version: 66.09
glider: 166
mission: 6
dive: 363
start: 10 12 111 11 24 37
data:
$ID,166
$MISSION,6
$DIVE,363
$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,-24856.238
$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,45
$R_STBD_OVSHOOT,52
$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
$GPS1,121011,111700,2346.261,12339.808,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.7
$GPS2,121011,112414,2346.267,12339.973,16,1.6,16,-3.4
$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,76.8,26379,-18.1,-11.786
$D_GRID,3167
$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,-88.78,0.000,2,0.000,0.000,126,1601,3126,0,0,0,0,0,0
$GC,111,-0.64,-194.6,6.3,-10.2,12,136,9.48,1.12,-10.52,0.000,4,0.219,0.070,2527,2315,3681,0,0,0,0,0,0
$GC,152,-0.27,-194.6,24.1,-40.8,17,160,0.40,1.08,0.00,0.000,6,0.159,0.036,2645,1593,3682,0,0,0,0,0,0
$GC,481,-0.32,-194.6,74.7,-11.0,78,490,0.00,1.05,0.00,0.000,4,0.000,0.040,2642,2305,3684,0,0,0,0,0,0
$GC,547,-0.38,-194.6,82.7,-11.9,89,555,0.00,1.02,0.00,0.000,6,0.000,0.037,2641,1611,3684,0,0,0,0,0,0
$GC,875,-0.46,-194.6,113.4,-8.2,150,884,0.12,1.05,0.00,0.000,4,0.080,0.040,2549,2310,3684,0,0,0,0,0,0
$GC,977,-0.46,-194.6,125.5,-12.9,168,986,0.12,1.02,0.00,0.000,6,0.125,0.034,2592,1604,3685,0,0,0,0,0,0
$GC,1310,-0.51,-194.6,160.6,-9.7,229,1318,0.00,1.05,0.00,0.000,4,0.000,0.039,2589,2312,3685,0,0,0,0,0,0
$GC,1353,-0.56,-194.6,165.0,-9.3,236,1361,0.00,1.02,0.00,0.000,6,0.000,0.035,2588,1610,3685,0,0,0,0,0,0
$GC,1681,-0.61,-194.6,196.4,-10.0,297,1690,0.12,1.05,0.00,0.000,4,0.081,0.040,2498,909,3685,0,0,0,0,0,0
$GC,1721,-0.57,-194.6,202.5,-15.6,303,1732,0.20,1.02,0.00,0.000,6,0.133,0.034,2559,1610,3685,0,0,0,0,0,0
$GC,2049,-0.59,-194.6,244.5,-11.9,364,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1610,3685,0,0,0,0,0,0
$GC,2379,-0.63,-194.6,277.8,-10.0,399,2383,0.00,1.00,0.00,0.000,4,0.000,0.040,2555,2301,3685,0,0,0,0,0,0
$GC,2496,-0.68,-194.6,289.3,-9.1,409,2502,0.00,1.02,0.00,0.000,6,0.000,0.035,2556,1606,3685,0,0,0,0,0,0
$GC,2822,-0.71,-194.6,321.1,-9.5,440,2826,0.12,1.02,0.00,0.000,4,0.082,0.039,2474,919,3684,0,0,0,0,0,0
$GC,2867,-0.67,-194.6,327.5,-16.2,444,2871,0.17,1.02,0.00,0.000,6,0.135,0.034,2528,1616,3684,0,0,0,0,0,0
$GC,3198,-0.68,-194.6,369.5,-11.8,475,3201,0.00,1.00,0.00,0.000,4,0.000,0.042,2526,2299,3682,0,0,0,0,0,0
$GC,3280,-0.70,-194.6,378.4,-10.9,482,3284,0.00,1.00,0.00,0.000,6,0.000,0.037,2527,1619,3681,0,0,0,0,0,0
$GC,3610,-0.70,-194.6,414.2,-10.4,513,3614,0.00,1.05,0.00,0.000,4,0.000,0.040,2528,905,3680,0,0,0,0,0,0
$GC,3685,-0.71,-194.6,422.1,-10.7,519,3692,0.00,1.05,0.00,0.000,6,0.000,0.035,2534,1616,3680,0,0,0,0,0,0
$GC,4011,-0.72,-194.6,457.6,-11.0,550,4015,0.00,1.00,0.00,0.000,4,0.000,0.044,2533,2299,3678,0,0,0,0,0,0
$GC,4127,-0.74,-194.6,470.2,-11.1,560,4131,0.00,1.02,0.00,0.000,6,0.000,0.037,2533,1603,3677,0,0,0,0,0,0
$GC,4459,-0.75,-194.6,508.9,-10.3,591,4463,0.00,1.08,0.00,0.000,4,0.000,0.045,2529,2300,3675,0,0,0,0,0,0
$GC,4542,-0.78,-194.6,516.6,-9.7,598,4546,0.08,1.02,0.00,0.000,6,0.051,0.039,2468,1607,3675,0,0,0,0,0,0
$GC,4872,-0.73,-194.6,564.7,-15.1,629,4877,0.15,1.05,0.00,0.000,4,0.164,0.044,2510,916,3673,0,0,0,0,0,0
$GC,5015,-0.73,-194.6,582.7,-11.9,641,5022,0.00,1.02,0.00,0.000,6,0.000,0.039,2507,1601,3672,0,0,0,0,0,0
$GC,5346,-0.73,-194.6,623.6,-12.6,664,5350,0.00,1.05,0.00,0.000,4,0.000,0.044,2507,905,3669,0,0,0,0,0,0
$GC,5420,-0.73,-194.6,633.1,-12.7,667,5424,0.00,1.08,0.00,0.000,6,0.000,0.039,2502,1622,3669,0,0,0,0,0,0
$GC,5747,-0.73,-194.6,676.9,-13.5,683,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1622,3666,0,0,0,0,0,0
$GC,6058,-0.73,-194.6,715.0,-12.0,698,6062,0.00,1.02,0.00,0.000,4,0.000,0.050,2497,2302,3664,0,0,0,0,0,0
$GC,6097,-0.73,-194.6,720.0,-11.6,699,6104,0.00,1.02,0.00,0.000,6,0.000,0.042,2497,1622,3664,0,0,0,0,0,0
$GC,6414,-0.73,-194.6,758.5,-12.5,715,6418,0.00,1.08,0.00,0.000,4,0.000,0.047,2497,910,3661,0,0,0,0,0,0
$GC,6484,-0.73,-194.6,767.1,-12.5,718,6488,0.00,1.05,0.00,0.000,6,0.000,0.044,2492,1596,3661,0,0,0,0,0,0
$GC,6817,-0.73,-194.6,807.1,-12.0,734,6820,0.00,1.08,0.00,0.000,4,0.000,0.053,2487,2305,3658,0,0,0,0,0,0
$GC,6840,-0.73,-194.6,810.0,-12.1,735,6844,0.00,1.05,0.00,0.000,6,0.000,0.045,2487,1614,3658,0,0,0,0,0,0
$GC,7176,-0.73,-194.6,851.5,-12.5,751,7179,0.00,1.08,0.00,0.000,4,0.000,0.051,2487,908,3656,0,0,0,0,0,0
$GC,7315,-0.73,-194.6,870.0,-12.8,757,7319,0.00,1.08,0.00,0.000,6,0.000,0.047,2482,1607,3655,0,0,0,0,0,0
$GC,7644,-0.73,-194.6,911.8,-12.8,773,7648,0.00,1.10,0.00,0.000,4,0.000,0.053,2482,902,3653,0,0,0,0,0,0
$GC,7790,-0.73,-194.6,932.4,-14.0,779,7794,0.00,1.10,0.00,0.000,6,0.000,0.050,2477,1605,3653,0,0,0,0,0,0
$GC,8115,-0.72,-194.6,975.9,-13.5,795,8117,0.12,0.00,0.00,0.000,6,0.174,0.000,2510,1606,3651,0,0,0,0,0,0
$STATE,8254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8254,begin apogee
$GC,8260,-0.11,0.0,991.8,10.7,802,8433,0.57,0.00,167.32,1.441,6,0.122,0.000,2700,1787,2884,0,0,0,0,0,0
$STATE,8434,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8437,0.64,194.6,997.7,0.0,810,8624,0.70,1.17,179.93,1.384,4,0.070,0.058,2952,2479,2090,0,0,0,0,0,0
$GC,8653,0.62,194.6,978.3,12.3,820,8657,0.00,1.12,0.00,0.000,6,0.000,0.048,2956,1788,2086,0,0,0,0,0,0
$GC,8986,0.58,194.6,930.1,14.6,836,8990,0.00,1.08,0.00,0.000,4,0.000,0.058,2956,2474,2081,0,0,0,0,0,0
$GC,9077,0.56,194.6,916.8,14.5,840,9082,0.10,1.08,0.00,0.000,6,0.153,0.048,2929,1781,2080,0,0,0,0,0,0
$GC,9412,0.57,204.3,877.9,11.4,856,9426,0.00,1.12,8.57,1.134,4,0.000,0.054,2932,1074,2051,0,0,0,0,0,0
$GC,9449,0.58,209.1,873.2,11.6,857,9460,0.00,1.10,6.28,1.024,6,0.000,0.047,2932,1781,2031,0,0,0,0,0,0
$GC,9792,0.58,209.9,833.3,11.8,874,9796,0.00,1.08,0.00,0.000,4,0.000,0.057,2932,2485,2027,0,0,0,0,0,0
$GC,9838,0.58,209.9,827.3,11.9,876,9841,0.00,1.10,0.00,0.000,6,0.000,0.047,2936,1773,2027,0,0,0,0,0,0
$GC,10173,0.59,216.2,788.1,11.5,892,10183,0.00,0.00,7.35,1.076,6,0.000,0.000,2936,1773,2002,0,0,0,0,0,0
$GC,10500,0.62,242.4,752.6,10.7,908,10530,0.00,1.10,25.98,1.261,4,0.000,0.052,2937,2489,1894,0,0,0,0,0,0
$GC,10571,0.67,276.2,745.1,10.4,911,10610,0.00,1.12,32.92,1.249,6,0.000,0.047,2941,1774,1758,0,0,0,0,0,0
$GC,10920,0.68,276.2,704.7,12.3,928,10924,0.00,1.10,0.00,0.000,4,0.000,0.053,2941,2489,1753,0,0,0,0,0,0
$GC,10970,0.70,276.2,698.2,12.1,930,10974,0.00,1.10,0.00,0.000,6,0.000,0.046,2944,1779,1753,0,0,0,0,0,0
$GC,11300,0.72,276.2,658.6,12.1,946,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1779,1751,0,0,0,0,0,0
$GC,11607,0.74,285.3,621.9,11.4,961,11622,0.12,1.12,9.00,1.047,4,0.091,0.054,3012,2482,1721,0,0,0,0,0,0
$GC,11641,0.70,285.3,617.0,14.8,962,11645,0.12,1.10,0.00,0.000,6,0.156,0.045,2977,1772,1721,0,0,0,0,0,0
$GC,11968,0.69,285.3,571.4,13.5,987,11972,0.00,1.05,0.00,0.000,4,0.000,0.050,2981,1075,1719,0,0,0,0,0,0
$GC,12005,0.68,285.3,566.5,14.0,990,12009,0.00,1.08,0.00,0.000,6,0.000,0.043,2979,1783,1719,0,0,0,0,0,0
$GC,12336,0.67,285.3,518.2,15.0,1021,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1784,1717,0,0,0,0,0,0
$GC,12659,0.67,285.3,475.8,12.5,1051,12663,0.00,1.05,0.00,0.000,4,0.000,0.052,2979,2480,1718,0,0,0,0,0,0
$GC,12708,0.67,285.3,468.5,12.9,1055,12716,0.00,1.08,0.00,0.000,6,0.000,0.044,2982,1783,1718,0,0,0,0,0,0
$GC,13034,0.65,285.3,426.1,12.6,1086,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1783,1717,0,0,0,0,0,0
$GC,13354,0.65,285.3,382.3,14.2,1116,13358,0.00,1.08,0.00,0.000,4,0.000,0.047,2987,1068,1717,0,0,0,0,0,0
$GC,13380,0.65,285.3,378.7,14.1,1118,13384,0.00,1.08,0.00,0.000,6,0.000,0.041,2984,1780,1717,0,0,0,0,0,0
$GC,13711,0.65,285.3,334.1,12.5,1149,13714,0.00,1.08,0.00,0.000,4,0.000,0.050,2979,2482,1717,0,0,0,0,0,0
$GC,13784,0.65,285.3,325.3,11.8,1155,13791,0.00,1.08,0.00,0.000,6,0.000,0.043,2982,1778,1717,0,0,0,0,0,0
$GC,14109,0.65,285.3,287.1,11.8,1186,14113,0.00,1.05,0.00,0.000,4,0.000,0.047,2988,1076,1716,0,0,0,0,0,0
$GC,14136,0.66,286.7,283.7,11.7,1188,14144,0.00,1.05,0.00,0.000,6,0.000,0.040,2985,1779,1717,0,0,0,0,0,0
$GC,14466,0.67,294.3,243.1,11.5,1224,14482,0.00,1.10,9.77,0.775,4,0.000,0.049,2980,2482,1684,0,0,0,0,0,0
$GC,14527,0.70,308.4,236.5,11.2,1233,14551,0.00,1.08,14.68,0.810,6,0.000,0.041,2983,1779,1625,0,0,0,0,0,0
$GC,14869,0.73,322.9,197.3,11.2,1296,14893,0.00,1.08,14.12,0.773,4,0.000,0.044,2988,1073,1566,0,0,0,0,0,0
$GC,14976,0.80,361.4,186.4,10.2,1314,15015,0.00,1.05,35.17,0.806,6,0.000,0.037,2985,1776,1410,0,0,0,0,0,0
$GC,15337,0.96,452.8,151.8,8.1,1379,15425,0.20,1.12,78.68,0.778,4,0.064,0.041,3092,1068,1036,0,0,0,0,0,0
$GC,15453,0.92,452.8,129.9,21.0,1395,15462,0.12,1.08,0.00,0.000,6,0.140,0.037,3049,1780,1034,0,0,0,0,0,0
$GC,15785,0.96,452.8,82.1,12.0,1456,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1780,1032,0,0,0,0,0,0
$GC,16113,1.08,506.0,47.3,9.6,1517,16163,0.12,1.15,44.17,0.674,4,0.083,0.043,3132,1060,819,0,0,0,0,0,0
$GC,16216,1.07,506.0,32.5,16.9,1532,16225,0.10,1.08,0.00,0.000,6,0.135,0.035,3095,1784,816,0,0,0,0,0,0
$STATE,16425,end climb,SURFACE_DEPTH_REACHED
$STATE,16425,begin surface coast
$FINISH,1.4,1.021902
$STATE,16447,end surface coast,CONTROL_FINISHED_OK
$STATE,16448,begin surface
$SM_CCo,16527,0.00,0.000,0,0,814,507.77
$SM_GC,2.01,7.53,0.00,0.00,0.031,0.000,0.000,130,1592,814,-8.05,-0.48,507.77,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12336.18,121011,060637
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.56
$INTERNAL_PRESSURE,9.38971
$TCM_TEMP,24.70
$XPDR_PINGS,126
$24V_AH,22.9,87.207
$10V_AH,9.8,61.506
$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,20.800,73.050,633.950,0.000,0.000,27.930,47.365,193.802,31.500,0.000,16.979,3910.553,7987.842,669.243,3855.851,517.539,0.000,2158.966,0.000,3604.312,0.000,0.540,0.000
$DEVICE_MAMPS,218.790,69.615,1441.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.564,1614.606,1971.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86912,1575
$CAP_FILE_SIZE,181668,0
$CFSIZE,260165632,114827264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267, 69.8,1
$GPS,121011,160124,2348.034,12345.173,23,0.8,41,-3.4