version: 66.09
glider: 166
mission: 6
dive: 467
start: 10 31 111 11 54 55
data:
$ID,166
$MISSION,6
$DIVE,467
$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,-24994.797
$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,52
$R_STBD_OVSHOOT,59
$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
$GPS1,311011,114707,2329.541,12234.241,37,1.8,49,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-62.5
$GPS2,311011,115428,2329.603,12234.252,17,2.1,36,-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,222.6,126131,-18.6,-12.222
$D_GRID,3596
$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,-194.6,0.0,0.0,0,130,0.00,0.00,-109.93,0.000,2,0.000,0.000,147,1589,3198,0,0,0,0,0,0
$GC,133,-0.65,-194.6,6.2,-8.9,15,158,9.30,1.12,-9.15,0.000,4,0.213,0.068,2520,2309,3681,0,0,0,0,0,0
$GC,347,-0.55,-194.6,78.9,-28.4,53,356,0.15,1.05,0.00,0.000,6,0.147,0.044,2563,1621,3683,0,0,0,0,0,0
$GC,676,-0.55,-194.6,128.3,-12.6,114,684,0.00,1.00,0.00,0.000,4,0.000,0.045,2562,2285,3684,0,0,0,0,0,0
$GC,745,-0.56,-194.6,136.8,-11.4,125,754,0.00,1.02,0.00,0.000,6,0.000,0.044,2557,1609,3684,0,0,0,0,0,0
$GC,1073,-0.56,-194.6,180.0,-13.6,186,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1609,3685,0,0,0,0,0,0
$GC,1400,-0.58,-194.6,222.3,-12.5,247,1408,0.00,1.05,0.00,0.000,4,0.000,0.047,2564,2290,3685,0,0,0,0,0,0
$GC,1448,-0.61,-194.6,228.1,-11.7,255,1456,0.00,1.05,0.00,0.000,6,0.000,0.042,2562,1603,3685,0,0,0,0,0,0
$GC,1774,-0.62,-194.6,265.2,-12.3,304,1778,0.00,1.05,0.00,0.000,4,0.000,0.047,2561,2289,3685,0,0,0,0,0,0
$GC,1866,-0.66,-194.6,275.5,-11.2,312,1869,0.00,1.05,0.00,0.000,6,0.000,0.043,2561,1601,3685,0,0,0,0,0,0
$GC,2197,-0.68,-194.6,316.3,-11.9,343,2202,0.10,1.08,0.00,0.000,4,0.096,0.047,2486,2292,3684,0,0,0,0,0,0
$GC,2238,-0.64,-194.6,322.3,-15.7,346,2246,0.15,1.05,0.00,0.000,6,0.131,0.042,2533,1603,3684,0,0,0,0,0,0
$GC,2563,-0.64,-194.6,364.5,-12.5,377,2567,0.00,1.05,0.00,0.000,4,0.000,0.046,2528,911,3682,0,0,0,0,0,0
$GC,2616,-0.65,-194.6,370.8,-12.0,381,2624,0.00,1.05,0.00,0.000,6,0.000,0.041,2520,1598,3682,0,0,0,0,0,0
$GC,2941,-0.65,-194.6,407.0,-9.9,412,2945,0.00,1.08,0.00,0.000,4,0.000,0.048,2513,2312,3680,0,0,0,0,0,0
$GC,3086,-0.67,-194.6,419.9,-9.1,424,3092,0.00,1.08,0.00,0.000,6,0.000,0.044,2513,1612,3679,0,0,0,0,0,0
$GC,3413,-0.67,-194.6,455.7,-12.5,455,3417,0.00,1.08,0.00,0.000,4,0.000,0.050,2510,2302,3677,0,0,0,0,0,0
$GC,3474,-0.69,-194.6,463.7,-12.2,460,3481,0.00,1.08,0.00,0.000,6,0.000,0.045,2510,1605,3677,0,0,0,0,0,0
$GC,3802,-0.70,-194.6,503.9,-11.5,491,3806,0.00,1.05,0.00,0.000,4,0.000,0.048,2514,916,3675,0,0,0,0,0,0
$GC,3883,-0.72,-194.6,513.6,-11.6,498,3887,0.00,1.08,0.00,0.000,6,0.000,0.044,2515,1613,3675,0,0,0,0,0,0
$GC,4217,-0.72,-194.6,551.5,-11.0,529,4220,0.00,1.05,0.00,0.000,4,0.000,0.051,2517,2305,3673,0,0,0,0,0,0
$GC,4424,-0.74,-194.6,573.4,-10.0,547,4430,0.00,1.08,0.00,0.000,6,0.000,0.047,2517,1613,3670,0,0,0,0,0,0
$GC,4752,-0.74,-194.6,606.9,-10.3,575,4756,0.00,1.08,0.00,0.000,4,0.000,0.051,2517,913,3668,0,0,0,0,0,0
$GC,4776,-0.74,-194.6,610.0,-10.5,576,4780,0.00,1.08,0.00,0.000,6,0.000,0.046,2512,1605,3667,0,0,0,0,0,0
$GC,5111,-0.74,-194.6,644.8,-10.2,592,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1606,3665,0,0,0,0,0,0
$GC,5418,-0.74,-194.6,674.9,-9.8,607,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1606,3662,0,0,0,0,0,0
$GC,5728,-0.75,-194.6,706.4,-10.4,622,5732,0.00,1.08,0.00,0.000,4,0.000,0.055,2507,2303,3660,0,0,0,0,0,0
$GC,5856,-0.77,-194.6,719.5,-10.3,627,5859,0.00,1.08,0.00,0.000,6,0.000,0.050,2507,1614,3659,0,0,0,0,0,0
$GC,6178,-0.78,-194.6,757.8,-12.0,643,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1614,3657,0,0,0,0,0,0
$GC,6490,-0.79,-194.6,792.1,-10.7,658,6493,0.00,1.10,0.00,0.000,4,0.000,0.054,2507,904,3655,0,0,0,0,0,0
$GC,6546,-0.80,-194.6,798.7,-11.1,660,6550,0.00,1.12,0.00,0.000,6,0.000,0.050,2501,1612,3655,0,0,0,0,0,0
$GC,6870,-0.82,-194.6,830.2,-9.6,676,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1612,3653,0,0,0,0,0,0
$GC,7177,-0.83,-194.6,860.8,-10.2,691,7181,0.00,1.10,0.00,0.000,4,0.000,0.060,2496,2315,3651,0,0,0,0,0,0
$GC,7203,-0.84,-194.6,863.3,-10.4,692,7207,0.00,1.10,0.00,0.000,6,0.000,0.050,2496,1611,3651,0,0,0,0,0,0
$GC,7538,-0.84,-194.6,901.1,-11.6,708,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1611,3649,0,0,0,0,0,0
$GC,7845,-0.84,-194.6,937.5,-11.7,723,7849,0.00,1.10,0.00,0.000,4,0.000,0.056,2496,905,3647,0,0,0,0,0,0
$GC,7917,-0.86,-194.6,945.3,-11.3,726,7921,0.00,1.12,0.00,0.000,6,0.000,0.051,2491,1613,3647,0,0,0,0,0,0
$GC,8251,-0.86,-194.6,983.1,-10.8,742,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1613,3645,0,0,0,0,0,0
$STATE,8331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8331,begin apogee
$GC,8337,-0.11,0.0,991.9,10.8,746,8508,0.68,0.00,165.38,1.450,6,0.124,0.000,2705,1782,2884,0,0,0,0,0,0
$STATE,8509,end apogee,CONTROL_FINISHED_OK
$STATE,8509,begin climb
$GC,8512,0.65,194.6,996.9,0.0,754,8706,0.73,1.17,183.40,1.388,4,0.070,0.058,2960,2486,2088,0,0,0,0,0,0
$GC,8752,0.63,194.6,972.0,14.4,765,8757,0.00,1.15,0.00,0.000,6,0.000,0.052,2964,1789,2085,0,0,0,0,0,0
$GC,9088,0.61,194.6,922.4,15.2,781,9092,0.00,1.12,0.00,0.000,4,0.000,0.056,2970,1062,2080,0,0,0,0,0,0
$GC,9128,0.58,194.6,915.7,15.5,782,9136,0.10,1.12,0.00,0.000,6,0.153,0.052,2938,1776,2080,0,0,0,0,0,0
$GC,9443,0.58,194.6,874.0,13.2,798,9447,0.00,1.10,0.00,0.000,4,0.000,0.060,2936,2486,2078,0,0,0,0,0,0
$GC,9492,0.58,194.6,867.9,13.2,800,9495,0.00,1.12,0.00,0.000,6,0.000,0.050,2939,1762,2078,0,0,0,0,0,0
$GC,9824,0.58,194.6,824.5,12.8,816,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1762,2077,0,0,0,0,0,0
$GC,10137,0.61,218.2,788.0,11.2,831,10159,0.00,0.00,20.50,1.271,6,0.000,0.000,2939,1762,1994,0,0,0,0,0,0
$GC,10464,0.66,261.0,752.9,10.4,847,10510,0.00,1.12,40.10,1.281,4,0.000,0.052,2945,1073,1819,0,0,0,0,0,0
$GC,10548,0.72,298.2,743.8,10.7,850,10591,0.08,1.12,36.17,1.245,6,0.063,0.046,2989,1785,1668,0,0,0,0,0,0
$GC,10908,0.71,298.2,688.8,15.2,868,10911,0.00,1.08,0.00,0.000,4,0.000,0.056,2989,2486,1661,0,0,0,0,0,0
$GC,11001,0.71,298.2,674.7,15.4,872,11004,0.00,1.10,0.00,0.000,6,0.000,0.047,2992,1782,1661,0,0,0,0,0,0
$GC,11334,0.69,298.2,623.0,15.1,888,11338,0.00,1.08,0.00,0.000,4,0.000,0.050,2998,1074,1659,0,0,0,0,0,0
$GC,11431,0.67,298.2,608.1,15.1,892,11436,0.08,1.10,0.00,0.000,6,0.151,0.044,2972,1791,1658,0,0,0,0,0,0
$GC,11755,0.67,298.2,564.7,13.2,920,11758,0.00,1.12,0.00,0.000,4,0.000,0.048,2975,1068,1658,0,0,0,0,0,0
$GC,11784,0.67,298.2,560.8,13.1,922,11791,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1783,1657,0,0,0,0,0,0
$GC,12109,0.67,298.2,518.6,13.0,953,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1783,1657,0,0,0,0,0,0
$GC,12433,0.73,336.4,481.8,10.6,983,12471,0.00,1.17,33.92,1.086,4,0.000,0.050,2975,1064,1512,0,0,0,0,0,0
$GC,12596,0.78,357.3,463.7,11.3,997,12621,0.00,1.10,20.05,1.027,6,0.000,0.044,2972,1778,1427,0,0,0,0,0,0
$GC,12937,0.81,358.9,423.6,12.2,1029,12941,0.00,1.10,0.00,0.000,4,0.000,0.048,2975,1066,1423,0,0,0,0,0,0
$GC,12967,0.84,358.9,419.9,12.3,1031,12975,0.08,1.10,0.00,0.000,6,0.057,0.042,3035,1787,1422,0,0,0,0,0,0
$GC,13293,0.81,358.9,362.2,17.5,1062,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1787,1422,0,0,0,0,0,0
$GC,13615,0.79,358.9,308.6,16.1,1092,13620,0.12,1.12,0.00,0.000,4,0.165,0.047,3007,1068,1421,0,0,0,0,0,0
$GC,13752,0.79,358.9,288.4,14.2,1104,13755,0.00,1.08,0.00,0.000,6,0.000,0.041,3003,1781,1421,0,0,0,0,0,0
$GC,14078,0.81,358.9,245.4,12.3,1138,14087,0.00,1.05,0.00,0.000,4,0.000,0.049,2999,2480,1421,0,0,0,0,0,0
$GC,14122,0.85,369.2,240.3,11.8,1145,14139,0.00,1.08,11.55,0.798,6,0.000,0.041,3002,1773,1377,0,0,0,0,0,0
$GC,14463,0.87,369.2,202.0,12.3,1207,14471,0.00,1.05,0.00,0.000,4,0.000,0.046,3007,1074,1376,0,0,0,0,0,0
$GC,14558,0.90,369.2,190.2,12.6,1223,14566,0.00,1.05,0.00,0.000,6,0.000,0.038,3007,1782,1376,0,0,0,0,0,0
$GC,14887,0.96,389.9,148.7,11.4,1284,14911,0.12,0.00,19.48,0.754,6,0.083,0.000,3077,1782,1293,0,0,0,0,0,0
$GC,15233,0.94,389.9,95.1,15.0,1347,15241,0.00,1.08,0.00,0.000,4,0.000,0.044,3082,1078,1292,0,0,0,0,0,0
$GC,15363,0.94,391.9,77.5,12.1,1370,15373,0.10,1.05,0.00,0.000,6,0.128,0.036,3049,1788,1292,0,0,0,0,0,0
$GC,15697,1.08,460.7,48.2,9.3,1431,15765,0.12,1.08,60.65,0.686,4,0.084,0.037,3131,1066,1004,0,0,0,0,0,0
$GC,15941,1.07,460.7,9.7,16.6,1472,15949,0.10,1.05,0.00,0.000,6,0.142,0.036,3096,1780,1001,0,0,0,0,0,0
$STATE,15982,end climb,SURFACE_DEPTH_REACHED
$STATE,15982,begin surface coast
$FINISH,1.4,1.021467
$STATE,15999,end surface coast,CONTROL_FINISHED_OK
$STATE,15999,begin surface
$SM_CCo,16077,0.00,0.000,0,0,999,462.39
$SM_GC,2.06,7.60,0.00,0.00,0.032,0.000,0.000,133,1593,999,-8.05,-0.45,462.39,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12232.96,311011,070733
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.70
$XPDR_PINGS,127
$24V_AH,22.3,114.608
$10V_AH,9.7,78.024
$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,19.600,63.425,591.200,0.000,0.000,30.964,23.330,195.268,31.750,0.000,37.943,3698.158,8035.384,633.642,3633.730,500.335,0.000,2044.394,0.000,3360.169,0.000,0.541,0.000
$DEVICE_MAMPS,213.435,71.145,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.962,1517.171,1727.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,83546,1482
$CAP_FILE_SIZE,171578,0
$CFSIZE,260165632,105766912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,  5.0,1
$GPS,311011,162426,2329.745,12232.448,35,99.0,54,-3.2