version: 66.09
glider: 166
mission: 6
dive: 327
start: 10 5 111 12 7 13
data:
$ID,166
$MISSION,6
$DIVE,327
$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,-24810.855
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,051011,115931,2307.341,12136.469,41,1.4,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-65.8
$GPS2,051011,120649,2307.464,12136.527,13,1.4,30,-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,98.7,247456,-16.7,-13.750
$D_GRID,1657
$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,-292.0,0.0,0.0,0,132,0.00,0.00,-110.75,0.000,2,0.000,0.000,158,1601,3152,0,0,0,0,0,0
$GC,135,-0.73,-292.0,6.5,-10.0,15,167,9.45,1.02,-14.30,0.000,4,0.227,0.059,2487,885,3962,0,0,0,0,0,0
$GC,294,-0.60,-292.0,63.9,-33.2,42,303,0.20,1.08,0.00,0.000,6,0.139,0.043,2547,1592,3964,0,0,0,0,0,0
$GC,621,-0.58,-292.0,127.0,-15.0,103,629,0.00,1.05,0.00,0.000,4,0.000,0.042,2543,2312,3964,0,0,0,0,0,0
$GC,875,-0.61,-292.0,152.9,-9.1,149,884,0.00,1.05,0.00,0.000,6,0.000,0.035,2541,1593,3966,0,0,0,0,0,0
$GC,1205,-0.63,-292.0,184.7,-10.4,210,1213,0.00,1.08,0.00,0.000,4,0.000,0.041,2536,2320,3966,0,0,0,0,0,0
$GC,1398,-0.67,-292.0,207.0,-11.6,245,1407,0.00,1.05,0.00,0.000,6,0.000,0.037,2536,1613,3967,0,0,0,0,0,0
$GC,1730,-0.69,-292.0,247.8,-11.7,306,1738,0.00,1.08,0.00,0.000,4,0.000,0.043,2531,2321,3966,0,0,0,0,0,0
$GC,1782,-0.72,-292.0,254.8,-11.4,311,1789,0.00,1.05,0.00,0.000,6,0.000,0.036,2531,1613,3966,0,0,0,0,0,0
$GC,2111,-0.73,-292.0,293.9,-12.7,342,2114,0.00,1.05,0.00,0.000,4,0.000,0.044,2527,2309,3963,0,0,0,0,0,0
$GC,2193,-0.77,-292.0,304.0,-10.6,349,2201,0.00,1.02,0.00,0.000,6,0.000,0.037,2527,1612,3963,0,0,0,0,0,0
$GC,2518,-0.79,-292.0,340.1,-11.2,380,2523,0.12,1.08,0.00,0.000,4,0.084,0.044,2461,2317,3962,0,0,0,0,0,0
$GC,2621,-0.75,-292.0,354.6,-14.5,389,2625,0.08,1.05,0.00,0.000,6,0.145,0.038,2496,1606,3960,0,0,0,0,0,0
$GC,2952,-0.72,-292.0,405.7,-16.1,420,2955,0.00,1.08,0.00,0.000,4,0.000,0.045,2493,2316,3959,0,0,0,0,0,0
$GC,2979,-0.71,-292.0,410.2,-15.3,422,2986,0.00,1.05,0.00,0.000,6,0.000,0.038,2493,1609,3958,0,0,0,0,0,0
$GC,3305,-0.68,-292.0,462.5,-16.0,453,3309,0.12,1.08,0.00,0.000,4,0.164,0.047,2524,2304,3956,0,0,0,0,0,0
$GC,3362,-0.70,-292.0,470.1,-12.2,458,3366,0.00,1.02,0.00,0.000,6,0.000,0.041,2525,1617,3955,0,0,0,0,0,0
$GC,3694,-0.72,-292.0,511.7,-12.0,489,3698,0.00,1.05,0.00,0.000,4,0.000,0.050,2520,2302,3953,0,0,0,0,0,0
$GC,3740,-0.74,-292.0,517.1,-11.5,493,3744,0.00,1.05,0.00,0.000,6,0.000,0.044,2519,1610,3953,0,0,0,0,0,0
$GC,4072,-0.75,-292.0,555.4,-11.1,524,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1610,3950,0,0,0,0,0,0
$GC,4393,-0.77,-292.0,590.5,-11.0,554,4396,0.00,1.10,0.00,0.000,4,0.000,0.055,2515,2304,3947,0,0,0,0,0,0
$GC,4478,-0.80,-292.0,599.1,-9.2,561,4486,0.00,1.05,0.00,0.000,6,0.000,0.047,2514,1619,3946,0,0,0,0,0,0
$GC,4806,-0.81,-292.0,633.5,-10.6,578,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1619,3945,0,0,0,0,0,0
$GC,5117,-0.83,-292.0,668.0,-11.6,593,5119,0.10,0.00,0.00,0.000,6,0.103,0.000,2457,1619,3941,0,0,0,0,0,0
$GC,5424,-0.79,-292.0,718.2,-16.4,608,5426,0.12,0.00,0.00,0.000,6,0.169,0.000,2490,1619,3939,0,0,0,0,0,0
$GC,5735,-0.79,-292.0,756.7,-11.6,623,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1619,3938,0,0,0,0,0,0
$GC,6043,-0.79,-292.0,794.2,-12.4,638,6047,0.00,1.08,0.00,0.000,4,0.000,0.060,2487,2301,3935,0,0,0,0,0,0
$GC,6076,-0.79,-292.0,798.5,-12.1,639,6079,0.00,1.08,0.00,0.000,6,0.000,0.050,2487,1610,3935,0,0,0,0,0,0
$GC,6399,-0.79,-292.0,843.0,-15.0,655,6403,0.00,1.12,0.00,0.000,4,0.000,0.059,2487,903,3933,0,0,0,0,0,0
$GC,6460,-0.79,-292.0,852.8,-14.9,657,6468,0.00,1.10,0.00,0.000,6,0.000,0.049,2481,1610,3932,0,0,0,0,0,0
$GC,6776,-0.79,-292.0,897.8,-13.9,673,6780,0.00,1.10,0.00,0.000,4,0.000,0.060,2474,2307,3930,0,0,0,0,0,0
$GC,6811,-0.79,-292.0,902.4,-13.5,674,6814,0.00,1.08,0.00,0.000,6,0.000,0.050,2475,1611,3930,0,0,0,0,0,0
$GC,7133,-0.79,-292.0,946.5,-13.7,690,7137,0.00,1.08,0.00,0.000,4,0.000,0.058,2476,916,3928,0,0,0,0,0,0
$GC,7179,-0.79,-292.0,953.1,-14.4,692,7182,0.00,1.08,0.00,0.000,6,0.000,0.050,2470,1606,3928,0,0,0,0,0,0
$STATE,7447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7447,begin apogee
$GC,7455,-0.11,0.0,991.7,14.2,705,7691,0.73,0.00,227.98,1.434,6,0.125,0.000,2697,1780,2883,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7698,0.73,292.0,1005.4,0.0,716,7984,0.77,1.23,277.70,1.372,4,0.048,0.063,2989,2475,1692,0,0,0,0,0,0
$GC,8051,0.67,292.0,954.1,20.4,732,8056,0.08,1.12,0.00,0.000,6,0.161,0.050,2968,1789,1688,0,0,0,0,0,0
$GC,8375,0.62,292.0,893.1,18.6,748,8379,0.00,1.10,0.00,0.000,4,0.000,0.062,2967,2480,1686,0,0,0,0,0,0
$GC,8447,0.58,292.0,879.1,18.3,751,8451,0.10,1.10,0.00,0.000,6,0.156,0.050,2937,1780,1685,0,0,0,0,0,0
$GC,8777,0.57,292.0,829.7,14.7,767,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1780,1683,0,0,0,0,0,0
$GC,9084,0.59,323.7,787.9,12.7,782,9119,0.00,1.17,29.48,1.274,4,0.000,0.059,2938,2490,1564,0,0,0,0,0,0
$GC,9238,0.72,424.2,770.2,10.6,789,9338,0.00,1.12,93.57,1.280,6,0.000,0.047,2939,1771,1154,0,0,0,0,0,0
$GC,9659,0.83,507.9,723.6,11.1,809,9745,0.20,1.23,75.78,1.245,4,0.067,0.060,3039,2488,811,0,0,0,0,0,0
$GC,9820,0.75,507.9,683.5,27.3,816,9824,0.17,1.12,0.00,0.000,6,0.155,0.046,2988,1774,806,0,0,0,0,0,0
$GC,10149,0.71,507.9,614.4,20.8,832,10152,0.00,1.10,0.00,0.000,4,0.000,0.056,2990,2482,803,0,0,0,0,0,0
$GC,10311,0.70,507.9,583.8,18.1,842,10315,0.00,1.08,0.00,0.000,6,0.000,0.045,2993,1778,803,0,0,0,0,0,0
$GC,10641,0.67,507.9,519.6,20.0,873,10646,0.12,1.10,0.00,0.000,4,0.174,0.054,2958,2487,802,0,0,0,0,0,0
$GC,10774,0.70,507.9,499.2,14.3,884,10781,0.00,1.08,0.00,0.000,6,0.000,0.044,2964,1785,801,0,0,0,0,0,0
$GC,11100,0.72,507.9,446.7,15.6,915,11104,0.00,1.08,0.00,0.000,4,0.000,0.050,2970,1074,801,0,0,0,0,0,0
$GC,11137,0.75,507.9,441.0,15.8,918,11141,0.00,1.08,0.00,0.000,6,0.000,0.043,2972,1785,801,0,0,0,0,0,0
$GC,11468,0.77,507.9,387.7,15.1,949,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1785,800,0,0,0,0,0,0
$GC,11791,0.79,507.9,344.8,14.3,979,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1787,800,0,0,0,0,0,0
$GC,12120,0.82,511.5,299.0,13.6,1010,12124,0.10,1.10,0.00,0.000,4,0.103,0.049,3039,1077,799,0,0,0,0,0,0
$GC,12144,0.82,511.5,294.7,15.0,1012,12147,0.00,1.08,0.00,0.000,6,0.000,0.043,3039,1784,800,0,0,0,0,0,0
$GC,12474,0.78,511.5,221.8,20.9,1054,12484,0.15,1.08,0.00,0.000,4,0.161,0.054,2993,2481,800,0,0,0,0,0,0
$GC,12625,0.84,536.6,197.3,13.0,1081,12656,0.00,1.08,25.02,0.856,6,0.000,0.043,2996,1779,695,0,0,0,0,0,0
$GC,12977,0.93,574.8,153.8,12.5,1145,13023,0.15,1.10,35.45,0.812,4,0.076,0.045,3085,1066,537,0,0,0,0,0,0
$GC,13044,0.89,574.8,140.4,24.2,1154,13054,0.15,1.10,0.00,0.000,6,0.139,0.041,3038,1785,534,0,0,0,0,0,0
$GC,13378,1.04,664.1,93.5,10.9,1215,13412,0.12,1.12,21.90,0.726,4,0.086,0.044,3117,1066,452,0,0,0,0,0,0
$GC,13486,1.04,664.1,77.1,15.1,1232,13495,0.10,1.08,0.00,0.000,6,0.123,0.037,3083,1788,445,0,0,0,0,0,0
$GC,13815,1.15,714.9,36.9,12.1,1293,13823,0.00,1.10,0.00,0.000,4,0.000,0.046,3086,1069,441,0,0,0,0,0,0
$GC,13965,1.22,731.8,18.2,13.2,1320,13974,0.10,1.05,0.00,0.000,6,0.046,0.037,3167,1774,440,0,0,0,0,0,0
$STATE,14042,end climb,SURFACE_DEPTH_REACHED
$STATE,14042,begin surface coast
$FINISH,1.3,1.021817
$STATE,14058,end surface coast,CONTROL_FINISHED_OK
$STATE,14058,begin surface
$SM_CCo,14136,0.00,0.000,0,0,439,599.76
$SM_GC,2.10,7.85,0.00,0.00,0.034,0.000,0.000,159,1593,439,-8.04,-0.48,599.76,0,0,0,0,0,0
$IRIDIUM_FIX,2255.72,12132.77,051011,070720
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.31
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,24.20
$XPDR_PINGS,97
$ALTIM_BOTTOM_PING,690.9,0.0
$24V_AH,22.3,78.683
$10V_AH,9.8,55.411
$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,21.100,56.925,786.875,0.000,0.000,27.759,38.629,191.185,24.500,0.000,31.617,3298.286,6668.870,769.409,3370.633,449.024,0.000,2112.457,0.000,3101.291,0.000,3.088,0.000
$DEVICE_MAMPS,227.205,71.145,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.178,1366.553,1637.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,73552,1336
$CAP_FILE_SIZE,157934,0
$CFSIZE,260165632,118128640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.227, 15.2,1
$GPS,051011,160424,2308.952,12139.731,41,2.0,58,-3.0