version: 66.09
glider: 166
mission: 6
dive: 411
start: 10 21 111 0 24 5
data:
$ID,166
$MISSION,6
$DIVE,411
$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,240
$T_MISSION,270
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,240
$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,-24924.137
$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,53
$R_STBD_OVSHOOT,53
$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
$GPS1,211011,001106,2331.713,12334.329,40,1.8,51,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-69.8
$GPS2,211011,002343,2331.698,12334.445,16,1.4,33,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2326.299,12324.252
$TGT_RADIUS,1852.000
$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,243.3,20000,-16.7,-13.750
$D_GRID,3208
$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,-0.73,-292.0,0.0,0.0,0,133,0.00,0.00,-113.68,0.000,2,0.000,0.000,138,1592,3202,0,0,0,0,0,0
$GC,138,-0.73,-292.0,6.5,-11.0,16,168,9.27,1.05,-13.43,0.000,4,0.217,0.064,2496,2323,3961,0,0,0,0,0,0
$GC,316,-0.63,-292.0,70.2,-26.8,48,325,0.12,1.05,0.00,0.000,6,0.148,0.037,2535,1607,3964,0,0,0,0,0,0
$GC,640,-0.59,-292.0,137.6,-17.1,109,649,0.00,1.02,0.00,0.000,4,0.000,0.039,2532,2305,3964,0,0,0,0,0,0
$GC,723,-0.56,-292.0,152.7,-18.3,123,731,0.08,1.00,0.00,0.000,6,0.138,0.036,2560,1613,3964,0,0,0,0,0,0
$GC,1051,-0.56,-292.0,203.4,-13.5,184,1059,0.00,1.02,0.00,0.000,4,0.000,0.039,2556,2307,3964,0,0,0,0,0,0
$GC,1162,-0.58,-292.0,216.0,-10.5,204,1170,0.00,1.00,0.00,0.000,6,0.000,0.035,2556,1619,3964,0,0,0,0,0,0
$GC,1491,-0.60,-292.0,255.7,-13.0,262,1494,0.00,1.00,0.00,0.000,4,0.000,0.038,2553,2303,3964,0,0,0,0,0,0
$GC,1573,-0.63,-292.0,265.7,-12.5,269,1577,0.00,1.00,0.00,0.000,6,0.000,0.035,2553,1611,3963,0,0,0,0,0,0
$GC,1905,-0.66,-292.0,303.1,-9.7,300,1908,0.00,1.02,0.00,0.000,4,0.000,0.040,2548,2309,3963,0,0,0,0,0,0
$GC,1998,-0.70,-292.0,311.3,-8.5,308,2001,0.00,1.02,0.00,0.000,6,0.000,0.034,2548,1600,3963,0,0,0,0,0,0
$GC,2329,-0.73,-292.0,348.3,-11.7,339,2333,0.12,1.08,0.00,0.000,4,0.081,0.040,2463,2309,3962,0,0,0,0,0,0
$GC,2445,-0.69,-292.0,367.6,-17.2,349,2450,0.15,1.02,0.00,0.000,6,0.129,0.036,2516,1606,3961,0,0,0,0,0,0
$GC,2776,-0.69,-292.0,409.7,-11.2,380,2780,0.00,1.05,0.00,0.000,4,0.000,0.042,2513,2303,3959,0,0,0,0,0,0
$GC,2860,-0.71,-292.0,418.6,-9.9,387,2867,0.00,1.02,0.00,0.000,6,0.000,0.037,2513,1607,3959,0,0,0,0,0,0
$GC,3186,-0.72,-292.0,457.6,-12.3,418,3189,0.00,1.05,0.00,0.000,4,0.000,0.044,2508,2301,3957,0,0,0,0,0,0
$GC,3236,-0.74,-292.0,464.0,-12.6,422,3243,0.00,1.02,0.00,0.000,6,0.000,0.037,2509,1606,3956,0,0,0,0,0,0
$GC,3562,-0.75,-292.0,506.2,-12.1,453,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1606,3954,0,0,0,0,0,0
$GC,3884,-0.77,-292.0,543.0,-10.4,483,3888,0.00,1.05,0.00,0.000,4,0.000,0.046,2508,2294,3951,0,0,0,0,0,0
$GC,4027,-0.79,-292.0,557.2,-9.7,495,4033,0.00,1.02,0.00,0.000,6,0.000,0.038,2510,1606,3950,0,0,0,0,0,0
$GC,4352,-0.80,-292.0,593.9,-11.7,526,4356,0.00,1.05,0.00,0.000,4,0.000,0.046,2509,2300,3947,0,0,0,0,0,0
$GC,4422,-0.82,-292.0,601.6,-10.9,532,4426,0.00,1.02,0.00,0.000,6,0.000,0.038,2512,1609,3947,0,0,0,0,0,0
$GC,4757,-0.83,-292.0,640.1,-11.8,548,4762,0.12,1.08,0.00,0.000,4,0.089,0.047,2445,2296,3944,0,0,0,0,0,0
$GC,4804,-0.79,-292.0,647.3,-16.3,550,4808,0.12,1.02,0.00,0.000,6,0.141,0.039,2487,1607,3943,0,0,0,0,0,0
$GC,5141,-0.77,-292.0,693.4,-13.4,566,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1607,3940,0,0,0,0,0,0
$GC,5446,-0.77,-292.0,732.1,-12.0,581,5449,0.00,1.08,0.00,0.000,4,0.000,0.052,2484,2295,3938,0,0,0,0,0,0
$GC,5515,-0.77,-292.0,740.4,-12.1,584,5518,0.00,1.02,0.00,0.000,6,0.000,0.043,2484,1620,3937,0,0,0,0,0,0
$GC,5850,-0.76,-292.0,782.5,-12.5,600,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1619,3935,0,0,0,0,0,0
$GC,6157,-0.76,-292.0,820.5,-12.0,615,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1620,3933,0,0,0,0,0,0
$GC,6466,-0.76,-292.0,857.5,-11.9,630,6470,0.00,1.05,0.00,0.000,4,0.000,0.057,2480,2287,3930,0,0,0,0,0,0
$GC,6515,-0.76,-292.0,862.8,-11.1,632,6519,0.00,1.05,0.00,0.000,6,0.000,0.047,2480,1607,3929,0,0,0,0,0,0
$GC,6848,-0.75,-292.0,904.7,-12.9,648,6852,0.00,1.08,0.00,0.000,4,0.000,0.054,2480,909,3927,0,0,0,0,0,0
$GC,6884,-0.75,-292.0,909.4,-13.1,649,6887,0.00,1.08,0.00,0.000,6,0.000,0.052,2475,1591,3927,0,0,0,0,0,0
$GC,7206,-0.74,-292.0,953.1,-13.3,665,7208,0.12,0.00,0.00,0.000,6,0.171,0.000,2508,1591,3925,0,0,0,0,0,0
$GC,7517,-0.76,-292.0,985.6,-10.4,680,7521,0.00,1.12,0.00,0.000,4,0.000,0.060,2505,2313,3922,0,0,0,0,0,0
$STATE,7561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7561,begin apogee
$GC,7568,-0.11,0.0,990.4,9.8,682,7799,0.60,0.00,225.60,1.434,6,0.113,0.000,2704,1769,2883,0,0,0,0,0,0
$STATE,7804,end apogee,CONTROL_FINISHED_OK
$STATE,7804,begin climb
$GC,7806,0.73,292.0,1001.4,0.0,693,8084,0.75,1.23,267.17,1.377,4,0.054,0.061,2987,2485,1692,0,0,0,0,0,0
$GC,8219,0.69,292.0,946.1,16.6,712,8223,0.00,1.10,0.00,0.000,6,0.000,0.051,2990,1789,1689,0,0,0,0,0,0
$GC,8552,0.64,292.0,888.5,16.8,728,8556,0.15,1.12,0.00,0.000,4,0.171,0.055,2955,1072,1686,0,0,0,0,0,0
$GC,8590,0.62,292.0,882.3,14.6,729,8597,0.00,1.10,0.00,0.000,6,0.000,0.050,2954,1775,1685,0,0,0,0,0,0
$GC,8909,0.61,299.2,839.7,13.5,745,8919,0.00,1.15,6.55,1.025,4,0.000,0.057,2953,2497,1664,0,0,0,0,0,0
$GC,9018,0.62,301.9,824.4,13.7,750,9027,0.00,1.12,4.65,0.875,6,0.000,0.047,2956,1773,1652,0,0,0,0,0,0
$GC,9356,0.60,301.9,776.6,14.3,766,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1773,1651,0,0,0,0,0,0
$GC,9661,0.59,302.7,732.7,13.7,781,9665,0.00,1.12,0.00,0.000,4,0.000,0.057,2957,2491,1650,0,0,0,0,0,0
$GC,9697,0.60,311.6,727.8,13.5,782,9712,0.00,1.10,11.02,1.148,6,0.000,0.047,2960,1781,1612,0,0,0,0,0,0
$GC,10042,0.59,316.6,680.8,13.6,799,10052,0.00,1.10,5.90,0.952,4,0.000,0.050,2959,2496,1592,0,0,0,0,0,0
$GC,10084,0.61,330.2,675.1,13.3,801,10106,0.00,1.10,14.57,1.160,6,0.000,0.045,2962,1774,1536,0,0,0,0,0,0
$GC,10418,0.62,338.9,629.2,13.5,817,10432,0.00,1.08,9.18,1.053,4,0.000,0.051,2968,1083,1502,0,0,0,0,0,0
$GC,10490,0.63,347.4,618.9,13.5,820,10508,0.00,1.10,9.80,1.050,6,0.000,0.045,2967,1792,1466,0,0,0,0,0,0
$GC,10822,0.63,347.4,572.9,14.0,845,10825,0.00,1.05,0.00,0.000,4,0.000,0.054,2968,2487,1464,0,0,0,0,0,0
$GC,10928,0.63,347.4,558.9,13.8,854,10931,0.00,1.08,0.00,0.000,6,0.000,0.045,2971,1780,1464,0,0,0,0,0,0
$GC,11259,0.66,371.3,513.6,13.0,885,11288,0.00,0.00,22.92,1.091,6,0.000,0.000,2970,1780,1370,0,0,0,0,0,0
$GC,11607,0.66,371.3,465.8,14.2,918,11610,0.00,1.05,0.00,0.000,4,0.000,0.049,2976,1082,1367,0,0,0,0,0,0
$GC,11645,0.66,371.3,460.2,13.8,921,11652,0.00,1.08,0.00,0.000,6,0.000,0.042,2973,1789,1367,0,0,0,0,0,0
$GC,11971,0.66,376.9,417.1,13.6,952,11983,0.00,1.10,6.32,0.821,4,0.000,0.044,2977,1065,1346,0,0,0,0,0,0
$GC,12007,0.68,394.4,412.3,13.2,955,12030,0.00,1.08,17.35,0.979,6,0.000,0.042,2973,1777,1275,0,0,0,0,0,0
$GC,12349,0.80,474.2,370.8,11.2,987,12422,0.00,0.00,70.70,0.986,6,0.000,0.000,2973,1779,951,0,0,0,0,0,0
$GC,12740,0.98,576.8,327.6,10.5,1024,12840,0.25,1.15,93.05,0.930,4,0.057,0.045,3105,1070,530,0,0,0,0,0,0
$GC,12900,0.92,576.8,288.8,25.6,1038,12905,0.17,1.10,0.00,0.000,6,0.145,0.041,3049,1793,523,0,0,0,0,0,0
$GC,13226,0.92,576.8,228.0,17.7,1080,13234,0.00,1.00,0.00,0.000,4,0.000,0.048,3049,2472,515,0,0,0,0,0,0
$GC,13265,0.94,576.8,221.9,16.4,1086,13273,0.00,1.05,0.00,0.000,6,0.000,0.041,3050,1774,514,0,0,0,0,0,0
$GC,13592,0.95,576.8,166.7,16.7,1147,13600,0.00,1.05,0.00,0.000,4,0.000,0.045,3051,1072,514,0,0,0,0,0,0
$GC,13634,0.96,576.8,159.1,16.8,1154,13642,0.00,1.05,0.00,0.000,6,0.000,0.037,3050,1783,514,0,0,0,0,0,0
$GC,13958,0.99,576.8,111.7,14.9,1215,13966,0.00,1.08,0.00,0.000,4,0.000,0.044,3046,1072,513,0,0,0,0,0,0
$GC,13997,1.01,576.8,105.8,14.2,1221,14005,0.00,1.05,0.00,0.000,6,0.000,0.036,3045,1789,512,0,0,0,0,0,0
$GC,14320,1.18,657.9,67.7,11.2,1282,14351,0.22,1.12,20.15,0.608,4,0.056,0.043,3168,1074,453,0,0,0,0,1,0
$GC,14431,1.12,657.9,44.4,23.2,1300,14440,0.17,1.05,0.00,0.000,6,0.138,0.036,3111,1788,444,0,0,0,0,0,0
$STATE,14682,end climb,SURFACE_DEPTH_REACHED
$STATE,14682,begin surface coast
$FINISH,1.3,1.013194
$STATE,14704,end surface coast,CONTROL_FINISHED_OK
$STATE,14704,begin surface
$SM_CCo,14782,0.00,0.000,0,0,438,600.00
$SM_GC,2.09,7.65,0.00,0.00,0.034,0.000,0.000,123,1593,438,-8.06,-0.48,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12332.28,211011,000000
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.49
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.30
$XPDR_PINGS,118
$24V_AH,22.9,100.593
$10V_AH,9.7,68.917
$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,20.100,61.850,784.950,0.000,0.000,93.169,89.635,253.825,29.500,0.000,34.667,3177.534,7549.199,779.295,3531.454,481.120,0.000,2136.702,0.000,3067.124,0.000,0.542,0.000
$DEVICE_MAMPS,217.260,64.260,1433.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.948,1386.040,1480.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330424
$DATA_FILE_SIZE,76806,1351
$CAP_FILE_SIZE,167056,0
$CFSIZE,260165632,110702592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211011,043136,2330.950,12333.296,30,1.2,30,-3.3