version: 66.09
glider: 166
mission: 6
dive: 444
start: 10 27 111 2 2 53
data:
$ID,166
$MISSION,6
$DIVE,444
$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,270
$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,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,-24965.762
$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,56
$R_STBD_OVSHOOT,53
$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
$GPS1,271011,014930,2327.007,12248.718,61,1.5,61,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-64.3
$GPS2,271011,020228,2327.249,12248.814,37,2.7,56,-3.2
$SPEED_LIMITS,0.212,0.316
$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,231.3,148018,-18.6,-12.222
$D_GRID,3910
$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,-0.65,-194.6,0.0,0.0,0,114,0.00,0.00,-93.93,0.000,2,0.000,0.000,127,1589,3218,0,0,0,0,0,0
$GC,119,-0.65,-194.6,5.9,-7.0,13,144,9.70,1.12,-8.52,0.000,4,0.225,0.067,2520,2308,3681,0,0,0,0,0,0
$GC,354,-0.60,-194.6,80.0,-19.4,55,363,0.00,1.02,0.00,0.000,6,0.000,0.040,2539,1627,3683,0,0,0,0,0,0
$GC,685,-0.55,-194.6,145.2,-17.0,116,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1627,3684,0,0,0,0,0,0
$GC,1014,-0.52,-194.6,200.1,-13.9,177,1022,0.15,1.02,0.00,0.000,4,0.156,0.046,2577,2292,3684,0,0,0,0,0,0
$GC,1124,-0.55,-194.6,211.7,-10.2,196,1132,0.00,1.02,0.00,0.000,6,0.000,0.041,2577,1617,3684,0,0,0,0,0,0
$GC,1455,-0.58,-194.6,248.6,-12.1,257,1462,0.00,1.05,0.00,0.000,4,0.000,0.047,2564,2299,3684,0,0,0,0,0,0
$GC,1637,-0.62,-194.6,270.1,-11.0,274,1641,0.00,1.05,0.00,0.000,6,0.000,0.042,2559,1607,3684,0,0,0,0,0,0
$GC,1968,-0.65,-194.6,305.7,-10.0,305,1971,0.00,1.05,0.00,0.000,4,0.000,0.047,2559,918,3684,0,0,0,0,0,0
$GC,2009,-0.69,-194.6,309.9,-10.4,308,2015,0.00,1.02,0.00,0.000,6,0.000,0.041,2553,1596,3683,0,0,0,0,0,0
$GC,2334,-0.73,-194.6,341.1,-9.0,339,2339,0.12,1.08,0.00,0.000,4,0.082,0.047,2471,2302,3682,0,0,0,0,0,0
$GC,2431,-0.70,-194.6,354.9,-15.3,347,2440,0.12,1.05,0.00,0.000,6,0.135,0.044,2513,1619,3681,0,0,0,0,0,0
$GC,2757,-0.70,-194.6,397.0,-13.3,378,2760,0.00,1.05,0.00,0.000,4,0.000,0.048,2512,2297,3680,0,0,0,0,0,0
$GC,2805,-0.70,-194.6,403.0,-12.7,382,2808,0.00,1.05,0.00,0.000,6,0.000,0.043,2515,1608,3680,0,0,0,0,0,0
$GC,3138,-0.70,-194.6,446.3,-12.7,413,3141,0.00,1.05,0.00,0.000,4,0.000,0.048,2527,914,3678,0,0,0,0,0,0
$GC,3178,-0.70,-194.6,451.7,-12.8,416,3185,0.00,1.05,0.00,0.000,6,0.000,0.042,2523,1605,3677,0,0,0,0,0,0
$GC,3503,-0.70,-194.6,494.0,-12.5,447,3507,0.00,1.05,0.00,0.000,4,0.000,0.049,2518,2306,3675,0,0,0,0,0,0
$GC,3564,-0.70,-194.6,501.7,-11.8,452,3571,0.00,1.05,0.00,0.000,6,0.000,0.045,2518,1618,3675,0,0,0,0,0,0
$GC,3890,-0.70,-194.6,540.0,-11.3,483,3893,0.00,1.05,0.00,0.000,4,0.000,0.052,2513,2298,3672,0,0,0,0,0,0
$GC,3972,-0.71,-194.6,548.7,-10.3,490,3976,0.00,1.05,0.00,0.000,6,0.000,0.046,2513,1610,3671,0,0,0,0,0,0
$GC,4303,-0.71,-194.6,588.9,-12.2,521,4307,0.00,1.10,0.00,0.000,4,0.000,0.054,2508,2302,3669,0,0,0,0,0,0
$GC,4361,-0.73,-194.6,595.7,-11.6,526,4365,0.00,1.08,0.00,0.000,6,0.000,0.047,2508,1604,3668,0,0,0,0,0,0
$GC,4697,-0.73,-194.6,636.9,-12.5,544,4700,0.00,1.08,0.00,0.000,4,0.000,0.051,2508,901,3665,0,0,0,0,0,0
$GC,4746,-0.73,-194.6,643.7,-12.5,546,4750,0.00,1.10,0.00,0.000,6,0.000,0.044,2503,1610,3665,0,0,0,0,0,0
$GC,5077,-0.73,-194.6,682.6,-11.5,562,5081,0.00,1.12,0.00,0.000,4,0.000,0.051,2503,907,3662,0,0,0,0,0,0
$GC,5145,-0.73,-194.6,691.0,-12.0,565,5148,0.00,1.10,0.00,0.000,6,0.000,0.047,2498,1614,3662,0,0,0,0,0,0
$GC,5480,-0.73,-194.6,729.6,-11.6,581,5484,0.00,1.05,0.00,0.000,4,0.000,0.054,2493,2302,3658,0,0,0,0,0,0
$GC,5530,-0.73,-194.6,735.5,-10.9,583,5534,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1604,3659,0,0,0,0,0,0
$GC,5858,-0.73,-194.6,772.5,-11.4,599,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1604,3656,0,0,0,0,0,0
$GC,6169,-0.73,-194.6,807.4,-11.3,614,6173,0.00,1.10,0.00,0.000,4,0.000,0.057,2488,2298,3654,0,0,0,0,0,0
$GC,6197,-0.73,-194.6,810.9,-11.5,615,6200,0.00,1.08,0.00,0.000,6,0.000,0.049,2488,1605,3653,0,0,0,0,0,0
$GC,6524,-0.73,-194.6,847.3,-11.4,631,6528,0.00,1.08,0.00,0.000,4,0.000,0.054,2488,908,3651,0,0,0,0,0,0
$GC,6572,-0.73,-194.6,852.8,-12.0,633,6576,0.00,1.10,0.00,0.000,6,0.000,0.048,2482,1610,3651,0,0,0,0,0,0
$GC,6905,-0.73,-194.6,891.5,-11.4,649,6908,0.00,1.10,0.00,0.000,4,0.000,0.058,2478,2306,3649,0,0,0,0,0,0
$GC,6952,-0.73,-194.6,896.4,-10.3,651,6956,0.08,1.08,0.00,0.000,6,0.140,0.050,2503,1612,3649,0,0,0,0,0,0
$GC,7288,-0.75,-194.6,924.5,-8.4,667,7292,0.00,1.10,0.00,0.000,4,0.000,0.055,2503,902,3646,0,0,0,0,0,0
$GC,7352,-0.77,-194.6,930.2,-8.7,669,7358,0.00,1.12,0.00,0.000,6,0.000,0.049,2499,1615,3646,0,0,0,0,0,0
$GC,7671,-0.78,-194.6,957.6,-9.0,685,7674,0.00,1.08,0.00,0.000,4,0.000,0.059,2495,2309,3644,0,0,0,0,0,0
$GC,7704,-0.80,-194.6,961.0,-8.9,686,7708,0.00,1.10,0.00,0.000,6,0.000,0.050,2494,1606,3644,0,0,0,0,0,0
$STATE,8003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8003,begin apogee
$GC,8011,-0.11,0.0,990.7,10.1,701,8182,0.65,0.00,165.27,1.450,6,0.123,0.000,2702,1783,2884,0,0,0,0,0,0
$STATE,8183,end apogee,CONTROL_FINISHED_OK
$STATE,8183,begin climb
$GC,8188,0.65,194.6,995.3,0.0,709,8378,0.70,0.00,180.15,1.392,6,0.070,0.000,2954,1783,2088,0,0,0,0,0,0
$GC,8688,0.63,194.6,936.0,13.7,733,8692,0.00,1.08,0.00,0.000,4,0.000,0.062,2954,2476,2081,0,0,0,0,0,0
$GC,8806,0.61,194.6,918.9,14.1,738,8810,0.00,1.08,0.00,0.000,6,0.000,0.050,2959,1787,2080,0,0,0,0,0,0
$GC,9134,0.59,194.6,873.6,14.3,754,9138,0.00,1.10,0.00,0.000,4,0.000,0.055,2964,1070,2078,0,0,0,0,0,0
$GC,9164,0.56,194.6,869.5,14.0,755,9169,0.10,1.10,0.00,0.000,6,0.152,0.051,2933,1770,2077,0,0,0,0,0,0
$GC,9491,0.60,222.3,832.0,11.1,771,9521,0.00,1.15,24.35,1.298,4,0.000,0.057,2929,2485,1977,0,0,0,0,0,0
$GC,9598,0.64,243.2,820.1,11.3,775,9626,0.00,1.10,20.52,1.261,6,0.000,0.048,2931,1779,1892,0,0,0,0,0,0
$GC,9939,0.68,262.4,781.3,11.4,792,9961,0.00,1.15,18.73,1.240,4,0.000,0.054,2937,1062,1814,0,0,0,0,0,0
$GC,10026,0.71,271.4,770.9,11.8,795,10042,0.08,1.12,10.25,1.131,6,0.064,0.047,2980,1783,1776,0,0,0,0,0,0
$GC,10364,0.69,271.4,717.4,16.0,812,10367,0.00,1.08,0.00,0.000,4,0.000,0.057,2981,2488,1773,0,0,0,0,0,0
$GC,10480,0.67,271.4,699.5,15.8,817,10484,0.00,1.10,0.00,0.000,6,0.000,0.047,2984,1776,1773,0,0,0,0,0,0
$GC,10813,0.65,271.4,645.9,15.8,833,10817,0.00,1.10,0.00,0.000,4,0.000,0.054,2981,2487,1771,0,0,0,0,0,0
$GC,10854,0.64,271.4,639.6,15.4,834,10861,0.10,1.10,0.00,0.000,6,0.160,0.047,2954,1777,1771,0,0,0,0,0,0
$GC,11170,0.64,271.4,599.9,12.3,850,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1777,1770,0,0,0,0,0,0
$GC,11491,0.68,293.0,562.2,11.3,880,11515,0.00,1.12,20.45,1.122,4,0.000,0.050,2957,1066,1689,0,0,0,0,0,0
$GC,11590,0.72,318.0,550.9,11.2,888,11620,0.00,1.10,24.75,1.113,6,0.000,0.044,2954,1780,1587,0,0,0,0,0,0
$GC,11938,0.78,344.9,514.0,11.1,921,11969,0.12,0.00,25.73,1.087,6,0.089,0.000,3022,1781,1477,0,0,0,0,0,0
$GC,12287,0.75,344.9,452.3,18.9,954,12292,0.12,1.08,0.00,0.000,4,0.170,0.054,2986,2480,1473,0,0,0,0,0,0
$GC,12381,0.76,344.9,437.7,14.1,962,12384,0.00,1.08,0.00,0.000,6,0.000,0.044,2989,1777,1472,0,0,0,0,0,0
$GC,12711,0.76,344.9,391.8,13.2,993,12715,0.00,1.08,0.00,0.000,4,0.000,0.049,2994,1065,1471,0,0,0,0,0,0
$GC,12780,0.76,344.9,382.9,13.2,999,12784,0.00,1.10,0.00,0.000,6,0.000,0.043,2991,1784,1471,0,0,0,0,0,0
$GC,13111,0.78,344.9,342.1,12.3,1030,13115,0.00,1.05,0.00,0.000,4,0.000,0.050,2986,2476,1471,0,0,0,0,0,0
$GC,13150,0.80,347.6,337.0,12.1,1033,13157,0.00,1.08,0.00,0.000,6,0.000,0.043,2989,1777,1471,0,0,0,0,0,0
$GC,13475,0.85,364.3,297.0,11.5,1064,13500,0.00,1.05,18.10,0.887,4,0.000,0.044,2995,1064,1397,0,0,0,0,0,0
$GC,13608,0.89,379.8,281.6,11.6,1075,13628,0.08,1.10,15.10,0.851,6,0.063,0.041,3051,1788,1335,0,0,0,0,0,0
$GC,13947,0.86,379.8,226.8,16.6,1119,13955,0.00,1.02,0.00,0.000,4,0.000,0.047,3051,2480,1333,0,0,0,0,0,0
$GC,13981,0.84,379.8,221.1,16.2,1124,13990,0.12,1.08,0.00,0.000,6,0.144,0.041,3016,1770,1333,0,0,0,0,0,0
$GC,14312,0.87,387.0,177.4,11.9,1185,14329,0.00,1.10,7.90,0.683,4,0.000,0.047,3010,2474,1305,0,0,0,0,0,0
$GC,14483,0.97,434.3,158.4,10.2,1215,14531,0.10,1.05,42.22,0.781,6,0.049,0.041,3075,1775,1112,0,0,0,0,0,0
$GC,14851,0.95,434.3,99.8,17.5,1281,14859,0.00,1.05,0.00,0.000,4,0.000,0.044,3075,2473,1110,0,0,0,0,0,0
$GC,14904,0.95,434.3,91.0,16.4,1290,14912,0.00,1.02,0.00,0.000,6,0.000,0.039,3080,1787,1109,0,0,0,0,0,0
$GC,15234,0.98,441.3,47.7,11.9,1351,15250,0.00,1.08,7.05,0.558,4,0.000,0.044,3086,1076,1084,0,0,0,0,0,0
$GC,15388,1.08,492.6,32.1,10.1,1378,15439,0.00,1.05,44.08,0.666,6,0.000,0.035,3082,1784,874,0,0,0,0,0,0
$STATE,15687,end climb,SURFACE_DEPTH_REACHED
$STATE,15687,begin surface coast
$FINISH,1.3,1.003820
$STATE,15724,end surface coast,CONTROL_FINISHED_OK
$STATE,15725,begin surface
$SM_CCo,15802,0.00,0.000,0,0,869,494.03
$SM_GC,2.08,7.57,0.00,0.00,0.035,0.000,0.000,131,1600,869,-8.05,-0.28,494.03,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12236.20,271011,010100
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.25
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,25.00
$XPDR_PINGS,125
$24V_AH,22.9,109.151
$10V_AH,9.7,74.193
$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,19.925,71.575,624.650,0.000,0.000,83.611,70.484,251.882,31.250,0.000,58.331,3607.652,8028.778,660.299,3762.817,502.522,0.000,2060.213,0.000,3275.825,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,66.555,1450.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.095,1473.557,1623.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80223,1438
$CAP_FILE_SIZE,175583,0
$CFSIZE,260165632,107819008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244, 30.0,1
$GPS,271011,062756,2327.510,12247.824,42,2.5,61,-3.2