version: 66.09
glider: 166
mission: 6
dive: 357
start: 10 11 111 7 32 18
data:
$ID,166
$MISSION,6
$DIVE,357
$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,280
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-24848.697
$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,52
$R_STBD_OVSHOOT,48
$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
$GPS1,111011,072506,2338.400,12314.872,53,1.4,53,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.0
$GPS2,111011,073155,2338.344,12314.879,10,1.4,15,-3.3
$SPEED_LIMITS,0.204,0.313
$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,37.2,71314,-18.1,-11.786
$D_GRID,3356
$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,-0.64,-194.6,0.0,0.0,0,108,0.00,0.00,-88.68,0.000,2,0.000,0.000,130,1589,3004,0,0,0,0,0,0
$GC,111,-0.64,-194.6,5.6,-9.1,12,143,9.40,1.10,-13.40,0.000,4,0.216,0.063,2525,2313,3678,0,0,0,0,0,0
$GC,227,-0.55,-194.6,41.5,-27.8,31,236,0.12,1.05,0.00,0.000,6,0.151,0.037,2560,1603,3679,0,0,0,0,0,0
$GC,555,-0.52,-194.6,111.7,-16.1,92,563,0.00,1.05,0.00,0.000,4,0.000,0.038,2556,2310,3680,0,0,0,0,0,0
$GC,738,-0.52,-194.6,137.2,-12.3,125,745,0.00,1.02,0.00,0.000,6,0.000,0.035,2555,1610,3681,0,0,0,0,0,0
$GC,1065,-0.52,-194.6,179.7,-13.9,186,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1609,3681,0,0,0,0,0,0
$GC,1391,-0.52,-194.6,223.8,-13.4,247,1399,0.00,1.02,0.00,0.000,4,0.000,0.040,2550,2312,3681,0,0,0,0,0,0
$GC,1482,-0.55,-194.6,234.9,-12.1,263,1490,0.00,1.02,0.00,0.000,6,0.000,0.034,2550,1606,3681,0,0,0,0,0,0
$GC,1815,-0.55,-194.6,272.9,-10.1,305,1819,0.00,1.00,0.00,0.000,4,0.000,0.038,2550,918,3681,0,0,0,0,0,0
$GC,1853,-0.55,-194.6,276.5,-9.9,308,1856,0.00,1.02,0.00,0.000,6,0.000,0.032,2545,1632,3681,0,0,0,0,0,0
$GC,2185,-0.57,-194.6,311.1,-10.5,339,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1632,3681,0,0,0,0,0,0
$GC,2506,-0.59,-194.6,344.8,-10.4,369,2510,0.00,0.95,0.00,0.000,4,0.000,0.038,2540,2296,3681,0,0,0,0,0,0
$GC,2557,-0.62,-194.6,350.4,-10.1,373,2564,0.00,1.00,0.00,0.000,6,0.000,0.035,2540,1610,3680,0,0,0,0,0,0
$GC,2883,-0.64,-194.6,384.8,-10.9,404,2887,0.00,1.00,0.00,0.000,4,0.000,0.041,2537,2288,3679,0,0,0,0,0,0
$GC,2907,-0.67,-194.6,387.3,-10.6,406,2911,0.00,1.00,0.00,0.000,6,0.000,0.037,2537,1611,3679,0,0,0,0,0,0
$GC,3238,-0.69,-194.6,421.9,-11.5,437,3242,0.00,1.02,0.00,0.000,4,0.000,0.042,2535,2290,3677,0,0,0,0,0,0
$GC,3298,-0.72,-194.6,428.5,-11.4,442,3301,0.00,1.00,0.00,0.000,6,0.000,0.037,2534,1610,3677,0,0,0,0,0,0
$GC,3629,-0.75,-194.6,470.5,-12.0,473,3633,0.12,1.05,0.00,0.000,4,0.086,0.043,2475,916,3676,0,0,0,0,0,0
$GC,3730,-0.71,-194.6,486.8,-17.0,482,3734,0.12,1.00,0.00,0.000,6,0.144,0.037,2515,1590,3674,0,0,0,0,0,0
$GC,4060,-0.71,-194.6,531.7,-13.2,513,4064,0.00,1.05,0.00,0.000,4,0.000,0.044,2512,2304,3674,0,0,0,0,0,0
$GC,4166,-0.72,-194.6,543.8,-10.6,522,4174,0.00,1.02,0.00,0.000,6,0.000,0.041,2512,1619,3673,0,0,0,0,0,0
$GC,4491,-0.72,-194.6,579.9,-10.7,553,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1619,3671,0,0,0,0,0,0
$GC,4819,-0.72,-194.6,614.0,-10.7,578,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1619,3669,0,0,0,0,0,0
$GC,5126,-0.72,-194.6,651.4,-12.9,593,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1619,3666,0,0,0,0,0,0
$GC,5436,-0.74,-194.6,691.2,-13.6,608,5439,0.00,1.08,0.00,0.000,4,0.000,0.047,2512,910,3664,0,0,0,0,0,0
$GC,5499,-0.75,-194.6,700.2,-14.4,610,5507,0.00,1.05,0.00,0.000,6,0.000,0.041,2507,1602,3663,0,0,0,0,0,0
$GC,5815,-0.75,-194.6,743.9,-13.3,626,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1603,3660,0,0,0,0,0,0
$GC,6125,-0.76,-194.6,784.9,-13.1,641,6128,0.00,1.08,0.00,0.000,4,0.000,0.049,2507,913,3658,0,0,0,0,0,0
$GC,6240,-0.77,-194.6,799.8,-12.9,646,6244,0.00,1.08,0.00,0.000,6,0.000,0.045,2502,1610,3657,0,0,0,0,0,0
$GC,6574,-0.79,-194.6,841.1,-11.6,662,6578,0.00,1.10,0.00,0.000,4,0.000,0.051,2502,918,3655,0,0,0,0,0,0
$GC,6622,-0.80,-194.6,846.6,-12.3,664,6626,0.00,1.08,0.00,0.000,6,0.000,0.047,2498,1613,3654,0,0,0,0,0,0
$GC,6955,-0.80,-194.6,883.1,-10.2,680,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1613,3652,0,0,0,0,0,0
$GC,7267,-0.80,-194.6,912.7,-9.3,695,7271,0.00,1.10,0.00,0.000,4,0.000,0.054,2497,913,3650,0,0,0,0,0,0
$GC,7396,-0.80,-194.6,925.5,-9.8,700,7403,0.00,1.08,0.00,0.000,6,0.000,0.050,2492,1602,3649,0,0,0,0,0,0
$GC,7712,-0.80,-194.6,955.9,-9.8,716,7716,0.00,1.08,0.00,0.000,4,0.000,0.054,2492,917,3647,0,0,0,0,0,0
$GC,7747,-0.80,-194.6,959.3,-9.9,717,7751,0.00,1.08,0.00,0.000,6,0.000,0.050,2487,1602,3647,0,0,0,0,0,0
$STATE,8067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8067,begin apogee
$GC,8073,-0.11,0.0,991.5,10.0,733,8245,0.68,0.00,166.25,1.444,6,0.127,0.000,2703,1791,2883,0,0,0,0,0,0
$STATE,8246,end apogee,CONTROL_FINISHED_OK
$STATE,8246,begin climb
$GC,8248,0.64,194.6,995.7,0.0,741,8434,0.70,1.17,178.82,1.382,4,0.068,0.060,2954,2480,2090,0,0,0,0,0,0
$GC,8488,0.61,194.6,971.9,13.8,751,8492,0.00,1.10,0.00,0.000,6,0.000,0.051,2959,1800,2085,0,0,0,0,0,0
$GC,8818,0.58,194.6,928.4,12.6,767,8822,0.00,1.08,0.00,0.000,4,0.000,0.060,2958,2483,2080,0,0,0,0,0,0
$GC,8851,0.56,194.6,923.6,12.9,768,8855,0.10,1.10,0.00,0.000,6,0.154,0.050,2931,1782,2080,0,0,0,0,0,0
$GC,9172,0.60,231.2,890.8,10.3,784,9212,0.00,0.00,33.20,1.331,6,0.000,0.000,2931,1782,1940,0,0,0,0,0,0
$GC,9524,0.62,239.5,851.5,11.4,801,9534,0.00,0.00,8.23,1.119,6,0.000,0.000,2931,1782,1907,0,0,0,0,0,0
$GC,9830,0.62,239.5,814.6,11.9,816,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1782,1903,0,0,0,0,0,0
$GC,10143,0.63,239.5,778.9,11.8,831,10146,0.00,1.08,0.00,0.000,4,0.000,0.056,2930,2480,1903,0,0,0,0,0,0
$GC,10182,0.65,245.8,773.8,11.5,832,10192,0.00,1.10,6.93,1.053,6,0.000,0.047,2933,1767,1882,0,0,0,0,0,0
$GC,10519,0.70,273.0,737.5,10.7,849,10551,0.10,1.12,27.58,1.254,4,0.103,0.052,2991,1065,1770,0,0,0,0,0,0
$GC,10568,0.67,273.0,730.3,14.2,851,10572,0.08,1.12,0.00,0.000,6,0.151,0.047,2967,1781,1767,0,0,0,0,0,0
$GC,10891,0.66,273.0,688.1,13.2,867,10895,0.00,1.08,0.00,0.000,4,0.000,0.056,2965,2490,1764,0,0,0,0,0,0
$GC,10924,0.66,273.0,682.8,13.7,868,10928,0.00,1.10,0.00,0.000,6,0.000,0.046,2968,1778,1764,0,0,0,0,0,0
$GC,11246,0.66,273.0,637.4,14.1,884,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1778,1763,0,0,0,0,0,0
$GC,11559,0.66,273.0,592.8,15.2,901,11562,0.00,1.08,0.00,0.000,4,0.000,0.053,2965,2479,1763,0,0,0,0,0,0
$GC,11586,0.66,273.0,588.1,15.2,903,11593,0.00,1.08,0.00,0.000,6,0.000,0.044,2968,1776,1763,0,0,0,0,0,0
$GC,11913,0.66,273.0,541.7,13.8,934,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1776,1762,0,0,0,0,0,0
$GC,12231,0.66,273.0,501.3,12.6,964,12234,0.00,1.08,0.00,0.000,4,0.000,0.053,2966,2481,1762,0,0,0,0,0,0
$GC,12254,0.66,273.0,498.2,12.5,966,12258,0.00,1.08,0.00,0.000,6,0.000,0.044,2969,1772,1762,0,0,0,0,0,0
$GC,12585,0.66,273.0,457.3,12.5,997,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1772,1761,0,0,0,0,0,0
$GC,12906,0.68,290.9,421.6,11.1,1027,12929,0.00,1.05,16.58,0.986,4,0.000,0.045,2974,1074,1697,0,0,0,0,0,0
$GC,12970,0.71,316.0,414.5,10.8,1032,13001,0.00,1.08,24.70,0.999,6,0.000,0.041,2971,1783,1594,0,0,0,0,0,0
$GC,13319,0.73,316.0,370.0,14.2,1065,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1783,1591,0,0,0,0,0,0
$GC,13646,0.74,316.0,323.2,14.0,1096,13650,0.00,1.10,0.00,0.000,4,0.000,0.047,2974,1080,1590,0,0,0,0,0,0
$GC,13676,0.76,316.0,318.9,14.0,1098,13683,0.00,1.05,0.00,0.000,6,0.000,0.039,2971,1778,1590,0,0,0,0,0,0
$GC,14003,0.79,316.0,274.0,13.1,1129,14006,0.00,1.08,0.00,0.000,4,0.000,0.047,2974,1076,1590,0,0,0,0,0,0
$GC,14028,0.81,316.0,270.8,12.9,1131,14033,0.08,1.05,0.00,0.000,6,0.061,0.038,3028,1781,1590,0,0,0,0,0,0
$GC,14356,0.79,316.0,221.8,13.9,1179,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1782,1590,0,0,0,0,0,0
$GC,14684,0.77,316.0,175.9,13.8,1240,14692,0.12,1.10,0.00,0.000,4,0.158,0.047,2998,1078,1590,0,0,0,0,0,0
$GC,14709,0.77,316.0,173.1,12.8,1243,14717,0.00,1.05,0.00,0.000,6,0.000,0.037,2995,1780,1590,0,0,0,0,0,0
$GC,15035,0.85,364.4,137.0,9.8,1304,15088,0.00,1.10,43.00,0.767,4,0.000,0.041,2998,1080,1396,0,0,0,0,0,0
$GC,15117,1.01,453.5,129.8,8.2,1316,15199,0.15,1.05,76.30,0.754,6,0.041,0.036,3089,1784,1034,0,0,0,0,0,0
$GC,15519,1.01,453.5,63.4,15.9,1387,15527,0.00,1.00,0.00,0.000,4,0.000,0.044,3089,2473,1029,0,0,0,0,0,0
$GC,15584,1.02,453.5,54.0,14.9,1398,15596,0.00,1.05,0.00,0.000,6,0.000,0.038,3094,1774,1029,0,0,0,0,0,0
$GC,15913,1.02,453.5,4.9,14.3,1459,15920,0.00,1.05,0.00,0.000,4,0.000,0.043,3094,2471,1029,0,0,0,0,0,0
$STATE,15929,end climb,SURFACE_DEPTH_REACHED
$STATE,15929,begin surface coast
$FINISH,1.3,1.012418
$STATE,15954,end surface coast,CONTROL_FINISHED_OK
$STATE,15954,begin surface
$SM_CCo,16033,0.00,0.000,0,0,1028,455.28
$SM_GC,2.03,7.47,0.00,0.00,0.030,0.000,0.000,129,1600,1028,-8.06,-0.25,455.28,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12308.14,111011,020207
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.74
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,24.50
$XPDR_PINGS,98
$24V_AH,22.9,85.867
$10V_AH,9.8,60.481
$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,19.250,59.925,581.575,0.000,0.000,25.586,26.929,192.176,24.500,0.000,16.505,3605.356,8298.188,618.704,3420.065,479.865,0.000,1971.949,0.000,3195.484,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,69.615,1444.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.244,1501.594,1636.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330416
$DATA_FILE_SIZE,83475,1465
$CAP_FILE_SIZE,163718,0
$CFSIZE,260165632,115396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,129.1,1
$GPS,111011,120037,2339.705,12317.755,27,1.5,27,-3.3