version: 66.09
glider: 166
mission: 6
dive: 478
start: 11 2 111 13 36 42
data:
$ID,166
$MISSION,6
$DIVE,478
$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,250
$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,250
$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,-25008.73
$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,32
$R_STBD_OVSHOOT,58
$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
$GPS1,021111,132950,2332.828,12229.421,39,2.1,58,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.1
$GPS2,021111,133614,2332.904,12229.493,12,2.0,12,-3.2
$SPEED_LIMITS,0.229,0.359
$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,216.5,121286,-17.7,-13.200
$D_GRID,3222
$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,-0.69,-243.3,0.0,0.0,0,133,0.00,0.00,-113.30,0.000,2,0.000,0.000,133,1620,3124,0,0,0,0,0,0
$GC,136,-0.69,-243.3,5.8,-8.4,15,168,9.45,1.02,-14.23,0.000,4,0.218,0.063,2510,2310,3878,0,0,0,0,0,0
$GC,314,-0.61,-243.3,62.7,-25.6,46,323,0.10,1.08,0.00,0.000,6,0.151,0.037,2545,1589,3880,0,0,0,0,0,0
$GC,640,-0.58,-243.3,124.3,-15.6,107,648,0.00,1.05,0.00,0.000,4,0.000,0.040,2540,2291,3881,0,0,0,0,0,0
$GC,751,-0.56,-243.3,140.1,-13.2,126,759,0.00,1.00,0.00,0.000,6,0.000,0.037,2533,1613,3882,0,0,0,0,0,0
$GC,1081,-0.55,-243.3,189.4,-15.2,187,1089,0.12,1.05,0.00,0.000,4,0.160,0.043,2565,2296,3883,0,0,0,0,0,0
$GC,1137,-0.59,-243.3,196.0,-11.5,196,1145,0.00,1.02,0.00,0.000,6,0.000,0.037,2568,1604,3883,0,0,0,0,0,0
$GC,1468,-0.62,-243.3,237.3,-12.1,257,1477,0.00,1.05,0.00,0.000,4,0.000,0.043,2571,2297,3882,0,0,0,0,0,0
$GC,1593,-0.67,-243.3,252.3,-10.9,278,1602,0.10,1.02,0.00,0.000,6,0.043,0.038,2498,1607,3882,0,0,0,0,0,0
$GC,1920,-0.62,-243.3,309.5,-16.7,309,1924,0.20,1.05,0.00,0.000,4,0.152,0.041,2555,919,3881,0,0,0,0,0,0
$GC,2011,-0.65,-243.3,321.4,-11.8,317,2015,0.00,1.02,0.00,0.000,6,0.000,0.040,2552,1595,3881,0,0,0,0,0,0
$GC,2343,-0.67,-243.3,358.7,-11.0,348,2346,0.00,1.08,0.00,0.000,4,0.000,0.047,2539,2312,3879,0,0,0,0,0,0
$GC,2440,-0.70,-243.3,368.4,-9.6,356,2447,0.00,1.05,0.00,0.000,6,0.000,0.042,2545,1622,3879,0,0,0,0,0,0
$GC,2766,-0.72,-243.3,405.1,-11.2,387,2770,0.00,1.08,0.00,0.000,4,0.000,0.048,2530,2313,3877,0,0,0,0,0,0
$GC,2886,-0.75,-243.3,417.3,-10.2,397,2894,0.00,1.08,0.00,0.000,6,0.000,0.043,2529,1615,3876,0,0,0,0,0,0
$GC,3212,-0.78,-243.3,452.1,-10.7,428,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1615,3874,0,0,0,0,0,0
$GC,3535,-0.81,-243.3,485.6,-10.9,458,3540,0.12,1.10,0.00,0.000,4,0.084,0.051,2454,2305,3872,0,0,0,0,0,0
$GC,3619,-0.77,-243.3,498.9,-15.9,465,3626,0.00,1.08,0.00,0.000,6,0.000,0.046,2467,1608,3872,0,0,0,0,0,0
$GC,3944,-0.73,-243.3,552.2,-16.6,496,3946,0.15,0.00,0.00,0.000,6,0.163,0.000,2508,1608,3869,0,0,0,0,0,0
$GC,4266,-0.73,-243.3,594.6,-13.2,526,4269,0.00,1.10,0.00,0.000,4,0.000,0.052,2505,2306,3867,0,0,0,0,0,0
$GC,4293,-0.73,-243.3,598.9,-13.3,528,4300,0.00,1.08,0.00,0.000,6,0.000,0.047,2505,1611,3866,0,0,0,0,0,0
$GC,4619,-0.73,-243.3,644.5,-14.0,545,4623,0.00,1.10,0.00,0.000,4,0.000,0.054,2500,2311,3864,0,0,0,0,0,0
$GC,4717,-0.75,-243.3,657.9,-14.1,549,4721,0.00,1.08,0.00,0.000,6,0.000,0.047,2500,1618,3863,0,0,0,0,0,0
$GC,5044,-0.75,-243.3,702.6,-13.0,565,5048,0.00,1.10,0.00,0.000,4,0.000,0.053,2500,907,3860,0,0,0,0,0,0
$GC,5105,-0.75,-243.3,711.0,-13.4,567,5112,0.00,1.10,0.00,0.000,6,0.000,0.047,2495,1610,3859,0,0,0,0,0,0
$GC,5423,-0.75,-243.3,749.4,-11.5,583,5427,0.00,1.10,0.00,0.000,4,0.000,0.055,2489,2309,3856,0,0,0,0,0,0
$GC,5470,-0.76,-243.3,754.5,-10.5,585,5474,0.00,1.10,0.00,0.000,6,0.000,0.047,2489,1604,3857,0,0,0,0,0,0
$GC,5805,-0.76,-243.3,791.2,-10.9,601,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1605,3854,0,0,0,0,0,0
$GC,6112,-0.76,-243.3,826.1,-11.4,616,6116,0.00,1.08,0.00,0.000,4,0.000,0.054,2489,913,3852,0,0,0,0,0,0
$GC,6162,-0.76,-243.3,832.1,-11.8,618,6165,0.00,1.10,0.00,0.000,6,0.000,0.049,2484,1610,3851,0,0,0,0,0,0
$GC,6492,-0.76,-243.3,870.6,-11.6,634,6495,0.00,1.10,0.00,0.000,4,0.000,0.057,2479,2305,3849,0,0,0,0,0,0
$GC,6519,-0.76,-243.3,874.3,-11.1,635,6523,0.00,1.08,0.00,0.000,6,0.000,0.050,2479,1617,3849,0,0,0,0,0,0
$GC,6849,-0.76,-243.3,911.9,-11.8,651,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1617,3847,0,0,0,0,0,0
$GC,7156,-0.76,-243.3,947.5,-11.4,666,7160,0.00,1.10,0.00,0.000,4,0.000,0.061,2474,2299,3845,0,0,0,0,0,0
$GC,7180,-0.76,-243.3,950.2,-11.2,667,7184,0.00,1.10,0.00,0.000,6,0.000,0.050,2474,1603,3844,0,0,0,0,0,0
$GC,7516,-0.76,-243.3,988.6,-11.4,683,7519,0.00,1.08,0.00,0.000,4,0.000,0.057,2474,913,3842,0,0,0,0,0,0
$STATE,7524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7531,-0.11,0.0,990.2,10.9,683,7745,0.75,0.00,207.50,1.444,6,0.128,0.000,2701,1778,2883,0,0,0,0,0,0
$STATE,7746,end apogee,CONTROL_FINISHED_OK
$STATE,7746,begin climb
$GC,7750,0.69,243.3,996.8,0.0,693,7992,0.75,1.27,230.27,1.379,4,0.055,0.056,2980,1080,1891,0,0,0,0,0,0
$GC,8030,0.65,243.3,962.5,17.1,706,8033,0.00,1.17,0.00,0.000,6,0.000,0.050,2979,1770,1888,0,0,0,0,0,0
$GC,8352,0.61,243.3,909.8,15.7,722,8354,0.12,0.00,0.00,0.000,6,0.178,0.000,2946,1771,1884,0,0,0,0,0,0
$GC,8663,0.63,273.7,871.2,12.1,737,8696,0.00,1.17,28.15,1.314,4,0.000,0.057,2942,2489,1768,0,0,0,0,0,0
$GC,8753,0.69,319.1,860.0,11.5,741,8801,0.00,1.12,44.28,1.318,6,0.000,0.048,2945,1779,1583,0,0,0,0,0,0
$GC,9120,0.74,349.1,815.6,12.1,759,9155,0.10,1.15,28.20,1.286,4,0.106,0.054,3003,1071,1460,0,0,0,0,0,0
$GC,9203,0.70,349.1,803.0,17.2,762,9211,0.08,1.15,0.00,0.000,6,0.150,0.049,2978,1798,1458,0,0,0,0,0,0
$GC,9520,0.69,349.1,754.0,15.3,778,9523,0.00,1.05,0.00,0.000,4,0.000,0.055,2973,2485,1456,0,0,0,0,0,0
$GC,9553,0.69,349.1,748.5,15.1,779,9556,0.00,1.10,0.00,0.000,6,0.000,0.047,2976,1773,1456,0,0,0,0,0,0
$GC,9877,0.69,349.1,697.5,16.2,795,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1773,1454,0,0,0,0,0,0
$GC,10184,0.69,349.1,649.8,14.9,810,10188,0.00,1.08,0.00,0.000,4,0.000,0.050,2982,1069,1453,0,0,0,0,0,0
$GC,10211,0.69,349.1,645.4,15.0,811,10215,0.00,1.10,0.00,0.000,6,0.000,0.044,2978,1785,1453,0,0,0,0,0,0
$GC,10541,0.69,349.1,599.4,14.3,827,10545,0.00,1.05,0.00,0.000,4,0.000,0.054,2974,2477,1453,0,0,0,0,0,0
$GC,10621,0.69,349.1,588.0,13.6,834,10625,0.00,1.08,0.00,0.000,6,0.000,0.044,2977,1779,1452,0,0,0,0,0,0
$GC,10951,0.69,349.1,541.4,14.7,865,10955,0.00,1.10,0.00,0.000,4,0.000,0.051,2975,2483,1452,0,0,0,0,0,0
$GC,10990,0.69,349.1,535.6,14.4,868,10997,0.00,1.08,0.00,0.000,6,0.000,0.044,2979,1779,1452,0,0,0,0,0,0
$GC,11315,0.71,364.9,492.2,12.6,899,11338,0.00,1.12,14.48,1.047,4,0.000,0.049,2984,1066,1396,0,0,0,0,0,0
$GC,11362,0.74,390.9,486.4,12.3,903,11397,0.00,1.10,25.50,1.076,6,0.000,0.042,2980,1785,1289,0,0,0,0,0,0
$GC,11715,0.79,419.7,443.7,12.2,936,11745,0.00,1.10,26.17,1.041,4,0.000,0.045,2984,1063,1174,0,0,0,0,0,0
$GC,11818,0.85,446.4,431.2,12.2,944,11853,0.08,1.10,25.33,1.017,6,0.060,0.041,3038,1788,1063,0,0,0,0,0,0
$GC,12170,0.82,446.4,364.4,19.8,977,12174,0.00,1.02,0.00,0.000,4,0.000,0.051,3038,2474,1060,0,0,0,0,0,0
$GC,12232,0.81,446.4,353.9,17.8,982,12236,0.10,1.05,0.00,0.000,6,0.145,0.041,3010,1783,1060,0,0,0,0,0,0
$GC,12562,0.82,446.4,303.4,15.1,1013,12566,0.00,1.08,0.00,0.000,4,0.000,0.047,3014,1069,1059,0,0,0,0,0,0
$GC,12647,0.84,446.4,291.0,14.5,1020,12655,0.00,1.08,0.00,0.000,6,0.000,0.040,3009,1782,1059,0,0,0,0,0,0
$GC,12974,0.87,454.7,247.9,12.9,1052,12991,0.00,1.10,7.95,0.750,4,0.000,0.044,3014,1075,1029,0,0,0,0,0,0
$GC,13072,0.92,471.1,235.8,12.6,1068,13095,0.00,1.05,15.75,0.822,6,0.000,0.040,3011,1778,962,0,0,0,0,0,0
$GC,13417,1.03,528.5,195.8,11.1,1131,13478,0.17,1.12,51.03,0.828,4,0.070,0.042,3108,1068,727,0,0,0,0,0,0
$GC,13574,0.99,528.5,160.3,24.4,1156,13582,0.12,1.08,0.00,0.000,6,0.141,0.039,3068,1782,721,0,0,0,0,0,0
$GC,13906,1.03,547.4,106.7,12.5,1217,13933,0.00,1.10,16.80,0.708,4,0.000,0.042,3071,1073,649,0,0,0,0,0,0
$GC,13978,1.12,607.5,98.0,11.0,1228,14038,0.08,1.05,50.55,0.707,6,0.060,0.037,3126,1783,455,0,0,0,0,1,0
$GC,14360,1.12,607.5,38.7,16.6,1296,14367,0.00,1.08,0.00,0.000,4,0.000,0.044,3130,1075,440,0,0,0,0,0,0
$GC,14408,1.12,607.5,30.3,16.8,1304,14416,0.00,1.02,0.00,0.000,6,0.000,0.035,3128,1775,440,0,0,0,0,0,0
$STATE,14574,end climb,SURFACE_DEPTH_REACHED
$STATE,14574,begin surface coast
$FINISH,1.3,1.008813
$STATE,14594,end surface coast,CONTROL_FINISHED_OK
$STATE,14594,begin surface
$SM_CCo,14674,0.00,0.000,0,0,435,600.49
$SM_GC,2.04,7.78,0.00,0.00,0.037,0.000,0.000,140,1596,435,-8.03,-0.40,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12227.73,021111,090903
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.34
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.10
$XPDR_PINGS,119
$24V_AH,22.0,117.304
$10V_AH,9.7,79.808
$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,20.375,67.775,771.950,0.000,0.000,28.152,23.060,167.428,29.750,0.000,13.146,3293.916,7261.033,793.991,3221.792,471.081,0.000,2131.603,0.000,3005.326,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,63.495,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.015,1369.681,1511.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76863,1338
$CAP_FILE_SIZE,161735,0
$CFSIZE,260165632,104804352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.266, 16.1,1
$GPS,021111,174236,2332.919,12228.249,41,1.2,41,-3.2