version: 66.09
glider: 166
mission: 6
dive: 469
start: 10 31 111 20 58 59
data:
$ID,166
$MISSION,6
$DIVE,469
$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,-24997.316
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,311011,205126,2329.966,12231.481,38,99.0,57,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-65.1
$GPS2,311011,205832,2330.102,12231.502,38,1.8,44,-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,207.5,122181,-18.6,-12.222
$D_GRID,3452
$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,-194.6,0.0,0.0,0,116,0.00,0.00,-96.57,0.000,2,0.000,0.000,117,1608,3220,0,0,0,0,0,0
$GC,119,-0.65,-194.6,6.4,-10.0,13,145,9.52,1.10,-8.62,0.000,4,0.216,0.067,2522,2323,3682,0,0,0,0,0,0
$GC,260,-0.56,-194.6,54.8,-27.5,37,268,0.00,1.10,0.00,0.000,6,0.000,0.039,2534,1603,3683,0,0,0,0,0,0
$GC,587,-0.52,-194.6,119.5,-16.0,98,596,0.15,1.08,0.00,0.000,4,0.161,0.041,2570,903,3684,0,0,0,0,0,0
$GC,612,-0.50,-194.6,123.8,-15.5,101,621,0.00,1.08,0.00,0.000,6,0.000,0.036,2569,1617,3684,0,0,0,0,0,0
$GC,941,-0.52,-194.6,164.8,-11.1,162,949,0.00,1.02,0.00,0.000,4,0.000,0.043,2570,2314,3685,0,0,0,0,0,0
$GC,1038,-0.54,-194.6,176.6,-12.1,179,1047,0.00,1.05,0.00,0.000,6,0.000,0.038,2573,1613,3685,0,0,0,0,0,0
$GC,1370,-0.57,-194.6,215.8,-13.1,240,1377,0.00,1.10,0.00,0.000,4,0.000,0.044,2574,2313,3685,0,0,0,0,0,0
$GC,1482,-0.60,-194.6,229.9,-12.2,260,1490,0.00,1.08,0.00,0.000,6,0.000,0.040,2575,1607,3685,0,0,0,0,0,0
$GC,1818,-0.63,-194.6,265.6,-8.6,307,1821,0.00,1.10,0.00,0.000,4,0.000,0.045,2570,2303,3685,0,0,0,0,0,0
$GC,1865,-0.66,-194.6,269.7,-8.3,311,1870,0.08,1.05,0.00,0.000,6,0.049,0.042,2501,1615,3685,0,0,0,0,0,0
$GC,2196,-0.62,-194.6,317.5,-15.6,342,2200,0.17,1.10,0.00,0.000,4,0.156,0.047,2545,2309,3685,0,0,0,0,0,0
$GC,2229,-0.62,-194.6,321.9,-13.1,345,2233,0.00,1.08,0.00,0.000,6,0.000,0.044,2546,1607,3685,0,0,0,0,0,0
$GC,2561,-0.63,-194.6,359.7,-11.3,376,2565,0.00,1.08,0.00,0.000,4,0.000,0.048,2528,2303,3685,0,0,0,0,0,0
$GC,2600,-0.66,-194.6,364.2,-10.7,379,2608,0.00,1.05,0.00,0.000,6,0.000,0.044,2529,1618,3684,0,0,0,0,0,0
$GC,2926,-0.67,-194.6,399.9,-10.5,410,2930,0.00,1.08,0.00,0.000,4,0.000,0.048,2526,913,3683,0,0,0,0,0,0
$GC,2943,-0.69,-194.6,401.9,-11.0,411,2950,0.00,1.05,0.00,0.000,6,0.000,0.041,2520,1604,3683,0,0,0,0,0,0
$GC,3269,-0.71,-194.6,438.3,-11.8,442,3272,0.00,1.05,0.00,0.000,4,0.000,0.048,2514,2303,3680,0,0,0,0,0,0
$GC,3319,-0.73,-194.6,444.6,-12.1,446,3326,0.00,1.08,0.00,0.000,6,0.000,0.044,2514,1601,3680,0,0,0,0,0,0
$GC,3644,-0.75,-194.6,487.9,-13.2,477,3648,0.00,1.08,0.00,0.000,4,0.000,0.050,2511,2297,3679,0,0,0,0,0,0
$GC,3706,-0.77,-194.6,495.6,-12.1,482,3713,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1613,3678,0,0,0,0,0,0
$GC,4032,-0.79,-194.6,533.2,-10.6,513,4036,0.10,1.10,0.00,0.000,4,0.099,0.053,2464,2300,3676,0,0,0,0,0,0
$GC,4055,-0.79,-194.6,535.9,-10.7,515,4059,0.00,1.08,0.00,0.000,6,0.000,0.047,2465,1604,3676,0,0,0,0,0,0
$GC,4386,-0.75,-194.6,579.4,-13.7,546,4390,0.12,1.10,0.00,0.000,4,0.169,0.050,2504,902,3674,0,0,0,0,0,0
$GC,4489,-0.75,-194.6,592.0,-12.3,555,4493,0.00,1.08,0.00,0.000,6,0.000,0.044,2501,1600,3672,0,0,0,0,0,0
$GC,4825,-0.75,-194.6,635.0,-13.1,574,4828,0.00,1.08,0.00,0.000,4,0.000,0.053,2496,2308,3669,0,0,0,0,0,0
$GC,4896,-0.75,-194.6,644.7,-12.7,577,4900,0.00,1.08,0.00,0.000,6,0.000,0.046,2496,1610,3669,0,0,0,0,0,0
$GC,5226,-0.75,-194.6,690.7,-14.2,593,5230,0.00,1.12,0.00,0.000,4,0.000,0.057,2491,2306,3666,0,0,0,0,0,0
$GC,5306,-0.75,-194.6,702.0,-13.1,596,5309,0.00,1.08,0.00,0.000,6,0.000,0.048,2491,1616,3666,0,0,0,0,0,0
$GC,5627,-0.75,-194.6,745.9,-13.6,612,5631,0.00,1.10,0.00,0.000,4,0.000,0.052,2490,904,3664,0,0,0,0,0,0
$GC,5721,-0.75,-194.6,757.7,-13.0,616,5725,0.00,1.10,0.00,0.000,6,0.000,0.047,2486,1608,3663,0,0,0,0,0,0
$GC,6055,-0.75,-194.6,797.2,-11.1,632,6058,0.00,1.08,0.00,0.000,4,0.000,0.056,2480,2306,3660,0,0,0,0,0,0
$GC,6080,-0.75,-194.6,799.8,-10.9,633,6083,0.00,1.08,0.00,0.000,6,0.000,0.048,2480,1610,3660,0,0,0,0,0,0
$GC,6415,-0.75,-194.6,836.9,-10.9,649,6419,0.00,1.10,0.00,0.000,4,0.000,0.056,2480,914,3658,0,0,0,0,0,0
$GC,6522,-0.75,-194.6,849.9,-11.7,653,6528,0.00,1.10,0.00,0.000,6,0.000,0.049,2475,1614,3657,0,0,0,0,0,0
$GC,6840,-0.75,-194.6,885.1,-11.0,669,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1614,3656,0,0,0,0,0,0
$GC,7148,-0.75,-194.6,920.6,-11.9,684,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1615,3654,0,0,0,0,0,0
$GC,7456,-0.75,-194.6,958.6,-12.3,699,7460,0.00,1.12,0.00,0.000,4,0.000,0.056,2475,911,3652,0,0,0,0,0,0
$GC,7541,-0.75,-194.6,969.8,-13.3,702,7549,0.08,1.10,0.00,0.000,6,0.155,0.052,2494,1602,3651,0,0,0,0,0,0
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7732,begin apogee
$GC,7738,-0.11,0.0,992.2,11.6,712,7910,0.65,0.00,166.12,1.448,6,0.125,0.000,2701,1788,2884,0,0,0,0,0,0
$STATE,7910,end apogee,CONTROL_FINISHED_OK
$STATE,7910,begin climb
$GC,7913,0.65,194.6,1000.5,0.0,720,8108,0.75,1.23,183.62,1.395,4,0.069,0.060,2960,2483,2090,0,0,0,0,0,0
$GC,8161,0.63,194.6,979.7,12.7,732,8165,0.00,1.12,0.00,0.000,6,0.000,0.051,2964,1794,2085,0,0,0,0,0,0
$GC,8496,0.61,194.6,936.2,13.2,748,8500,0.00,1.12,0.00,0.000,4,0.000,0.057,2969,1077,2082,0,0,0,0,0,0
$GC,8536,0.58,194.6,930.5,13.6,749,8544,0.10,1.10,0.00,0.000,6,0.151,0.051,2938,1769,2080,0,0,0,0,0,0
$GC,8852,0.62,227.3,895.3,10.8,765,8887,0.00,1.17,29.38,1.334,4,0.000,0.059,2937,2491,1956,0,0,0,0,0,0
$GC,8956,0.67,258.0,884.1,10.9,769,8989,0.00,1.12,29.65,1.312,6,0.000,0.049,2939,1781,1832,0,0,0,0,0,0
$GC,9301,0.71,284.6,845.8,11.1,786,9332,0.10,1.15,25.65,1.294,4,0.101,0.055,2992,2491,1722,0,0,0,0,0,0
$GC,9374,0.69,284.6,835.0,15.3,789,9378,0.00,1.12,0.00,0.000,6,0.000,0.048,2996,1779,1720,0,0,0,0,0,0
$GC,9702,0.66,284.6,782.4,16.4,805,9706,0.15,1.10,0.00,0.000,4,0.176,0.054,2961,1074,1717,0,0,0,0,0,0
$GC,9728,0.65,284.6,778.8,16.2,806,9731,0.00,1.10,0.00,0.000,6,0.000,0.047,2961,1780,1717,0,0,0,0,0,0
$GC,10060,0.65,284.6,733.7,13.1,822,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1780,1715,0,0,0,0,0,0
$GC,10370,0.65,284.6,693.4,12.6,837,10373,0.00,1.10,0.00,0.000,4,0.000,0.052,2964,1074,1715,0,0,0,0,0,0
$GC,10418,0.65,284.6,687.5,12.5,839,10422,0.00,1.10,0.00,0.000,6,0.000,0.044,2964,1786,1715,0,0,0,0,0,0
$GC,10751,0.65,284.6,644.7,12.5,855,10755,0.00,1.05,0.00,0.000,4,0.000,0.055,2963,2477,1714,0,0,0,0,0,0
$GC,10823,0.66,284.6,635.4,12.8,858,10827,0.00,1.08,0.00,0.000,6,0.000,0.045,2967,1779,1714,0,0,0,0,0,0
$GC,11143,0.67,294.3,597.4,11.8,874,11156,0.00,1.12,8.80,1.028,4,0.000,0.054,2967,2482,1684,0,0,0,0,0,0
$GC,11219,0.69,294.3,587.6,12.3,880,11225,0.00,1.08,0.00,0.000,6,0.000,0.044,2970,1781,1683,0,0,0,0,0,0
$GC,11544,0.69,294.3,545.5,13.6,911,11547,0.00,1.08,0.00,0.000,4,0.000,0.049,2975,1069,1682,0,0,0,0,0,0
$GC,11657,0.69,294.3,529.7,13.9,921,11661,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1787,1682,0,0,0,0,0,0
$GC,11989,0.72,310.8,488.4,11.5,952,12012,0.00,1.10,17.12,1.056,4,0.000,0.052,2970,2483,1615,0,0,0,0,0,0
$GC,12110,0.76,330.7,475.2,11.4,962,12134,0.00,1.08,19.23,1.041,6,0.000,0.044,2973,1779,1535,0,0,0,0,0,0
$GC,12451,0.86,386.1,439.5,9.9,994,12509,0.12,1.12,50.95,1.053,4,0.088,0.049,3047,1074,1309,0,0,0,0,0,0
$GC,12570,0.83,386.1,420.0,17.0,1004,12578,0.08,1.10,0.00,0.000,6,0.142,0.043,3021,1791,1306,0,0,0,0,0,0
$GC,12896,0.83,386.1,370.3,14.9,1035,12899,0.00,1.10,0.00,0.000,4,0.000,0.047,3025,1069,1305,0,0,0,0,0,0
$GC,12945,0.83,386.1,362.7,14.9,1039,12953,0.00,1.08,0.00,0.000,6,0.000,0.042,3022,1778,1304,0,0,0,0,0,0
$GC,13271,0.83,386.1,315.9,14.9,1070,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1778,1304,0,0,0,0,0,0
$GC,13593,0.83,386.1,271.6,13.2,1100,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1778,1304,0,0,0,0,0,0
$GC,13919,0.84,386.1,227.4,13.2,1146,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1779,1304,0,0,0,0,0,0
$GC,14247,0.87,394.4,186.1,11.9,1207,14264,0.00,1.10,7.93,0.694,4,0.000,0.047,3025,1075,1275,0,0,0,0,0,0
$GC,14308,0.89,394.4,178.5,12.4,1217,14319,0.00,1.08,0.00,0.000,6,0.000,0.039,3022,1788,1275,0,0,0,0,0,0
$GC,14641,0.97,437.0,139.1,10.4,1278,14688,0.10,1.05,37.95,0.770,4,0.104,0.043,3079,2477,1101,0,0,0,0,0,0
$GC,14796,0.97,437.0,117.9,13.4,1304,14804,0.00,1.05,0.00,0.000,6,0.000,0.039,3083,1779,1100,0,0,0,0,0,0
$GC,15125,0.97,437.0,75.7,12.3,1365,15133,0.00,1.05,0.00,0.000,4,0.000,0.043,3088,1069,1098,0,0,0,0,0,0
$GC,15232,1.01,447.8,64.2,11.8,1384,15248,0.00,1.05,10.43,0.625,6,0.000,0.036,3088,1782,1057,0,0,0,0,0,0
$GC,15574,1.07,472.3,22.2,11.2,1446,15605,0.00,1.10,21.83,0.640,4,0.000,0.045,3086,1081,957,0,0,0,0,0,0
$GC,15638,1.11,484.8,14.3,11.7,1455,15655,0.00,1.05,12.10,0.592,6,0.000,0.037,3084,1785,906,0,0,0,0,0,0
$STATE,15735,end climb,SURFACE_DEPTH_REACHED
$STATE,15735,begin surface coast
$FINISH,1.2,1.009511
$STATE,15766,end surface coast,CONTROL_FINISHED_OK
$STATE,15766,begin surface
$SM_CCo,15844,0.00,0.000,0,0,901,486.18
$SM_GC,2.05,7.68,0.00,0.00,0.037,0.000,0.000,124,1593,901,-8.05,-0.45,486.18,0,0,0,0,0,0
$IRIDIUM_FIX,2321.52,12229.71,311011,161658
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.80
$INTERNAL_PRESSURE,9.40924
$TCM_TEMP,24.90
$XPDR_PINGS,131
$24V_AH,22.3,115.074
$10V_AH,9.7,78.353
$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,19.950,74.600,620.750,0.000,0.000,29.523,18.560,179.991,32.750,0.000,45.345,3692.675,7758.525,692.729,3601.104,506.715,0.000,2097.817,0.000,3347.386,0.000,0.540,0.000
$DEVICE_MAMPS,216.495,68.085,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.987,1513.448,1752.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,83473,1477
$CAP_FILE_SIZE,174786,0
$CFSIZE,260165632,105582592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.329, 23.9,1
$GPS,011111,012456,2330.357,12231.505,54,2.4,73,-3.2