version: 66.09
glider: 166
mission: 6
dive: 326
start: 10 5 111 8 0 25
data:
$ID,166
$MISSION,6
$DIVE,326
$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,-24809.598
$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,36
$R_STBD_OVSHOOT,59
$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,300
$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,4
$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
$GPS1,051011,075255,2305.726,12132.948,40,1.1,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-61.2
$GPS2,051011,080001,2305.758,12132.963,10,1.9,10,-3.0
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,90.7,254188,-16.7,-13.750
$D_GRID,1225
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.73,-292.0,0.0,0.0,0,130,0.00,0.00,-109.12,0.000,2,0.000,0.000,158,1604,3077,0,0,0,0,0,0
$GC,133,-0.73,-292.0,6.3,-10.0,14,165,9.32,1.10,-15.82,0.000,4,0.222,0.068,2495,887,3963,0,0,0,0,0,0
$GC,261,-0.60,-292.0,57.0,-33.8,35,271,0.17,1.05,0.00,0.000,6,0.150,0.037,2538,1587,3965,0,0,0,0,0,0
$GC,590,-0.60,-292.0,128.9,-15.3,96,598,0.00,1.05,0.00,0.000,4,0.000,0.041,2532,2314,3966,0,0,0,0,0,0
$GC,842,-0.60,-292.0,160.9,-11.4,142,851,0.00,1.05,0.00,0.000,6,0.000,0.037,2527,1596,3967,0,0,0,0,0,0
$GC,1171,-0.60,-292.0,204.3,-12.4,203,1180,0.00,1.05,0.00,0.000,4,0.000,0.042,2521,2308,3967,0,0,0,0,0,0
$GC,1299,-0.62,-292.0,219.3,-11.2,226,1307,0.00,1.02,0.00,0.000,6,0.000,0.038,2521,1612,3967,0,0,0,0,0,0
$GC,1636,-0.62,-292.0,266.3,-13.8,277,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1612,3966,0,0,0,0,0,0
$GC,1959,-0.62,-292.0,308.0,-12.8,307,1962,0.00,1.05,0.00,0.000,4,0.000,0.044,2517,2315,3965,0,0,0,0,0,0
$GC,2050,-0.64,-292.0,319.6,-12.0,315,2054,0.00,1.05,0.00,0.000,6,0.000,0.038,2517,1606,3964,0,0,0,0,0,0
$GC,2382,-0.65,-292.0,355.7,-9.9,346,2385,0.00,1.05,0.00,0.000,4,0.000,0.044,2521,2307,3963,0,0,0,0,0,0
$GC,2496,-0.68,-292.0,366.2,-9.9,356,2500,0.00,1.05,0.00,0.000,6,0.000,0.041,2526,1603,3962,0,0,0,0,0,0
$GC,2828,-0.69,-292.0,407.9,-12.0,387,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1603,3959,0,0,0,0,0,0
$GC,3149,-0.71,-292.0,447.8,-13.0,417,3153,0.00,1.08,0.00,0.000,4,0.000,0.051,2527,2304,3957,0,0,0,0,0,0
$GC,3270,-0.74,-292.0,462.3,-11.3,427,3277,0.00,1.05,0.00,0.000,6,0.000,0.043,2526,1609,3956,0,0,0,0,0,0
$GC,3597,-0.76,-292.0,503.1,-11.4,458,3601,0.00,1.08,0.00,0.000,4,0.000,0.053,2522,2303,3953,0,0,0,0,0,0
$GC,3648,-0.79,-292.0,509.3,-11.1,462,3655,0.00,1.05,0.00,0.000,6,0.000,0.045,2521,1614,3953,0,0,0,0,0,0
$GC,3976,-0.80,-292.0,546.7,-12.3,493,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1613,3950,0,0,0,0,0,0
$GC,4304,-0.81,-292.0,589.0,-13.2,524,4308,0.12,1.10,0.00,0.000,4,0.089,0.057,2450,2293,3948,0,0,0,0,0,0
$GC,4344,-0.78,-292.0,595.4,-16.2,527,4352,0.12,1.05,0.00,0.000,6,0.142,0.048,2490,1618,3947,0,0,0,0,0,0
$GC,4673,-0.76,-292.0,642.6,-13.6,545,4677,0.00,1.10,0.00,0.000,4,0.000,0.053,2491,903,3945,0,0,0,0,0,0
$GC,4712,-0.75,-292.0,648.3,-13.3,546,4719,0.00,1.10,0.00,0.000,6,0.000,0.048,2487,1606,3945,0,0,0,0,0,0
$GC,5034,-0.74,-292.0,691.0,-13.5,562,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1606,3942,0,0,0,0,0,0
$GC,5338,-0.73,-292.0,731.8,-12.3,577,5342,0.00,1.08,0.00,0.000,4,0.000,0.057,2482,2309,3940,0,0,0,0,0,0
$GC,5364,-0.73,-292.0,734.3,-11.6,578,5368,0.00,1.08,0.00,0.000,6,0.000,0.049,2482,1610,3939,0,0,0,0,0,0
$GC,5697,-0.72,-292.0,774.4,-12.3,594,5702,0.12,1.10,0.00,0.000,4,0.161,0.057,2517,911,3938,0,0,0,0,0,0
$GC,5772,-0.74,-292.0,782.3,-9.7,597,5776,0.00,1.10,0.00,0.000,6,0.000,0.050,2514,1612,3938,0,0,0,0,0,0
$GC,6100,-0.77,-292.0,814.0,-9.5,613,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1611,3935,0,0,0,0,0,0
$GC,6410,-0.79,-292.0,842.1,-9.5,628,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1612,3933,0,0,0,0,0,0
$GC,6721,-0.82,-292.0,873.3,-10.6,643,6725,0.00,1.08,0.00,0.000,4,0.000,0.060,2508,2307,3931,0,0,0,0,0,0
$GC,6776,-0.85,-292.0,879.4,-10.2,645,6781,0.08,1.08,0.00,0.000,6,0.057,0.052,2453,1616,3931,0,0,0,0,0,0
$GC,7100,-0.82,-292.0,929.6,-16.0,661,7104,0.00,1.10,0.00,0.000,4,0.000,0.058,2453,905,3929,0,0,0,0,0,0
$GC,7201,-0.78,-292.0,946.9,-16.9,665,7205,0.12,1.10,0.00,0.000,6,0.150,0.052,2487,1610,3928,0,0,0,0,0,0
$GC,7524,-0.78,-292.0,986.0,-11.6,681,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1610,3927,0,0,0,0,0,0
$STATE,7561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7561,begin apogee
$GC,7567,-0.11,0.0,990.7,11.4,683,7803,0.65,0.00,227.88,1.437,6,0.122,0.000,2700,1783,2883,0,0,0,0,0,0
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7809,0.73,292.0,1001.6,0.0,694,8097,0.77,1.15,276.38,1.370,4,0.055,0.060,2983,2474,1692,0,0,0,0,0,0
$GC,8177,0.68,292.0,948.9,18.3,711,8180,0.00,1.12,0.00,0.000,6,0.000,0.051,2987,1781,1689,0,0,0,0,0,0
$GC,8512,0.62,292.0,882.8,19.8,727,8516,0.15,1.10,0.00,0.000,4,0.175,0.061,2944,2482,1685,0,0,0,0,0,0
$GC,8561,0.60,292.0,873.5,15.6,729,8565,0.00,1.10,0.00,0.000,6,0.000,0.049,2946,1780,1685,0,0,0,0,0,0
$GC,8891,0.58,292.0,822.3,15.8,745,8895,0.00,1.10,0.00,0.000,4,0.000,0.059,2944,2484,1683,0,0,0,0,0,0
$GC,8969,0.58,292.0,809.7,14.8,748,8973,0.00,1.10,0.00,0.000,6,0.000,0.048,2947,1773,1683,0,0,0,0,0,0
$GC,9293,0.56,292.0,760.8,15.2,764,9297,0.00,1.10,0.00,0.000,4,0.000,0.058,2944,2479,1682,0,0,0,0,0,0
$GC,9327,0.55,292.0,755.1,14.7,765,9331,0.00,1.08,0.00,0.000,6,0.000,0.047,2947,1781,1682,0,0,0,0,0,0
$GC,9649,0.53,292.0,707.8,14.9,781,9653,0.00,1.08,0.00,0.000,4,0.000,0.057,2945,2478,1682,0,0,0,0,0,0
$GC,9684,0.52,292.0,702.7,14.8,782,9688,0.10,1.08,0.00,0.000,6,0.142,0.046,2915,1783,1682,0,0,0,0,0,0
$GC,10007,0.65,372.2,665.8,11.2,798,10090,0.12,1.12,73.97,1.227,4,0.088,0.054,2979,2483,1365,0,0,0,0,0,0
$GC,10163,0.62,372.2,637.8,18.2,804,10167,0.10,1.10,0.00,0.000,6,0.150,0.046,2951,1780,1363,0,0,0,0,0,0
$GC,10482,0.62,372.2,589.0,15.0,822,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1780,1359,0,0,0,0,0,0
$GC,10804,0.66,404.1,545.4,12.7,852,10838,0.00,1.15,28.83,1.125,4,0.000,0.055,2950,2487,1236,0,0,0,0,0,0
$GC,10878,0.73,443.7,535.1,12.5,858,10919,0.00,1.10,36.38,1.109,6,0.000,0.044,2954,1785,1075,0,0,0,0,0,0
$GC,11237,0.81,490.8,491.2,12.3,892,11283,0.15,0.00,42.00,1.084,6,0.080,0.000,3033,1785,883,0,0,0,0,0,0
$GC,11600,0.75,490.8,408.2,23.1,926,11604,0.17,1.10,0.00,0.000,4,0.159,0.055,2981,2486,876,0,0,0,0,0,0
$GC,11720,0.76,490.8,387.9,15.2,936,11727,0.00,1.10,0.00,0.000,6,0.000,0.044,2984,1770,875,0,0,0,0,0,0
$GC,12045,0.76,490.8,333.9,16.5,967,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1770,875,0,0,0,0,0,0
$GC,12369,0.76,490.8,286.3,15.6,997,12373,0.00,1.10,0.00,0.000,4,0.000,0.052,2982,2493,874,0,0,0,0,0,0
$GC,12416,0.79,490.8,278.4,15.4,1001,12420,0.00,1.10,0.00,0.000,6,0.000,0.044,2985,1774,874,0,0,0,0,0,0
$GC,12744,0.83,513.7,230.9,13.0,1044,12769,0.00,1.10,20.35,0.863,4,0.000,0.050,2990,1071,789,0,0,0,0,0,0
$GC,12825,0.85,513.7,218.9,15.2,1057,12833,0.00,1.08,0.00,0.000,6,0.000,0.040,2990,1790,785,0,0,0,0,0,0
$GC,13155,0.93,562.8,175.0,12.2,1118,13209,0.15,1.05,44.80,0.835,4,0.076,0.047,3066,2469,586,0,0,0,0,0,0
$GC,13283,0.89,562.8,148.7,22.1,1138,13291,0.10,1.05,0.00,0.000,6,0.149,0.041,3038,1782,581,0,0,0,0,0,0
$GC,13615,0.97,594.2,99.6,12.8,1199,13655,0.00,1.10,29.67,0.753,4,0.000,0.048,3041,1074,458,0,0,0,0,0,0
$GC,13709,1.20,733.2,90.9,9.4,1213,13718,0.20,1.05,0.00,0.000,6,0.034,0.037,3160,1783,452,0,0,0,0,0,0
$GC,14040,1.18,733.2,24.8,19.8,1274,14049,0.12,1.10,0.00,0.000,4,0.168,0.046,3132,1068,446,0,0,0,0,0,0
$GC,14146,1.18,733.2,6.7,18.0,1293,14154,0.00,1.05,0.00,0.000,6,0.000,0.037,3132,1785,445,0,0,0,0,0,0
$STATE,14170,end climb,SURFACE_DEPTH_REACHED
$STATE,14170,begin surface coast
$FINISH,1.3,1.021529
$STATE,14188,end surface coast,CONTROL_FINISHED_OK
$STATE,14188,begin surface
$SM_CCo,14268,0.00,0.000,0,0,444,598.53
$SM_GC,2.05,7.90,0.00,0.00,0.043,0.000,0.000,158,1603,444,-8.05,-0.20,598.53,0,0,0,0,0,0
$IRIDIUM_FIX,2258.07,12133.99,051011,030359
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,9.31158
$TCM_TEMP,22.80
$XPDR_PINGS,101
$ALTIM_BOTTOM_PING,691.0,0.0
$24V_AH,22.3,78.379
$10V_AH,9.8,55.253
$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,20.775,56.800,780.250,0.000,0.000,23.210,48.440,196.769,25.500,0.000,10.966,3212.838,7037.526,752.738,3223.807,448.663,0.000,2068.947,0.000,2964.116,0.000,3.089,0.000
$DEVICE_MAMPS,221.850,72.675,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.196,1330.902,1475.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,73593,1300
$CAP_FILE_SIZE,157197,0
$CFSIZE,260165632,118214656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207, 19.9,1
$GPS,051011,115931,2307.341,12136.469,41,1.4,41,-3.0