version: 66.09
glider: 166
mission: 6
dive: 32
start: 8 10 111 0 12 24
data:
$ID,166
$MISSION,6
$DIVE,32
$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,260
$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,275
$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,285
$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,-24417.963
$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,28
$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,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,43
$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,100
$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,3
$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
$GPS1,100811,000557,2234.749,12124.910,40,2.5,59,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.3
$GPS2,100811,001200,2235.007,12125.090,38,1.9,42,-2.9
$SPEED_LIMITS,0.220,0.369
$TGT_NAME,HEADING
$TGT_LATLONG,2237.802,12113.789
$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,287.9,20000,-16.3,-12.692
$D_GRID,1031
$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,-0.91,-267.6,0.0,0.0,0,124,0.00,0.00,-104.22,0.000,2,0.000,0.000,152,1486,2922,0,0,0,0,0,0
$GC,127,-0.91,-267.6,5.1,-7.7,15,165,8.77,1.95,-19.85,0.000,4,0.229,0.050,2438,189,3965,0,0,0,0,0,0
$GC,318,-0.71,-267.6,83.5,-35.2,49,327,0.25,2.03,0.00,0.000,6,0.148,0.044,2510,1494,3967,0,0,0,0,0,0
$GC,641,-0.57,-267.6,174.0,-25.8,110,649,0.17,0.00,0.00,0.000,6,0.169,0.000,2559,1499,3968,0,0,0,0,0,0
$GC,969,-0.57,-267.6,225.4,-13.7,171,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1499,3969,0,0,0,0,0,0
$GC,1304,-0.57,-267.6,273.0,-12.0,217,1307,0.00,1.95,0.00,0.000,4,0.000,0.041,2561,201,3969,0,0,0,0,0,0
$GC,1397,-0.60,-267.6,284.6,-11.4,225,1404,0.00,1.95,0.00,0.000,6,0.000,0.032,2550,1518,3969,0,0,0,0,0,0
$GC,1724,-0.60,-267.6,323.6,-12.5,256,1728,0.00,2.08,0.00,0.000,4,0.000,0.044,2538,2911,3968,0,0,0,0,0,0
$GC,1786,-0.67,-267.6,330.3,-9.8,261,1793,0.00,2.10,0.00,0.000,6,0.000,0.034,2539,1499,3968,0,0,0,0,0,0
$GC,2113,-0.69,-267.6,369.3,-12.7,292,2117,0.00,2.12,0.00,0.000,4,0.000,0.045,2530,2908,3967,0,0,0,0,0,0
$GC,2143,-0.71,-267.6,373.1,-12.1,294,2147,0.00,2.10,0.00,0.000,6,0.000,0.034,2530,1497,3967,0,0,0,0,0,0
$GC,2470,-0.71,-267.6,412.9,-11.6,324,2474,0.00,1.90,0.00,0.000,4,0.000,0.047,2534,208,3965,0,0,0,0,0,0
$GC,2508,-0.71,-267.6,418.2,-12.8,327,2516,0.00,1.95,0.00,0.000,6,0.000,0.036,2522,1499,3965,0,0,0,0,0,0
$GC,2834,-0.71,-267.6,466.9,-15.9,358,2838,0.00,2.10,0.00,0.000,4,0.000,0.050,2507,2907,3962,0,0,0,0,0,0
$GC,2910,-0.75,-267.6,476.2,-11.5,364,2914,0.00,2.10,0.00,0.000,6,0.000,0.037,2508,1495,3962,0,0,0,0,0,0
$GC,3237,-0.75,-267.6,517.5,-12.1,394,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1496,3959,0,0,0,0,0,0
$GC,3555,-0.75,-267.6,559.5,-14.1,424,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1496,3957,0,0,0,0,0,0
$GC,3885,-0.75,-267.6,603.7,-12.6,454,3889,0.00,2.17,0.00,0.000,4,0.000,0.055,2492,2905,3954,0,0,0,0,0,0
$GC,3912,-0.75,-267.6,607.6,-12.4,455,3916,0.00,2.12,0.00,0.000,6,0.000,0.041,2492,1495,3953,0,0,0,0,0,0
$GC,4239,-0.75,-267.6,647.3,-12.7,471,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1494,3950,0,0,0,0,0,0
$GC,4550,-0.75,-267.6,683.3,-11.1,486,4554,0.00,1.98,0.00,0.000,4,0.000,0.054,2492,199,3947,0,0,0,0,0,0
$GC,4578,-0.75,-267.6,687.1,-11.3,487,4582,0.00,1.98,0.00,0.000,6,0.000,0.043,2483,1504,3948,0,0,0,0,0,0
$GC,4906,-0.74,-267.6,728.1,-12.6,503,4910,0.00,2.15,0.00,0.000,4,0.000,0.058,2472,2907,3945,0,0,0,0,0,0
$GC,4985,-0.74,-267.6,737.8,-12.0,506,4992,0.12,2.12,0.00,0.000,6,0.163,0.041,2506,1500,3944,0,0,0,0,0,0
$GC,5301,-0.76,-267.6,771.6,-10.2,522,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1500,3942,0,0,0,0,0,0
$GC,5613,-0.79,-267.6,801.2,-9.3,537,5617,0.00,2.20,0.00,0.000,4,0.000,0.060,2498,2908,3939,0,0,0,0,0,0
$GC,5652,-0.83,-267.6,805.0,-9.1,538,5659,0.00,2.15,0.00,0.000,6,0.000,0.044,2498,1493,3939,0,0,0,0,0,0
$GC,5969,-0.83,-267.6,838.3,-11.2,554,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1492,3938,0,0,0,0,0,0
$GC,6277,-0.84,-267.6,872.0,-11.4,569,6282,0.00,2.20,0.00,0.000,4,0.000,0.060,2488,2903,3936,0,0,0,0,0,0
$GC,6311,-0.87,-267.6,876.0,-11.3,570,6318,0.00,2.15,0.00,0.000,6,0.000,0.045,2488,1492,3935,0,0,0,0,0,0
$GC,6629,-0.87,-267.6,917.0,-12.3,586,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1492,3933,0,0,0,0,0,0
$GC,6936,-0.87,-267.6,951.1,-10.5,601,6940,0.00,2.22,0.00,0.000,4,0.000,0.062,2478,2911,3932,0,0,0,0,0,0
$GC,7000,-0.91,-267.6,958.9,-12.4,604,7004,0.00,2.15,0.00,0.000,6,0.000,0.047,2478,1495,3932,0,0,0,0,0,0
$STATE,7226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7227,begin apogee
$GC,7234,-0.18,0.0,991.9,15.0,615,7458,0.62,0.00,216.20,1.440,6,0.131,0.000,2683,1846,2883,0,0,0,0,0,0
$STATE,7460,end apogee,CONTROL_FINISHED_OK
$STATE,7460,begin climb
$GC,7462,0.91,267.6,1005.6,0.0,625,7713,0.98,2.42,239.93,1.373,4,0.055,0.057,3057,448,1792,0,0,0,0,0,0
$GC,7766,0.69,267.6,947.2,29.6,640,7771,0.30,2.35,0.00,0.000,6,0.174,0.053,2970,1850,1787,0,0,0,0,0,0
$GC,8096,0.55,267.6,869.6,23.0,656,8101,0.17,2.25,0.00,0.000,4,0.183,0.062,2914,3270,1785,0,0,0,0,0,0
$GC,8228,0.52,267.6,847.6,14.1,662,8232,0.00,2.20,0.00,0.000,6,0.000,0.042,2922,1849,1783,0,0,0,0,0,0
$GC,8556,0.46,267.6,793.1,16.3,678,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1848,1783,0,0,0,0,0,0
$GC,8864,0.40,267.6,744.4,15.2,693,8869,0.17,2.22,0.00,0.000,4,0.172,0.057,2865,3268,1782,0,0,0,0,0,0
$GC,8887,0.37,267.6,741.3,14.5,694,8891,0.00,2.17,0.00,0.000,6,0.000,0.041,2872,1849,1782,0,0,0,0,0,0
$GC,9209,0.48,337.4,708.3,10.5,710,9277,0.00,2.30,61.78,1.260,4,0.000,0.052,2883,433,1508,0,0,0,0,0,0
$GC,9298,0.63,426.3,699.2,9.9,714,9388,0.20,2.30,79.47,1.217,6,0.068,0.041,2965,1863,1145,0,0,0,0,0,0
$GC,9712,0.54,426.3,604.9,23.0,734,9717,0.17,2.20,0.00,0.000,4,0.175,0.057,2917,3258,1141,0,0,0,0,0,0
$GC,9801,0.60,436.4,590.1,12.4,740,9819,0.00,2.17,9.65,1.030,6,0.000,0.039,2925,1848,1103,0,0,0,0,0,0
$GC,10137,0.58,436.4,538.4,17.0,772,10141,0.00,2.17,0.00,0.000,4,0.000,0.050,2936,436,1101,0,0,0,0,0,0
$GC,10190,0.60,436.4,530.1,15.3,776,10195,0.00,2.20,0.00,0.000,6,0.000,0.041,2936,1853,1100,0,0,0,0,0,0
$GC,10517,0.56,436.4,472.1,19.7,806,10521,0.00,2.20,0.00,0.000,4,0.000,0.057,2936,3271,1100,0,0,0,0,0,0
$GC,10593,0.59,436.4,458.1,17.2,812,10597,0.00,2.17,0.00,0.000,6,0.000,0.039,2944,1838,1099,0,0,0,0,0,0
$GC,10919,0.55,436.4,397.2,18.5,842,10922,0.00,2.15,0.00,0.000,4,0.000,0.050,2955,435,1099,0,0,0,0,0,0
$GC,10946,0.52,436.4,392.1,17.7,844,10954,0.15,2.15,0.00,0.000,6,0.155,0.040,2912,1867,1099,0,0,0,0,0,0
$GC,11272,0.67,510.1,355.9,10.3,875,11341,0.15,2.28,61.92,1.009,4,0.080,0.055,2988,3241,802,0,0,0,0,0,0
$GC,11367,0.60,510.1,335.9,24.2,883,11374,0.20,2.20,0.00,0.000,6,0.166,0.037,2944,1838,800,0,0,0,0,0,0
$GC,11692,0.62,510.1,287.3,13.5,914,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1838,797,0,0,0,0,0,0
$GC,12014,0.67,510.1,240.6,12.7,950,12021,0.00,2.20,0.00,0.000,4,0.000,0.049,2953,440,797,0,0,0,0,0,0
$GC,12066,0.79,555.5,234.7,11.2,959,12110,0.10,2.17,38.15,0.883,6,0.050,0.037,3022,1853,618,0,0,0,0,0,0
$GC,12424,0.74,555.5,157.2,20.6,1025,12433,0.15,2.22,0.00,0.000,4,0.160,0.047,2990,449,612,0,0,0,0,0,0
$GC,12502,0.79,555.5,143.8,15.1,1038,12510,0.00,2.17,0.00,0.000,6,0.000,0.037,2990,1851,612,0,0,0,0,0,0
$GC,12829,0.82,555.5,93.7,14.8,1099,12837,0.00,2.17,0.00,0.000,4,0.000,0.050,2991,3252,611,0,0,0,0,0,0
$GC,12896,0.93,555.5,83.8,13.0,1111,12905,0.08,2.15,0.00,0.000,6,0.060,0.036,3066,1847,611,0,0,0,0,0,0
$GC,13222,0.93,555.5,29.4,16.8,1172,13230,0.00,2.17,0.00,0.000,4,0.000,0.047,3079,447,611,0,0,0,0,0,0
$GC,13271,0.96,555.5,22.2,14.8,1180,13280,0.08,2.12,0.00,0.000,6,0.113,0.035,3053,1849,611,0,0,0,0,0,0
$STATE,13440,end climb,SURFACE_DEPTH_REACHED
$STATE,13440,begin surface coast
$FINISH,1.1,1.020982
$STATE,13467,end surface coast,CONTROL_FINISHED_OK
$STATE,13468,begin surface
$SM_CCo,13547,0.00,0.000,0,0,610,557.81
$SM_GC,1.86,7.57,0.00,0.00,0.039,0.000,0.000,150,1487,610,-8.04,-0.34,557.81,0,0,0,0,0,0
$IRIDIUM_FIX,2220.67,12127.43,090811,202017
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.52
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.20
$XPDR_PINGS,80
$ALTIM_BOTTOM_PING,892.3,999.0
$24V_AH,23.3,10.008
$10V_AH,10.3,6.537
$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,20.425,108.550,707.100,0.000,0.000,61.808,34.423,33.618,20.250,0.000,43.235,2854.558,7061.528,708.458,2914.731,362.192,0.000,1936.523,0.000,2726.338,0.000,2.991,0.000
$DEVICE_MAMPS,228.735,61.965,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.358,1244.613,1308.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,70162,1217
$CAP_FILE_SIZE,148589,0
$CFSIZE,260165632,144429056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100811,035936,2237.905,12124.033,38,1.3,49,-2.9