version: 66.09
glider: 166
mission: 6
dive: 483
start: 11 3 111 10 10 23
data:
$ID,166
$MISSION,6
$DIVE,483
$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,230
$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,300
$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,-25022.258
$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,2750
$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,0.015
$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,45
$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
$GPS1,031111,100331,2335.380,12225.903,41,1.1,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.2
$GPS2,031111,100956,2335.518,12225.895,10,1.7,10,-3.2
$SPEED_LIMITS,0.249,0.400
$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,199.2,118180,-17.3,-14.348
$D_GRID,3214
$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,-0.74,-292.0,0.0,0.0,0,133,0.00,0.00,-113.03,0.000,2,0.000,0.000,134,1603,3139,0,0,0,0,0,0
$GC,136,-0.74,-292.0,6.0,-9.3,15,167,9.45,1.02,-15.32,0.000,4,0.223,0.065,2517,904,3961,0,0,0,0,0,0
$GC,273,-0.60,-292.0,55.5,-28.1,38,281,0.12,1.05,0.00,0.000,6,0.148,0.036,2553,1611,3963,0,0,0,0,0,0
$GC,599,-0.55,-292.0,120.4,-17.6,99,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1612,3964,0,0,0,0,0,0
$GC,927,-0.53,-292.0,173.1,-15.4,160,935,0.00,1.00,0.00,0.000,4,0.000,0.038,2550,2305,3965,0,0,0,0,0,0
$GC,1012,-0.53,-292.0,186.0,-14.0,175,1021,0.08,1.02,0.00,0.000,6,0.133,0.035,2570,1602,3965,0,0,0,0,0,0
$GC,1342,-0.59,-292.0,221.2,-10.3,236,1351,0.00,1.05,0.00,0.000,4,0.000,0.038,2573,2308,3965,0,0,0,0,0,0
$GC,1470,-0.66,-292.0,233.6,-9.7,258,1479,0.08,1.02,0.00,0.000,6,0.049,0.035,2500,1610,3965,0,0,0,0,0,0
$GC,1803,-0.60,-292.0,292.9,-17.3,297,1807,0.20,1.05,0.00,0.000,4,0.151,0.036,2554,2304,3965,0,0,0,0,0,0
$GC,1919,-0.66,-292.0,306.5,-10.2,307,1922,0.00,1.02,0.00,0.000,6,0.000,0.037,2554,1616,3965,0,0,0,0,0,0
$GC,2253,-0.70,-292.0,340.6,-10.1,338,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1616,3964,0,0,0,0,0,0
$GC,2581,-0.76,-292.0,372.4,-9.4,369,2585,0.10,1.05,0.00,0.000,4,0.097,0.041,2464,2298,3962,0,0,0,0,0,0
$GC,2741,-0.73,-292.0,394.4,-14.4,383,2745,0.12,1.02,0.00,0.000,6,0.134,0.037,2508,1607,3962,0,0,0,0,0,0
$GC,3075,-0.75,-292.0,434.0,-12.6,414,3079,0.00,1.05,0.00,0.000,4,0.000,0.043,2507,2305,3960,0,0,0,0,0,0
$GC,3103,-0.78,-292.0,438.1,-12.0,416,3110,0.00,1.02,0.00,0.000,6,0.000,0.037,2506,1616,3959,0,0,0,0,0,0
$GC,3432,-0.81,-292.0,477.7,-11.6,447,3435,0.00,1.02,0.00,0.000,4,0.000,0.044,2508,2298,3958,0,0,0,0,0,0
$GC,3559,-0.85,-292.0,491.3,-10.2,458,3563,0.00,1.02,0.00,0.000,6,0.000,0.039,2509,1613,3956,0,0,0,0,0,0
$GC,3890,-0.86,-292.0,527.9,-11.5,489,3892,0.15,0.00,0.00,0.000,6,0.077,0.000,2442,1612,3954,0,0,0,0,0,0
$GC,4208,-0.78,-292.0,581.5,-17.7,519,4210,0.20,0.00,0.00,0.000,6,0.162,0.000,2497,1613,3951,0,0,0,0,0,0
$GC,4534,-0.78,-292.0,625.6,-13.5,541,4538,0.00,1.05,0.00,0.000,4,0.000,0.050,2494,2291,3948,0,0,0,0,0,0
$GC,4606,-0.78,-292.0,635.8,-13.3,544,4610,0.00,1.02,0.00,0.000,6,0.000,0.042,2494,1618,3947,0,0,0,0,0,0
$GC,4936,-0.78,-292.0,680.0,-13.0,560,4940,0.00,1.05,0.00,0.000,4,0.000,0.051,2489,2293,3945,0,0,0,0,0,0
$GC,5036,-0.78,-292.0,692.9,-11.9,564,5040,0.00,1.05,0.00,0.000,6,0.000,0.044,2490,1603,3944,0,0,0,0,0,0
$GC,5361,-0.78,-292.0,734.5,-13.0,580,5365,0.00,1.08,0.00,0.000,4,0.000,0.054,2484,2290,3941,0,0,0,0,0,0
$GC,5407,-0.78,-292.0,740.5,-12.3,582,5411,0.00,1.05,0.00,0.000,6,0.000,0.044,2485,1608,3941,0,0,0,0,0,0
$GC,5741,-0.78,-292.0,782.4,-12.5,598,5744,0.00,1.08,0.00,0.000,4,0.000,0.057,2480,2290,3938,0,0,0,0,0,0
$GC,5816,-0.78,-292.0,791.8,-12.2,601,5819,0.00,1.05,0.00,0.000,6,0.000,0.047,2479,1613,3938,0,0,0,0,0,0
$GC,6143,-0.78,-292.0,834.5,-13.0,617,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1614,3936,0,0,0,0,0,0
$GC,6452,-0.78,-292.0,875.0,-13.0,632,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1613,3933,0,0,0,0,0,0
$GC,6764,-0.78,-292.0,912.7,-11.9,647,6768,0.00,1.08,0.00,0.000,4,0.000,0.060,2475,2289,3931,0,0,0,0,0,0
$GC,6796,-0.78,-292.0,917.0,-11.7,648,6800,0.00,1.05,0.00,0.000,6,0.000,0.051,2475,1614,3931,0,0,0,0,0,0
$GC,7121,-0.78,-292.0,955.3,-12.0,664,7124,0.00,1.08,0.00,0.000,4,0.000,0.061,2470,2289,3929,0,0,0,0,0,0
$GC,7181,-0.78,-292.0,962.8,-11.3,666,7188,0.00,1.08,0.00,0.000,6,0.000,0.052,2470,1606,3928,0,0,0,0,0,0
$STATE,7413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7413,begin apogee
$GC,7419,-0.11,0.0,991.0,12.4,678,7653,0.75,0.00,224.88,1.436,6,0.123,0.000,2706,1762,2883,0,0,0,0,0,0
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7658,0.74,292.0,1000.7,0.0,689,7944,0.82,0.00,281.95,1.369,6,0.050,0.000,3003,1762,1693,0,0,0,0,0,0
$GC,8244,0.67,292.0,906.3,18.5,718,8249,0.15,1.15,0.00,0.000,4,0.171,0.060,2961,2478,1687,0,0,0,0,0,0
$GC,8337,0.67,292.0,892.1,15.2,722,8341,0.00,1.10,0.00,0.000,6,0.000,0.050,2964,1780,1686,0,0,0,0,0,0
$GC,8670,0.64,292.0,842.3,15.0,738,8673,0.00,1.10,0.00,0.000,4,0.000,0.054,2969,1066,1684,0,0,0,0,0,0
$GC,8741,0.61,292.0,831.7,15.6,741,8744,0.00,1.12,0.00,0.000,6,0.000,0.050,2969,1780,1684,0,0,0,0,0,0
$GC,9074,0.58,292.0,777.7,16.3,757,9079,0.12,1.10,0.00,0.000,4,0.171,0.057,2932,2486,1683,0,0,0,0,0,0
$GC,9097,0.58,292.0,774.2,16.3,758,9100,0.00,1.10,0.00,0.000,6,0.000,0.047,2935,1782,1683,0,0,0,0,0,0
$GC,9432,0.66,342.1,730.7,12.7,774,9481,0.00,0.00,46.42,1.268,6,0.000,0.000,2935,1782,1488,0,0,0,0,0,0
$GC,9780,0.77,399.9,687.4,12.4,791,9844,0.17,1.17,53.83,1.232,4,0.073,0.052,3031,1060,1252,0,0,0,0,0,0
$GC,9905,0.70,399.9,662.1,21.0,796,9912,0.15,1.12,0.00,0.000,6,0.143,0.046,2983,1787,1250,0,0,0,0,0,0
$GC,10221,0.70,399.9,611.1,15.9,812,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1787,1248,0,0,0,0,0,0
$GC,10539,0.70,399.9,564.2,15.1,838,10543,0.00,1.12,0.00,0.000,4,0.000,0.050,2987,1061,1246,0,0,0,0,0,0
$GC,10597,0.70,399.9,555.4,15.0,843,10600,0.00,1.10,0.00,0.000,6,0.000,0.044,2984,1777,1246,0,0,0,0,0,0
$GC,10928,0.70,401.3,507.2,14.3,874,10931,0.00,1.10,0.00,0.000,4,0.000,0.049,2987,1069,1245,0,0,0,0,0,0
$GC,11010,0.70,401.3,495.7,14.6,881,11014,0.00,1.10,0.00,0.000,6,0.000,0.044,2984,1786,1245,0,0,0,0,0,0
$GC,11341,0.73,425.6,450.0,13.5,912,11366,0.00,0.00,22.83,1.048,6,0.000,0.000,2984,1785,1148,0,0,0,0,0,0
$GC,11684,0.83,481.7,406.2,12.5,944,11740,0.00,1.17,50.10,1.030,4,0.000,0.050,2987,1066,918,0,0,0,0,0,0
$GC,11802,0.92,516.5,390.2,13.2,954,11843,0.15,1.10,32.45,0.988,6,0.044,0.042,3074,1783,776,0,0,0,0,0,0
$GC,12161,0.84,516.5,304.3,23.8,988,12165,0.20,1.08,0.00,0.000,4,0.160,0.047,3014,2476,769,0,0,0,0,0,0
$GC,12188,0.81,516.5,298.1,21.4,990,12197,0.00,1.08,0.00,0.000,6,0.000,0.043,3018,1777,768,0,0,0,0,0,0
$GC,12514,0.84,516.5,249.4,14.7,1021,12522,0.00,1.08,0.00,0.000,4,0.000,0.047,3023,1072,766,0,0,0,0,0,0
$GC,12583,0.90,530.6,240.2,13.9,1033,12600,0.00,1.08,12.40,0.812,6,0.000,0.040,3022,1786,720,0,0,0,0,0,0
$GC,12925,1.03,596.6,198.7,12.2,1095,13004,0.17,1.10,67.93,0.815,4,0.068,0.044,3119,1066,453,0,0,0,0,1,0
$GC,13087,0.94,596.6,161.4,25.6,1120,13095,0.20,1.08,0.00,0.000,6,0.142,0.041,3055,1776,451,0,0,0,0,0,0
$GC,13421,1.07,651.8,112.2,12.5,1181,13430,0.12,1.10,0.00,0.000,4,0.087,0.045,3133,1066,447,0,0,0,0,0,0
$GC,13483,1.00,651.8,100.1,23.1,1191,13492,0.17,1.08,0.00,0.000,6,0.138,0.038,3077,1789,445,0,0,0,0,0,0
$GC,13814,1.33,827.3,56.3,8.6,1252,13823,0.25,1.10,0.00,0.000,4,0.053,0.041,3212,1071,442,0,0,0,0,0,0
$GC,13885,1.21,827.3,41.2,26.1,1264,13893,0.22,1.05,0.00,0.000,6,0.152,0.037,3144,1782,440,0,0,0,0,0,0
$STATE,14079,end climb,SURFACE_DEPTH_REACHED
$STATE,14079,begin surface coast
$FINISH,1.4,0.998699
$STATE,14096,end surface coast,CONTROL_FINISHED_OK
$STATE,14096,begin surface
$SM_CCo,14174,0.00,0.000,0,0,438,600.00
$SM_GC,2.09,7.85,0.00,0.00,0.036,0.000,0.000,131,1595,438,-8.07,-0.42,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12225.75,031111,060652
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.70
$XPDR_PINGS,115
$24V_AH,21.9,118.833
$10V_AH,9.7,80.560
$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,22.025,54.150,792.775,0.000,0.000,30.284,20.386,169.257,28.750,0.000,14.840,3213.890,6910.789,834.411,3134.034,449.503,0.000,2085.770,0.000,2920.711,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,69.615,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.467,1334.495,1488.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,73594,1303
$CAP_FILE_SIZE,151489,0
$CFSIZE,260165632,104398848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.351, 24.0,1
$GPS,031111,140755,2335.513,12225.762,41,1.0,41,-3.2