version: 66.09
glider: 166
mission: 6
dive: 484
start: 11 3 111 14 16 19
data:
$ID,166
$MISSION,6
$DIVE,484
$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,-25023.514
$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,44
$R_STBD_OVSHOOT,56
$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
$GPS1,031111,140755,2335.513,12225.762,41,1.0,41,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-69.5
$GPS2,031111,141556,2335.644,12225.780,11,1.1,11,-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,212.1,118128,-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,-292.0,0.0,0.0,0,132,0.00,0.00,-112.50,0.000,2,0.000,0.000,174,1593,3121,0,0,0,0,0,0
$GC,135,-0.74,-292.0,6.1,-9.6,15,167,9.43,1.08,-15.68,0.000,4,0.223,0.068,2505,898,3962,0,0,0,0,0,0
$GC,344,-0.63,-292.0,77.2,-23.5,52,353,0.12,1.05,0.00,0.000,6,0.148,0.034,2540,1609,3964,0,0,0,0,0,0
$GC,672,-0.58,-292.0,135.2,-13.9,113,681,0.00,1.00,0.00,0.000,4,0.000,0.040,2537,2300,3965,0,0,0,0,0,0
$GC,796,-0.55,-292.0,154.0,-15.8,134,805,0.12,1.02,0.00,0.000,6,0.132,0.035,2565,1597,3966,0,0,0,0,0,0
$GC,1127,-0.60,-292.0,196.8,-13.0,195,1135,0.00,1.05,0.00,0.000,4,0.000,0.039,2564,2303,3966,0,0,0,0,0,0
$GC,1195,-0.66,-292.0,206.4,-12.9,207,1203,0.00,1.00,0.00,0.000,6,0.000,0.035,2564,1616,3966,0,0,0,0,0,0
$GC,1525,-0.72,-292.0,246.9,-10.7,268,1534,0.17,1.02,0.00,0.000,4,0.065,0.039,2480,2299,3966,0,0,0,0,0,0
$GC,1718,-0.63,-292.0,279.5,-18.0,287,1722,0.17,1.00,0.00,0.000,6,0.139,0.035,2537,1607,3965,0,0,0,0,0,0
$GC,2049,-0.63,-292.0,323.9,-13.5,318,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1607,3965,0,0,0,0,0,0
$GC,2371,-0.65,-292.0,367.0,-13.3,348,2375,0.00,1.05,0.00,0.000,4,0.000,0.042,2530,2298,3964,0,0,0,0,0,0
$GC,2480,-0.68,-292.0,381.2,-13.0,357,2488,0.00,1.02,0.00,0.000,6,0.000,0.037,2522,1609,3964,0,0,0,0,0,0
$GC,2806,-0.70,-292.0,419.4,-10.3,388,2809,0.00,1.05,0.00,0.000,4,0.000,0.044,2511,2298,3962,0,0,0,0,0,0
$GC,2892,-0.74,-292.0,427.8,-9.7,395,2899,0.00,1.02,0.00,0.000,6,0.000,0.037,2510,1607,3962,0,0,0,0,0,0
$GC,3219,-0.76,-292.0,462.6,-11.4,426,3222,0.00,1.05,0.00,0.000,4,0.000,0.044,2506,2298,3959,0,0,0,0,0,0
$GC,3301,-0.79,-292.0,471.5,-11.1,433,3304,0.00,1.02,0.00,0.000,6,0.000,0.038,2506,1609,3959,0,0,0,0,0,0
$GC,3632,-0.82,-292.0,508.8,-11.3,464,3636,0.00,1.05,0.00,0.000,4,0.000,0.045,2510,2302,3956,0,0,0,0,0,0
$GC,3776,-0.86,-292.0,523.4,-10.6,476,3783,0.10,1.05,0.00,0.000,6,0.047,0.039,2449,1603,3955,0,0,0,0,0,0
$GC,4104,-0.78,-292.0,578.8,-17.6,507,4110,0.17,0.00,0.00,0.000,6,0.163,0.000,2497,1601,3952,0,0,0,0,0,0
$GC,4435,-0.78,-292.0,626.5,-14.1,530,4439,0.00,1.08,0.00,0.000,4,0.000,0.049,2494,2294,3950,0,0,0,0,0,0
$GC,4562,-0.80,-292.0,643.3,-13.0,535,4566,0.00,1.02,0.00,0.000,6,0.000,0.042,2494,1619,3949,0,0,0,0,0,0
$GC,4884,-0.80,-292.0,687.8,-13.7,551,4888,0.00,1.05,0.00,0.000,4,0.000,0.051,2490,2293,3946,0,0,0,0,0,0
$GC,4919,-0.80,-292.0,692.5,-13.8,552,4922,0.00,1.05,0.00,0.000,6,0.000,0.044,2490,1608,3946,0,0,0,0,0,0
$GC,5243,-0.80,-292.0,736.9,-13.8,568,5247,0.00,1.08,0.00,0.000,4,0.000,0.054,2485,2293,3943,0,0,0,0,0,0
$GC,5293,-0.80,-292.0,744.1,-13.2,570,5297,0.00,1.05,0.00,0.000,6,0.000,0.045,2486,1610,3943,0,0,0,0,0,0
$GC,5623,-0.80,-292.0,788.9,-13.5,586,5626,0.00,1.10,0.00,0.000,4,0.000,0.057,2481,2293,3939,0,0,0,0,0,0
$GC,5695,-0.80,-292.0,799.1,-12.9,589,5699,0.00,1.05,0.00,0.000,6,0.000,0.048,2481,1616,3939,0,0,0,0,0,0
$GC,6023,-0.80,-292.0,844.9,-14.2,605,6027,0.00,1.08,0.00,0.000,4,0.000,0.058,2476,2291,3937,0,0,0,0,0,0
$GC,6071,-0.80,-292.0,851.3,-13.8,607,6075,0.00,1.08,0.00,0.000,6,0.000,0.049,2476,1603,3937,0,0,0,0,0,0
$GC,6404,-0.80,-292.0,901.3,-15.2,623,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1603,3934,0,0,0,0,0,0
$GC,6714,-0.80,-292.0,946.1,-14.3,638,6718,0.00,1.10,0.00,0.000,4,0.000,0.059,2471,2291,3932,0,0,0,0,0,0
$GC,6808,-0.80,-292.0,958.3,-13.0,642,6812,0.00,1.08,0.00,0.000,6,0.000,0.049,2471,1604,3931,0,0,0,0,0,0
$STATE,7057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7057,begin apogee
$GC,7063,-0.11,0.0,991.8,13.0,654,7298,0.75,0.00,224.98,1.437,6,0.125,0.000,2706,1763,2883,0,0,0,0,0,0
$STATE,7301,end apogee,CONTROL_FINISHED_OK
$STATE,7301,begin climb
$GC,7303,0.74,292.0,1001.5,0.0,665,7593,0.82,1.25,278.48,1.372,4,0.050,0.056,3007,2486,1692,0,0,0,0,0,0
$GC,7634,0.66,292.0,954.5,18.7,680,7641,0.15,1.20,0.00,0.000,6,0.150,0.049,2970,1783,1690,0,0,0,0,0,0
$GC,7950,0.62,292.0,906.1,15.1,696,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1783,1686,0,0,0,0,0,0
$GC,8260,0.58,292.0,861.0,14.7,711,8264,0.12,1.10,0.00,0.000,4,0.176,0.054,2940,1072,1685,0,0,0,0,0,0
$GC,8311,0.67,364.7,854.3,11.9,713,8384,0.00,1.12,67.22,1.333,6,0.000,0.048,2938,1788,1396,0,0,0,0,0,0
$GC,8704,0.81,445.8,808.1,11.7,732,8784,0.20,1.23,74.70,1.299,4,0.067,0.054,3039,1060,1065,0,0,0,0,0,0
$GC,8836,0.73,445.8,780.1,21.9,737,8840,0.15,1.15,0.00,0.000,6,0.143,0.047,2993,1788,1063,0,0,0,0,0,0
$GC,9165,0.72,445.8,722.5,17.3,753,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1788,1060,0,0,0,0,0,0
$GC,9472,0.72,445.8,671.5,16.0,768,9476,0.00,1.12,0.00,0.000,4,0.000,0.050,2996,1066,1059,0,0,0,0,0,0
$GC,9533,0.72,445.8,661.4,16.0,770,9541,0.00,1.12,0.00,0.000,6,0.000,0.045,2996,1789,1059,0,0,0,0,0,0
$GC,9852,0.72,445.8,610.2,16.0,786,9856,0.00,1.12,0.00,0.000,4,0.000,0.050,3001,1069,1058,0,0,0,0,0,0
$GC,9884,0.72,445.8,604.2,16.3,787,9888,0.00,1.10,0.00,0.000,6,0.000,0.044,2998,1780,1058,0,0,0,0,0,0
$GC,10218,0.72,445.8,553.2,15.1,817,10221,0.00,1.12,0.00,0.000,4,0.000,0.050,3001,1061,1057,0,0,0,0,0,0
$GC,10301,0.72,445.8,538.9,16.8,824,10308,0.00,1.12,0.00,0.000,6,0.000,0.044,2998,1784,1057,0,0,0,0,0,0
$GC,10627,0.72,445.8,483.3,17.6,855,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1785,1057,0,0,0,0,0,0
$GC,10947,0.72,445.8,431.0,16.1,885,10950,0.00,1.12,0.00,0.000,4,0.000,0.049,3002,1062,1055,0,0,0,0,0,0
$GC,11017,0.72,445.8,420.3,15.5,891,11021,0.00,1.10,0.00,0.000,6,0.000,0.042,3002,1779,1055,0,0,0,0,0,0
$GC,11348,0.73,452.9,370.2,14.1,922,11361,0.00,1.10,5.53,0.758,4,0.000,0.045,3006,1056,1038,0,0,0,0,0,0
$GC,11387,0.73,453.6,364.9,14.3,925,11391,0.00,1.10,0.00,0.000,6,0.000,0.041,3006,1780,1037,0,0,0,0,0,0
$GC,11718,0.78,478.5,317.8,13.5,956,11752,0.00,1.15,24.38,0.933,4,0.000,0.048,3012,1062,931,0,0,0,0,0,0
$GC,11825,0.81,478.5,302.8,14.6,965,11829,0.00,1.10,0.00,0.000,6,0.000,0.040,3012,1787,929,0,0,0,0,0,0
$GC,12157,0.87,495.9,253.6,13.8,996,12181,0.00,1.15,16.40,0.844,4,0.000,0.048,3017,1060,861,0,0,0,0,0,0
$GC,12229,0.95,532.1,244.5,13.2,1005,12269,0.08,1.10,33.65,0.862,6,0.054,0.039,3074,1788,713,0,0,0,0,0,0
$GC,12591,0.90,532.1,178.7,17.8,1070,12600,0.12,1.02,0.00,0.000,4,0.164,0.047,3038,2477,705,0,0,0,0,0,0
$GC,12632,0.90,532.1,173.0,15.4,1076,12640,0.00,1.08,0.00,0.000,6,0.000,0.041,3041,1765,705,0,0,0,0,0,0
$GC,12964,1.02,592.3,133.4,12.4,1137,13032,0.10,1.08,57.00,0.767,4,0.100,0.045,3107,1078,468,0,0,0,0,1,0
$GC,13140,0.99,592.3,97.1,21.7,1165,13148,0.10,1.05,0.00,0.000,6,0.133,0.037,3074,1784,461,0,0,0,0,0,0
$GC,13474,1.33,775.4,54.0,8.3,1226,13483,0.25,1.08,0.00,0.000,4,0.053,0.041,3210,1084,454,0,0,0,0,0,0
$GC,13546,1.21,775.4,39.9,24.7,1238,13555,0.20,1.02,0.00,0.000,6,0.151,0.037,3147,1778,453,0,0,0,0,0,0
$STATE,13734,end climb,SURFACE_DEPTH_REACHED
$STATE,13734,begin surface coast
$FINISH,1.4,1.021999
$STATE,13751,end surface coast,CONTROL_FINISHED_OK
$STATE,13752,begin surface
$SM_CCo,13832,0.00,0.000,0,0,451,596.81
$SM_GC,2.07,7.80,0.00,0.00,0.035,0.000,0.000,135,1602,451,-8.07,-0.23,596.81,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12225.75,031111,101007
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.10
$XPDR_PINGS,129
$24V_AH,22.0,119.131
$10V_AH,9.7,80.708
$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,21.150,58.875,782.325,0.000,0.000,57.128,33.548,164.542,32.250,0.000,12.055,3154.209,6692.386,795.423,3195.847,456.048,0.000,2092.112,0.000,2943.762,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,68.085,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.200,1307.638,1470.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73490,1276
$CAP_FILE_SIZE,153490,0
$CFSIZE,260165632,104312832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.322, 16.8,1
$GPS,031111,180807,2335.986,12224.559,39,1.3,39,-3.2