version: 66.09
glider: 166
mission: 6
dive: 454
start: 10 28 111 23 54 29
data:
$ID,166
$MISSION,6
$DIVE,454
$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,-24978.438
$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,52
$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
$GPS1,281011,234107,2328.584,12242.155,39,1.9,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-67.6
$GPS2,281011,235406,2328.805,12242.018,40,1.6,40,-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,208.4,137946,-18.6,-12.222
$D_GRID,3907
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.65,-194.6,0.0,0.0,0,110,0.00,0.00,-89.12,0.000,2,0.000,0.000,147,1597,3233,0,0,0,0,0,0
$GC,115,-0.65,-194.6,6.2,-10.1,12,140,9.43,1.02,-8.23,0.000,4,0.220,0.066,2535,905,3679,0,0,0,0,0,0
$GC,381,-0.57,-194.6,84.8,-25.3,60,389,0.00,1.05,0.00,0.000,6,0.000,0.037,2531,1604,3680,0,0,0,0,0,0
$GC,710,-0.53,-194.6,149.3,-18.7,121,720,0.15,1.08,0.00,0.000,4,0.164,0.045,2566,2311,3681,0,0,0,0,0,0
$GC,788,-0.55,-194.6,161.1,-12.8,134,796,0.00,1.05,0.00,0.000,6,0.000,0.042,2563,1623,3682,0,0,0,0,0,0
$GC,1116,-0.57,-194.6,202.2,-11.4,195,1124,0.00,1.02,0.00,0.000,4,0.000,0.045,2560,2300,3682,0,0,0,0,0,0
$GC,1145,-0.60,-194.6,205.1,-10.7,199,1153,0.00,1.05,0.00,0.000,6,0.000,0.043,2565,1610,3682,0,0,0,0,0,0
$GC,1472,-0.62,-194.6,243.3,-12.7,260,1480,0.00,1.08,0.00,0.000,4,0.000,0.048,2560,2303,3682,0,0,0,0,0,0
$GC,1546,-0.65,-194.6,252.0,-11.2,271,1553,0.00,1.05,0.00,0.000,6,0.000,0.044,2562,1614,3682,0,0,0,0,0,0
$GC,1873,-0.67,-194.6,287.9,-10.6,302,1877,0.08,1.10,0.00,0.000,4,0.120,0.048,2506,902,3682,0,0,0,0,0,0
$GC,1901,-0.67,-194.6,291.6,-12.1,304,1910,0.00,1.08,0.00,0.000,6,0.000,0.040,2496,1610,3682,0,0,0,0,0,0
$GC,2227,-0.64,-194.6,338.7,-12.9,335,2231,0.15,1.05,0.00,0.000,4,0.161,0.046,2535,2303,3681,0,0,0,0,0,0
$GC,2264,-0.64,-194.6,342.8,-11.9,338,2268,0.00,1.05,0.00,0.000,6,0.000,0.043,2532,1611,3681,0,0,0,0,0,0
$GC,2596,-0.65,-194.6,380.0,-11.8,369,2599,0.00,1.08,0.00,0.000,4,0.000,0.049,2528,914,3679,0,0,0,0,0,0
$GC,2712,-0.67,-194.6,393.6,-11.7,379,2716,0.00,1.05,0.00,0.000,6,0.000,0.041,2521,1609,3678,0,0,0,0,0,0
$GC,3047,-0.68,-194.6,434.2,-11.3,410,3050,0.00,1.05,0.00,0.000,4,0.000,0.047,2515,2312,3676,0,0,0,0,0,0
$GC,3071,-0.69,-194.6,437.3,-11.1,412,3074,0.00,1.05,0.00,0.000,6,0.000,0.042,2516,1616,3676,0,0,0,0,0,0
$GC,3402,-0.69,-194.6,472.9,-10.6,443,3405,0.00,1.05,0.00,0.000,4,0.000,0.050,2512,2302,3674,0,0,0,0,0,0
$GC,3499,-0.71,-194.6,482.6,-9.7,451,3506,0.00,1.05,0.00,0.000,6,0.000,0.046,2514,1614,3674,0,0,0,0,0,0
$GC,3827,-0.71,-194.6,517.7,-10.9,482,3831,0.00,1.08,0.00,0.000,4,0.000,0.052,2524,2309,3672,0,0,0,0,0,0
$GC,3852,-0.73,-194.6,520.6,-11.1,484,3855,0.00,1.08,0.00,0.000,6,0.000,0.046,2523,1607,3672,0,0,0,0,0,0
$GC,4183,-0.74,-194.6,557.9,-11.9,515,4187,0.00,1.08,0.00,0.000,4,0.000,0.050,2524,902,3669,0,0,0,0,0,0
$GC,4221,-0.75,-194.6,562.1,-11.9,518,4225,0.00,1.08,0.00,0.000,6,0.000,0.044,2519,1604,3669,0,0,0,0,0,0
$GC,4563,-0.76,-194.6,603.2,-11.5,549,4566,0.00,1.08,0.00,0.000,4,0.000,0.052,2514,2307,3666,0,0,0,0,0,0
$GC,4593,-0.77,-194.6,606.8,-11.6,550,4597,0.00,1.08,0.00,0.000,6,0.000,0.045,2514,1610,3666,0,0,0,0,0,0
$GC,4921,-0.77,-194.6,646.2,-11.8,566,4924,0.00,1.10,0.00,0.000,4,0.000,0.054,2509,2305,3663,0,0,0,0,0,0
$GC,4979,-0.79,-194.6,652.5,-10.8,568,4983,0.00,1.08,0.00,0.000,6,0.000,0.048,2509,1614,3663,0,0,0,0,0,0
$GC,5301,-0.79,-194.6,688.0,-11.2,584,5305,0.00,1.08,0.00,0.000,4,0.000,0.051,2509,913,3660,0,0,0,0,0,0
$GC,5347,-0.79,-194.6,693.2,-11.6,586,5351,0.00,1.08,0.00,0.000,6,0.000,0.047,2497,1607,3660,0,0,0,0,0,0
$GC,5682,-0.79,-194.6,731.6,-11.7,602,5686,0.00,1.10,0.00,0.000,4,0.000,0.051,2493,902,3657,0,0,0,0,0,0
$GC,5721,-0.79,-194.6,736.8,-12.4,603,5728,0.00,1.10,0.00,0.000,6,0.000,0.046,2487,1610,3657,0,0,0,0,0,0
$GC,6040,-0.79,-194.6,771.4,-10.2,619,6043,0.00,1.10,0.00,0.000,4,0.000,0.056,2484,2312,3655,0,0,0,0,0,0
$GC,6078,-0.79,-194.6,775.6,-9.7,620,6085,0.00,1.08,0.00,0.000,6,0.000,0.047,2485,1610,3654,0,0,0,0,0,0
$GC,6395,-0.79,-194.6,808.4,-10.5,636,6398,0.00,1.10,0.00,0.000,4,0.000,0.054,2484,916,3652,0,0,0,0,0,0
$GC,6425,-0.79,-194.6,811.3,-10.4,637,6428,0.00,1.08,0.00,0.000,6,0.000,0.047,2480,1606,3652,0,0,0,0,0,0
$GC,6752,-0.79,-194.6,846.9,-11.1,653,6756,0.00,1.08,0.00,0.000,4,0.000,0.056,2480,2305,3650,0,0,0,0,0,0
$GC,6802,-0.79,-194.6,852.6,-10.8,655,6806,0.00,1.08,0.00,0.000,6,0.000,0.050,2480,1615,3650,0,0,0,0,0,0
$GC,7132,-0.79,-194.6,891.6,-11.9,671,7136,0.00,1.10,0.00,0.000,4,0.000,0.056,2482,905,3648,0,0,0,0,0,0
$GC,7155,-0.79,-194.6,894.8,-11.8,672,7159,0.00,1.10,0.00,0.000,6,0.000,0.049,2477,1607,3648,0,0,0,0,0,0
$GC,7491,-0.79,-194.6,933.6,-11.2,688,7494,0.00,1.10,0.00,0.000,4,0.000,0.054,2477,910,3645,0,0,0,0,0,0
$GC,7586,-0.78,-194.6,945.1,-12.0,692,7590,0.00,1.12,0.00,0.000,6,0.000,0.050,2472,1620,3645,0,0,0,0,0,0
$GC,7914,-0.77,-194.6,982.6,-11.5,708,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1621,3643,0,0,0,0,0,0
$STATE,7993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7993,begin apogee
$GC,8002,-0.11,0.0,992.1,11.5,712,8174,0.73,0.00,164.23,1.439,6,0.129,0.000,2700,1783,2883,0,0,0,0,0,0
$STATE,8177,end apogee,CONTROL_FINISHED_OK
$STATE,8178,begin climb
$GC,8180,0.65,194.6,996.7,0.0,720,8371,0.70,1.20,178.75,1.382,4,0.068,0.060,2955,2486,2089,0,0,0,0,0,0
$GC,8432,0.63,194.6,969.9,14.3,731,8439,0.00,1.12,0.00,0.000,6,0.000,0.051,2960,1785,2085,0,0,0,0,0,0
$GC,8749,0.61,194.6,923.4,14.8,747,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1785,2081,0,0,0,0,0,0
$GC,9060,0.59,194.6,877.6,14.6,762,9064,0.00,1.10,0.00,0.000,4,0.000,0.054,2965,1068,2078,0,0,0,0,0,0
$GC,9087,0.56,194.6,872.9,15.2,763,9092,0.10,1.10,0.00,0.000,6,0.150,0.049,2934,1770,2078,0,0,0,0,0,0
$GC,9415,0.57,203.4,832.8,11.9,779,9426,0.00,1.15,7.40,1.088,4,0.000,0.058,2929,2492,2054,0,0,0,0,0,0
$GC,9474,0.60,216.3,826.0,11.7,781,9493,0.00,1.12,13.50,1.218,6,0.000,0.047,2932,1769,2001,0,0,0,0,0,0
$GC,9812,0.63,243.7,788.2,11.1,798,9843,0.00,1.15,26.08,1.273,4,0.000,0.057,2932,2486,1890,0,0,0,0,0,0
$GC,9909,0.68,268.7,777.5,11.2,802,9938,0.00,1.10,24.83,1.248,6,0.000,0.047,2935,1785,1788,0,0,0,0,0,0
$GC,10257,0.75,307.0,739.9,10.6,819,10301,0.15,1.10,36.83,1.252,4,0.079,0.049,3021,1069,1631,0,0,0,0,0,0
$GC,10364,0.71,307.0,721.7,17.2,823,10371,0.12,1.12,0.00,0.000,6,0.150,0.049,2982,1787,1629,0,0,0,0,0,0
$GC,10683,0.71,307.0,675.9,14.7,839,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1788,1626,0,0,0,0,0,0
$GC,10989,0.71,307.0,627.7,15.9,854,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1788,1624,0,0,0,0,0,0
$GC,11303,0.71,307.0,581.1,14.3,875,11307,0.00,1.05,0.00,0.000,4,0.000,0.054,2977,2476,1624,0,0,0,0,0,0
$GC,11355,0.71,307.0,573.8,14.0,879,11362,0.00,1.08,0.00,0.000,6,0.000,0.045,2980,1776,1623,0,0,0,0,0,0
$GC,11680,0.71,307.0,530.7,13.2,910,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1776,1623,0,0,0,0,0,0
$GC,12003,0.71,307.0,486.5,14.2,940,12006,0.00,1.05,0.00,0.000,4,0.000,0.050,2985,1075,1622,0,0,0,0,0,0
$GC,12030,0.71,307.0,482.0,13.9,942,12038,0.00,1.08,0.00,0.000,6,0.000,0.043,2981,1783,1622,0,0,0,0,0,0
$GC,12357,0.72,312.0,440.0,12.0,973,12369,0.00,1.08,4.45,0.711,4,0.000,0.053,2976,2473,1611,0,0,0,0,0,0
$GC,12404,0.72,319.4,434.1,11.9,977,12417,0.00,1.08,8.73,0.910,6,0.000,0.044,2981,1772,1581,0,0,0,0,0,0
$GC,12735,0.73,325.5,393.3,12.0,1008,12745,0.00,0.00,6.57,0.815,6,0.000,0.000,2981,1772,1557,0,0,0,0,0,0
$GC,13064,0.76,334.6,354.6,11.8,1039,13077,0.00,0.00,10.38,0.877,6,0.000,0.000,2981,1772,1519,0,0,0,0,0,0
$GC,13392,0.78,334.6,311.6,13.2,1070,13395,0.00,1.05,0.00,0.000,4,0.000,0.047,2978,1080,1516,0,0,0,0,0,0
$GC,13419,0.80,334.6,307.9,12.8,1072,13426,0.00,1.05,0.00,0.000,6,0.000,0.040,2974,1778,1516,0,0,0,0,0,0
$GC,13747,0.88,373.6,271.3,10.6,1103,13788,0.15,0.00,35.78,0.890,6,0.077,0.000,3054,1779,1361,0,0,0,0,0,0
$GC,14105,0.84,373.6,211.0,17.2,1158,14118,0.15,1.10,0.00,0.000,4,0.165,0.046,3026,1075,1358,0,0,0,0,0,0
$GC,14186,0.84,373.6,199.0,13.7,1171,14194,0.00,1.05,0.00,0.000,6,0.000,0.039,3024,1779,1357,0,0,0,0,0,0
$GC,14517,0.85,373.6,152.7,14.7,1232,14525,0.00,1.02,0.00,0.000,4,0.000,0.046,3020,2474,1357,0,0,0,0,0,0
$GC,14576,0.88,373.6,143.5,14.1,1242,14584,0.00,1.05,0.00,0.000,6,0.000,0.040,3023,1777,1357,0,0,0,0,0,0
$GC,14906,0.91,373.6,102.3,12.2,1303,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1777,1358,0,0,0,0,0,0
$GC,15234,1.12,487.4,71.3,7.4,1364,15339,0.22,1.10,96.32,0.709,4,0.057,0.041,3151,1075,894,0,0,0,0,0,0
$GC,15447,1.09,487.4,35.3,18.0,1397,15456,0.15,1.05,0.00,0.000,6,0.136,0.036,3102,1788,891,0,0,0,0,0,0
$STATE,15682,end climb,SURFACE_DEPTH_REACHED
$STATE,15683,begin surface coast
$FINISH,1.4,1.021996
$STATE,15705,end surface coast,CONTROL_FINISHED_OK
$STATE,15705,begin surface
$SM_CCo,15785,0.00,0.000,0,0,888,489.37
$SM_GC,1.95,7.72,0.00,0.00,0.039,0.000,0.000,123,1596,888,-8.06,-0.40,489.37,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12240.16,281011,232342
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.57
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.70
$XPDR_PINGS,148
$24V_AH,22.9,111.506
$10V_AH,9.7,75.849
$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,20.000,69.550,613.825,0.000,0.000,61.131,36.808,412.256,37.000,0.000,40.878,3600.206,8046.367,655.911,3685.418,553.491,0.000,2030.982,0.000,3200.391,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,74.205,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.885,1480.000,1618.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324748
$DATA_FILE_SIZE,80298,1445
$CAP_FILE_SIZE,174302,0
$CFSIZE,260165632,106921984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 19.3,1
$GPS,291011,041906,2328.283,12241.551,41,1.0,53,-3.2