version: 66.09
glider: 166
mission: 6
dive: 481
start: 11 3 111 2 8 54
data:
$ID,166
$MISSION,6
$DIVE,481
$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,-25012.5
$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,0.015
$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,50
$R_STBD_OVSHOOT,57
$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
$GPS1,031111,015854,2334.159,12226.500,24,1.5,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-69.5
$GPS2,031111,020826,2334.324,12226.579,15,1.5,15,-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,200.8,118110,-17.3,-14.348
$D_GRID,3200
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-292.0,0.0,0.0,0,131,0.00,0.00,-112.30,0.000,2,0.000,0.000,126,1587,3117,0,0,0,0,0,0
$GC,134,-0.74,-292.0,6.1,-10.0,15,166,9.52,1.12,-15.75,0.000,4,0.224,0.069,2497,2301,3963,0,0,0,0,0,0
$GC,286,-0.57,-292.0,60.1,-30.6,41,296,0.20,1.05,0.00,0.000,6,0.153,0.039,2554,1607,3965,0,0,0,0,0,0
$GC,614,-0.55,-292.0,130.6,-17.8,102,622,0.00,1.05,0.00,0.000,4,0.000,0.046,2548,2293,3966,0,0,0,0,0,0
$GC,673,-0.55,-292.0,140.8,-15.8,112,681,0.00,1.02,0.00,0.000,6,0.000,0.040,2543,1615,3966,0,0,0,0,0,0
$GC,1001,-0.55,-292.0,185.4,-11.5,173,1010,0.00,1.02,0.00,0.000,4,0.000,0.047,2540,2289,3966,0,0,0,0,0,0
$GC,1186,-0.57,-292.0,207.7,-13.1,206,1194,0.00,1.02,0.00,0.000,6,0.000,0.042,2541,1612,3967,0,0,0,0,0,0
$GC,1520,-0.59,-292.0,256.5,-13.7,264,1524,0.00,1.05,0.00,0.000,4,0.000,0.047,2542,2294,3966,0,0,0,0,0,0
$GC,1589,-0.62,-292.0,265.6,-12.4,270,1592,0.00,1.02,0.00,0.000,6,0.000,0.041,2543,1614,3966,0,0,0,0,0,0
$GC,1920,-0.64,-292.0,306.2,-10.9,301,1924,0.00,1.02,0.00,0.000,4,0.000,0.048,2549,2287,3966,0,0,0,0,0,0
$GC,2012,-0.68,-292.0,316.0,-10.6,309,2015,0.00,1.02,0.00,0.000,6,0.000,0.043,2549,1611,3966,0,0,0,0,0,0
$GC,2343,-0.71,-292.0,354.6,-11.2,340,2347,0.00,1.05,0.00,0.000,4,0.000,0.049,2544,2292,3965,0,0,0,0,0,0
$GC,2472,-0.75,-292.0,366.5,-9.4,351,2477,0.08,1.05,0.00,0.000,6,0.050,0.043,2471,1602,3964,0,0,0,0,0,0
$GC,2803,-0.68,-292.0,420.6,-17.0,382,2808,0.20,1.08,0.00,0.000,4,0.153,0.048,2519,2286,3963,0,0,0,0,0,0
$GC,2846,-0.69,-292.0,426.3,-13.1,385,2853,0.00,1.02,0.00,0.000,6,0.000,0.044,2518,1610,3962,0,0,0,0,0,0
$GC,3172,-0.73,-292.0,463.0,-10.9,416,3175,0.00,1.08,0.00,0.000,4,0.000,0.051,2511,2288,3960,0,0,0,0,0,0
$GC,3224,-0.77,-292.0,468.5,-10.6,420,3231,0.00,1.05,0.00,0.000,6,0.000,0.044,2511,1606,3959,0,0,0,0,0,0
$GC,3550,-0.80,-292.0,507.4,-11.9,451,3554,0.00,1.05,0.00,0.000,4,0.000,0.050,2510,2287,3958,0,0,0,0,0,0
$GC,3637,-0.85,-292.0,517.1,-10.7,458,3644,0.08,1.05,0.00,0.000,6,0.053,0.044,2454,1604,3956,0,0,0,0,0,0
$GC,3962,-0.78,-292.0,570.0,-15.8,489,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1605,3955,0,0,0,0,0,0
$GC,4291,-0.72,-292.0,619.6,-15.1,514,4295,0.15,1.10,0.00,0.000,4,0.162,0.053,2503,2290,3951,0,0,0,0,0,0
$GC,4374,-0.75,-292.0,629.1,-9.5,517,4382,0.00,1.05,0.00,0.000,6,0.000,0.045,2503,1610,3950,0,0,0,0,0,0
$GC,4693,-0.75,-292.0,663.2,-11.3,533,4696,0.00,1.10,0.00,0.000,4,0.000,0.056,2499,2292,3948,0,0,0,0,0,0
$GC,4739,-0.77,-292.0,669.0,-11.7,535,4743,0.00,1.05,0.00,0.000,6,0.000,0.047,2499,1612,3947,0,0,0,0,0,0
$GC,5075,-0.77,-292.0,710.6,-12.5,551,5079,0.00,1.08,0.00,0.000,4,0.000,0.058,2494,2291,3944,0,0,0,0,0,0
$GC,5181,-0.79,-292.0,724.3,-11.9,555,5188,0.00,1.05,0.00,0.000,6,0.000,0.048,2494,1614,3943,0,0,0,0,0,0
$GC,5500,-0.79,-292.0,765.1,-13.1,571,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1614,3941,0,0,0,0,0,0
$GC,5807,-0.79,-292.0,805.0,-12.9,586,5811,0.00,1.08,0.00,0.000,4,0.000,0.060,2489,2288,3938,0,0,0,0,0,0
$GC,5870,-0.81,-292.0,813.1,-12.4,588,5876,0.00,1.05,0.00,0.000,6,0.000,0.050,2489,1617,3938,0,0,0,0,0,0
$GC,6188,-0.81,-292.0,855.2,-13.3,604,6192,0.00,1.05,0.00,0.000,4,0.000,0.060,2484,2280,3935,0,0,0,0,0,0
$GC,6235,-0.81,-292.0,861.6,-13.2,606,6239,0.00,1.05,0.00,0.000,6,0.000,0.051,2484,1610,3935,0,0,0,0,0,0
$GC,6568,-0.81,-292.0,906.7,-13.3,622,6572,0.00,1.08,0.00,0.000,4,0.000,0.061,2479,2283,3933,0,0,0,0,0,0
$GC,6596,-0.81,-292.0,909.9,-13.5,623,6600,0.00,1.05,0.00,0.000,6,0.000,0.052,2479,1615,3932,0,0,0,0,0,0
$GC,6929,-0.81,-292.0,955.9,-13.7,639,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1615,3930,0,0,0,0,0,0
$STATE,7195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7195,begin apogee
$GC,7203,-0.11,0.0,991.9,13.1,652,7436,0.70,0.00,224.80,1.438,6,0.125,0.000,2700,1757,2883,0,0,0,0,0,0
$STATE,7441,end apogee,CONTROL_FINISHED_OK
$STATE,7441,begin climb
$GC,7443,0.74,292.0,1004.8,0.0,663,7727,0.80,0.00,277.67,1.376,6,0.047,0.000,2996,1757,1693,0,0,0,0,0,0
$GC,8029,0.67,292.0,913.5,19.0,692,8030,0.12,0.00,0.00,0.000,6,0.171,0.000,2965,1756,1687,0,0,0,0,0,0
$GC,8336,0.63,292.0,862.7,15.9,707,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1756,1685,0,0,0,0,0,0
$GC,8645,0.60,292.0,815.0,15.2,722,8649,0.00,1.15,0.00,0.000,4,0.000,0.058,2960,2484,1683,0,0,0,0,0,0
$GC,8680,0.58,292.0,809.8,14.7,723,8684,0.08,1.10,0.00,0.000,6,0.151,0.049,2940,1780,1683,0,0,0,0,0,0
$GC,9002,0.66,359.8,770.4,12.1,739,9069,0.00,1.10,62.62,1.302,4,0.000,0.050,2943,1065,1416,0,0,0,0,0,0
$GC,9115,0.79,430.5,756.5,12.0,744,9191,0.12,1.15,65.90,1.265,6,0.053,0.047,3015,1789,1127,0,0,0,0,0,0
$GC,9502,0.73,430.5,683.3,19.5,763,9506,0.12,1.08,0.00,0.000,4,0.167,0.057,2981,2480,1122,0,0,0,0,0,0
$GC,9596,0.73,430.5,668.0,14.4,767,9600,0.00,1.08,0.00,0.000,6,0.000,0.045,2984,1781,1122,0,0,0,0,0,0
$GC,9924,0.73,430.5,617.2,15.6,783,9928,0.00,1.08,0.00,0.000,4,0.000,0.050,2989,1077,1121,0,0,0,0,0,0
$GC,10003,0.73,430.5,604.7,15.6,786,10007,0.00,1.10,0.00,0.000,6,0.000,0.045,2989,1788,1120,0,0,0,0,0,0
$GC,10333,0.73,430.5,553.2,16.0,816,10337,0.00,1.12,0.00,0.000,4,0.000,0.049,2993,1063,1119,0,0,0,0,0,0
$GC,10382,0.73,430.5,545.5,16.9,820,10386,0.00,1.10,0.00,0.000,6,0.000,0.044,2993,1777,1119,0,0,0,0,0,0
$GC,10713,0.73,430.5,488.1,16.9,851,10716,0.00,1.08,0.00,0.000,4,0.000,0.053,2993,2486,1119,0,0,0,0,0,0
$GC,10762,0.73,430.5,480.6,16.0,855,10766,0.00,1.10,0.00,0.000,6,0.000,0.044,2998,1770,1119,0,0,0,0,0,0
$GC,11093,0.73,430.5,425.6,16.8,886,11096,0.00,1.05,0.00,0.000,4,0.000,0.049,3003,1078,1118,0,0,0,0,0,0
$GC,11144,0.73,430.5,417.0,16.6,890,11152,0.00,1.08,0.00,0.000,6,0.000,0.043,3000,1785,1118,0,0,0,0,0,0
$GC,11470,0.73,430.5,365.8,15.1,921,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1785,1118,0,0,0,0,0,0
$GC,11793,0.81,468.8,321.2,13.1,951,11830,0.00,1.08,32.90,0.951,4,0.000,0.045,3003,1076,971,0,0,0,0,0,0
$GC,11903,0.93,536.5,306.4,12.1,960,11970,0.08,1.08,61.47,0.934,6,0.054,0.039,3064,1789,696,0,0,0,0,0,0
$GC,12292,0.87,536.5,229.4,20.2,1005,12301,0.15,1.02,0.00,0.000,4,0.160,0.048,3020,2475,684,0,0,0,0,0,0
$GC,12385,1.00,586.0,215.0,12.7,1021,12439,0.10,1.05,45.80,0.848,6,0.047,0.040,3089,1774,494,0,0,0,0,0,0
$GC,12761,0.96,586.0,137.5,19.2,1088,12770,0.12,1.05,0.00,0.000,4,0.162,0.045,3059,1078,483,0,0,0,0,0,0
$GC,12818,1.01,603.8,129.3,13.8,1097,12838,0.00,1.05,11.68,0.703,6,0.000,0.037,3057,1786,453,0,0,0,0,0,0
$GC,13160,1.23,695.8,87.0,11.3,1159,13169,0.22,1.08,0.00,0.000,4,0.057,0.041,3172,1085,444,0,0,0,0,0,0
$GC,13250,1.13,695.8,68.0,23.9,1175,13259,0.17,1.02,0.00,0.000,6,0.142,0.037,3117,1783,443,0,0,0,0,0,0
$GC,13583,1.17,695.8,14.0,14.6,1236,13591,0.00,1.05,0.00,0.000,4,0.000,0.044,3118,1087,438,0,0,0,0,0,0
$STATE,13654,end climb,SURFACE_DEPTH_REACHED
$STATE,13654,begin surface coast
$FINISH,1.4,1.009677
$STATE,13676,end surface coast,CONTROL_FINISHED_OK
$STATE,13676,begin surface
$SM_CCo,13757,0.00,0.000,0,0,436,600.25
$SM_GC,2.08,7.78,0.00,0.00,0.034,0.000,0.000,136,1636,436,-8.03,0.74,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12230.98,021111,212140
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.00
$XPDR_PINGS,121
$24V_AH,22.1,118.237
$10V_AH,9.8,80.259
$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,20.800,57.450,782.850,0.000,0.000,25.675,18.221,362.143,30.250,0.000,15.889,3098.104,6730.984,812.363,3155.121,519.117,0.000,2039.674,0.000,2824.767,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,74.970,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.397,1284.168,1410.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324748
$DATA_FILE_SIZE,70191,1253
$CAP_FILE_SIZE,150031,0
$CFSIZE,260165632,104562688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.421, 19.9,1
$GPS,031111,055925,2334.761,12226.366,37,1.2,37,-3.2