version: 66.09
glider: 166
mission: 6
dive: 317
start: 10 4 111 3 34 19
data:
$ID,166
$MISSION,6
$DIVE,317
$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,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,-24798.279
$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,500
$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
$GPS1,041011,032615,2259.939,12136.299,63,1.6,71,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.3
$GPS2,041011,033354,2300.010,12136.320,60,1.8,61,-3.0
$SPEED_LIMITS,0.238,0.395
$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,259.1,19057,-16.7,-13.750
$D_GRID,2227
$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,16,-0.73,-292.0,0.0,0.0,0,127,0.00,0.00,-108.32,0.000,2,0.000,0.000,150,1591,2976,0,0,0,0,0,0
$GC,131,-0.73,-292.0,5.2,-7.2,15,170,9.43,1.10,-19.45,0.000,4,0.225,0.074,2502,2300,3962,0,0,0,0,0,0
$GC,399,-0.63,-292.0,98.1,-26.4,63,407,0.15,1.02,0.00,0.000,6,0.145,0.041,2533,1612,3964,0,0,0,0,0,0
$GC,727,-0.61,-292.0,155.5,-17.3,124,735,0.00,1.02,0.00,0.000,4,0.000,0.047,2529,2292,3965,0,0,0,0,0,0
$GC,764,-0.61,-292.0,161.4,-17.4,129,773,0.00,1.00,0.00,0.000,6,0.000,0.040,2529,1621,3966,0,0,0,0,0,0
$GC,1096,-0.60,-292.0,211.9,-14.5,190,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1621,3966,0,0,0,0,0,0
$GC,1419,-0.60,-292.0,253.8,-11.6,248,1423,0.00,1.02,0.00,0.000,4,0.000,0.049,2524,2292,3966,0,0,0,0,0,0
$GC,1537,-0.61,-292.0,266.2,-10.6,258,1545,0.00,1.05,0.00,0.000,6,0.000,0.043,2524,1607,3966,0,0,0,0,0,0
$GC,1864,-0.61,-292.0,306.8,-12.8,289,1868,0.00,1.05,0.00,0.000,4,0.000,0.050,2521,2293,3965,0,0,0,0,0,0
$GC,1904,-0.61,-292.0,312.2,-12.4,292,1910,0.00,1.02,0.00,0.000,6,0.000,0.042,2521,1610,3965,0,0,0,0,0,0
$GC,2229,-0.61,-292.0,352.6,-12.9,323,2233,0.00,1.05,0.00,0.000,4,0.000,0.050,2524,2294,3964,0,0,0,0,0,0
$GC,2304,-0.64,-292.0,361.1,-11.5,329,2312,0.00,1.05,0.00,0.000,6,0.000,0.043,2523,1604,3963,0,0,0,0,0,0
$GC,2632,-0.65,-292.0,401.8,-12.5,360,2636,0.00,1.05,0.00,0.000,4,0.000,0.049,2529,915,3961,0,0,0,0,0,0
$GC,2679,-0.66,-292.0,407.8,-12.2,364,2683,0.00,1.05,0.00,0.000,6,0.000,0.044,2529,1602,3961,0,0,0,0,0,0
$GC,3012,-0.68,-292.0,445.5,-10.1,395,3016,0.00,1.05,0.00,0.000,4,0.000,0.051,2525,2300,3958,0,0,0,0,0,0
$GC,3080,-0.71,-292.0,452.3,-9.2,401,3084,0.00,1.05,0.00,0.000,6,0.000,0.044,2525,1608,3957,0,0,0,0,0,0
$GC,3414,-0.72,-292.0,490.2,-11.7,432,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1608,3955,0,0,0,0,0,0
$GC,3741,-0.73,-292.0,528.0,-11.9,463,3745,0.00,1.08,0.00,0.000,4,0.000,0.056,2520,2295,3952,0,0,0,0,0,0
$GC,3847,-0.76,-292.0,540.0,-11.0,472,3851,0.00,1.05,0.00,0.000,6,0.000,0.046,2520,1608,3951,0,0,0,0,0,0
$GC,4179,-0.77,-292.0,580.7,-13.2,503,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1608,3949,0,0,0,0,0,0
$GC,4507,-0.79,-292.0,619.5,-11.7,526,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1608,3946,0,0,0,0,0,0
$GC,4813,-0.81,-292.0,655.0,-11.0,541,4817,0.10,1.12,0.00,0.000,4,0.102,0.057,2458,2308,3943,0,0,0,0,0,0
$GC,4869,-0.78,-292.0,662.5,-14.0,543,4873,0.08,1.08,0.00,0.000,6,0.145,0.048,2484,1613,3943,0,0,0,0,0,0
$GC,5192,-0.77,-292.0,705.3,-12.9,559,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1613,3941,0,0,0,0,0,0
$GC,5503,-0.76,-292.0,743.0,-12.0,574,5506,0.00,1.08,0.00,0.000,4,0.000,0.060,2481,2298,3938,0,0,0,0,0,0
$GC,5536,-0.76,-292.0,747.6,-11.9,575,5539,0.00,1.05,0.00,0.000,6,0.000,0.049,2481,1612,3938,0,0,0,0,0,0
$GC,5857,-0.76,-292.0,788.0,-12.8,591,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1611,3936,0,0,0,0,0,0
$GC,6169,-0.76,-292.0,827.1,-12.4,606,6173,0.00,1.08,0.00,0.000,4,0.000,0.061,2476,2293,3934,0,0,0,0,0,0
$GC,6220,-0.76,-292.0,833.7,-11.9,608,6223,0.00,1.05,0.00,0.000,6,0.000,0.050,2476,1614,3933,0,0,0,0,0,0
$GC,6547,-0.75,-292.0,874.7,-12.2,624,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1614,3932,0,0,0,0,0,0
$GC,6859,-0.75,-292.0,912.0,-11.9,639,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1614,3930,0,0,0,0,0,0
$GC,7166,-0.75,-292.0,951.6,-13.2,654,7170,0.00,1.10,0.00,0.000,4,0.000,0.058,2475,905,3927,0,0,0,0,0,0
$GC,7199,-0.75,-292.0,956.4,-13.6,655,7204,0.08,1.10,0.00,0.000,6,0.145,0.053,2497,1601,3928,0,0,0,0,0,0
$STATE,7477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7477,begin apogee
$GC,7485,-0.11,0.0,991.5,12.6,669,7722,0.62,0.00,227.75,1.440,6,0.116,0.000,2704,1788,2883,0,0,0,0,0,0
$STATE,7725,end apogee,CONTROL_FINISHED_OK
$STATE,7725,begin climb
$GC,7727,0.73,292.0,1005.5,0.0,680,8017,0.80,1.23,276.23,1.375,4,0.049,0.058,2997,2480,1692,0,0,0,0,0,0
$GC,8067,0.69,292.0,957.2,19.8,696,8072,0.10,1.15,0.00,0.000,6,0.151,0.050,2971,1785,1690,0,0,0,0,0,0
$GC,8398,0.66,292.0,900.3,17.3,712,8401,0.00,1.12,0.00,0.000,4,0.000,0.055,2975,1064,1686,0,0,0,0,0,0
$GC,8453,0.63,292.0,890.4,15.8,714,8457,0.00,1.12,0.00,0.000,6,0.000,0.047,2972,1783,1685,0,0,0,0,0,0
$GC,8777,0.60,292.0,841.2,15.0,730,8779,0.12,0.00,0.00,0.000,6,0.173,0.000,2939,1785,1684,0,0,0,0,0,0
$GC,9084,0.67,348.1,802.9,12.0,745,9143,0.00,0.00,52.25,1.304,6,0.000,0.000,2938,1785,1464,0,0,0,0,0,0
$GC,9456,0.75,402.2,759.3,12.0,763,9513,0.15,1.17,50.17,1.270,4,0.083,0.053,3014,1066,1244,0,0,0,0,0,0
$GC,9531,0.70,402.2,744.9,20.1,766,9535,0.12,1.15,0.00,0.000,6,0.148,0.047,2976,1780,1243,0,0,0,0,0,0
$GC,9856,0.68,402.2,688.3,17.1,782,9860,0.00,1.10,0.00,0.000,4,0.000,0.057,2972,2489,1239,0,0,0,0,0,0
$GC,10015,0.68,402.2,663.0,15.3,789,10019,0.00,1.10,0.00,0.000,6,0.000,0.047,2975,1773,1239,0,0,0,0,0,0
$GC,10350,0.66,402.2,608.0,16.7,805,10354,0.00,1.10,0.00,0.000,4,0.000,0.054,2972,2488,1238,0,0,0,0,0,0
$GC,10509,0.66,402.2,583.6,15.4,816,10513,0.00,1.08,0.00,0.000,6,0.000,0.045,2975,1784,1238,0,0,0,0,0,0
$GC,10841,0.64,402.2,529.8,15.7,847,10842,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1784,1238,0,0,0,0,0,0
$GC,11161,0.63,402.2,480.9,15.4,877,11164,0.00,1.08,0.00,0.000,4,0.000,0.052,2972,2485,1238,0,0,0,0,0,0
$GC,11257,0.63,402.2,466.7,14.2,885,11264,0.00,1.08,0.00,0.000,6,0.000,0.044,2975,1782,1238,0,0,0,0,0,0
$GC,11585,0.62,402.2,417.1,15.1,916,11589,0.12,1.10,0.00,0.000,4,0.174,0.050,2946,1065,1237,0,0,0,0,0,0
$GC,11620,0.68,440.0,412.6,12.6,919,11658,0.00,1.10,33.45,1.038,6,0.000,0.043,2945,1790,1090,0,0,0,0,0,0
$GC,11981,0.91,581.9,379.4,9.3,952,12121,0.25,1.10,132.05,0.996,4,0.056,0.053,3063,2474,510,0,0,0,0,0,0
$GC,12187,0.86,581.9,329.1,24.7,971,12191,0.15,1.08,0.00,0.000,6,0.148,0.041,3021,1777,506,0,0,0,0,0,0
$GC,12517,0.84,581.9,259.2,21.9,1002,12521,0.00,1.08,0.00,0.000,4,0.000,0.050,3019,2483,499,0,0,0,0,0,0
$GC,12546,0.84,581.9,253.1,20.6,1004,12554,0.00,1.08,0.00,0.000,6,0.000,0.042,3022,1782,498,0,0,0,0,0,0
$GC,12876,0.82,581.9,187.0,20.2,1064,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1782,494,0,0,0,0,0,0
$GC,13204,0.84,581.9,131.0,14.1,1125,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1782,492,0,0,0,0,0,0
$GC,13532,1.17,782.4,88.7,7.4,1186,13564,0.25,1.08,15.85,0.627,4,0.053,0.045,3172,1072,454,0,0,0,0,1,0
$GC,13616,1.09,782.4,73.4,22.6,1199,13625,0.22,1.08,0.00,0.000,6,0.142,0.040,3101,1787,451,0,0,0,0,0,0
$GC,13947,1.11,782.4,24.4,13.8,1260,13955,0.00,1.00,0.00,0.000,4,0.000,0.046,3099,2469,445,0,0,0,0,0,0
$GC,13985,1.14,782.4,18.2,15.2,1266,13994,0.00,1.05,0.00,0.000,6,0.000,0.041,3103,1774,445,0,0,0,0,0,0
$STATE,14103,end climb,SURFACE_DEPTH_REACHED
$STATE,14103,begin surface coast
$FINISH,1.4,1.018080
$STATE,14130,end surface coast,CONTROL_FINISHED_OK
$STATE,14130,begin surface
$SM_CCo,14207,0.00,0.000,0,0,443,598.78
$SM_GC,2.02,7.72,0.00,0.00,0.037,0.000,0.000,158,1605,443,-8.05,-0.14,598.78,0,0,0,0,0,0
$IRIDIUM_FIX,2248.70,12139.98,031011,232315
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.25
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.60
$XPDR_PINGS,112
$ALTIM_BOTTOM_PING,595.3,0.0
$24V_AH,22.4,76.117
$10V_AH,9.8,54.003
$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,20.475,50.075,787.750,0.000,0.000,26.040,20.993,204.856,28.250,0.000,62.069,3181.041,7047.133,796.938,3195.711,428.700,0.000,2067.532,0.000,2904.952,0.000,2.867,0.000
$DEVICE_MAMPS,224.910,74.205,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.910,1321.526,1429.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324600
$DATA_FILE_SIZE,73612,1292
$CAP_FILE_SIZE,151208,0
$CFSIZE,260165632,118861824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.214, 28.4,1
$GPS,041011,073232,2300.719,12134.303,42,2.0,49,-3.0