GC,13716,0.84,337.5,309.4,11.4,1097,13734,0.08,1.08,9.52,0.822,6,0.059,0.041,3034,1788,1508,0,0,0,0,0,0
$GC,14054,0.81,337.5,256.7,14.6,1129,14057,0.00,1.02,0.00,0.000,4,0.000,0.047,3034,2482,1506,0,0,0,0,0,0
$GC,14116,0.79,337.5,247.6,14.2,1136,14125,0.10,1.05,0.00,0.000,6,0.145,0.041,3005,1787,1507,0,0,0,0,0,0
$GC,14450,0.79,337.5,206.4,12.3,1197,14459,0.00,1.08,0.00,0.000,4,0.000,0.045,3009,1065,1507,0,0,0,0,0,0
$GC,14498,0.79,337.5,199.8,12.3,1205,14507,0.00,1.08,0.00,0.000,6,0.000,0.039,3009,1784,1507,0,0,0,0,0,0
$GC,14826,0.79,337.5,157.8,12.6,1266,14834,0.00,1.02,0.00,0.000,4,0.000,0.047,3009,2479,1506,0,0,0,0,0,0
$GC,14910,0.81,337.5,147.1,12.0,1281,14919,0.00,1.05,0.00,0.000,6,0.000,0.039,3013,1776,1507,0,0,0,0,0,0
$GC,15240,0.87,364.8,112.0,10.7,1342,15271,0.00,1.10,25.80,0.731,4,0.000,0.044,3018,1066,1395,0,0,0,0,0,0
$GC,15298,0.92,378.4,105.5,11.2,1350,15321,0.00,1.08,13.38,0.676,6,0.000,0.036,3018,1788,1340,0,0,0,0,0,0
$GC,15644,1.11,482.4,71.0,7.6,1413,15740,0.22,0.00,88.28,0.698,6,0.057,0.000,3137,1789,915,0,0,0,0,0,0
$STATE,16043,end climb,SURFACE_DEPTH_REACHED
$STATE,16043,begin surface coast
$FINISH,1.3,1.021115
$STATE,16061,end surface coast,CONTROL_FINISHED_OK
$STATE,16061,begin surface
$SM_CCo,16139,0.00,0.000,0,0,910,484.22
$SM_GC,2.12,7.70,0.00,0.00,0.035,0.000,0.000,139,1596,910,-8.04,-0.40,484.22,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12354.47,131011,000053
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.31
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.40
$XPDR_PINGS,117
$24V_AH,22.9,87.962
$10V_AH,9.8,62.172
$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,19.400,64.725,615.675,0.000,0.000,30.214,38.268,185.416,29.250,0.000,43.699,3694.054,8164.248,661.234,3569.968,485.384,0.000,2033.567,0.000,3300.020,0.000,0.541,0.000
$DEVICE_MAMPS,214.200,71.145,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.813,1520.640,1734.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,83491,1486
$CAP_FILE_SIZE,172273,0
$CFSIZE,260165632,114479104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.300, 61.4,1
$GPS,131011,093236,2350.917,12356.943,26,1.9,26,-3.4