version: 66.09
glider: 166
mission: 6
dive: 374
start: 10 14 111 13 17 24
data:
$ID,166
$MISSION,6
$DIVE,374
$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,270
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,210
$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,-24870.098
$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,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,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
$GPS1,141011,130936,2348.170,12357.569,40,1.2,46,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-71.5
$GPS2,141011,131702,2348.117,12357.665,13,1.4,13,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2338.765,12351.771
$TGT_RADIUS,1852.000
$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,213.4,20000,-16.7,-13.750
$D_GRID,2973
$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,18,-0.73,-292.0,0.0,0.0,0,133,0.00,0.00,-112.40,0.000,2,0.000,0.000,123,1594,3173,0,0,0,0,0,0
$GC,137,-0.73,-292.0,6.4,-10.5,16,167,9.32,1.00,-14.25,0.000,4,0.217,0.070,2498,909,3962,0,0,0,0,0,0
$GC,320,-0.64,-292.0,72.6,-24.6,49,329,0.12,1.02,0.00,0.000,6,0.148,0.039,2534,1590,3963,0,0,0,0,0,0
$GC,644,-0.59,-292.0,140.9,-18.5,110,652,0.00,1.05,0.00,0.000,4,0.000,0.044,2531,2302,3964,0,0,0,0,0,0
$GC,789,-0.59,-292.0,164.1,-14.4,136,797,0.00,1.02,0.00,0.000,6,0.000,0.037,2529,1608,3965,0,0,0,0,0,0
$GC,1113,-0.57,-292.0,218.8,-16.2,197,1121,0.12,1.08,0.00,0.000,4,0.159,0.045,2560,2307,3965,0,0,0,0,0,0
$GC,1299,-0.61,-292.0,240.2,-9.7,232,1307,0.00,1.02,0.00,0.000,6,0.000,0.040,2560,1621,3965,0,0,0,0,0,0
$GC,1628,-0.65,-292.0,273.7,-9.8,271,1632,0.00,1.02,0.00,0.000,4,0.000,0.044,2555,2302,3965,0,0,0,0,0,0
$GC,1713,-0.70,-292.0,281.9,-9.5,278,1722,0.08,1.05,0.00,0.000,6,0.050,0.041,2483,1603,3965,0,0,0,0,0,0
$GC,2038,-0.65,-292.0,336.9,-16.0,309,2043,0.17,1.10,0.00,0.000,4,0.150,0.047,2531,2307,3964,0,0,0,0,0,0
$GC,2114,-0.68,-292.0,345.5,-9.9,315,2120,0.00,1.05,0.00,0.000,6,0.000,0.042,2531,1613,3964,0,0,0,0,0,0
$GC,2440,-0.70,-292.0,381.8,-11.7,346,2443,0.00,1.05,0.00,0.000,4,0.000,0.048,2527,2305,3962,0,0,0,0,0,0
$GC,2526,-0.73,-292.0,391.1,-10.5,353,2532,0.00,1.05,0.00,0.000,6,0.000,0.042,2527,1610,3963,0,0,0,0,0,0
$GC,2852,-0.75,-292.0,428.5,-11.1,384,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1610,3960,0,0,0,0,0,0
$GC,3173,-0.78,-292.0,464.2,-11.0,414,3178,0.12,1.08,0.00,0.000,4,0.083,0.050,2458,2299,3958,0,0,0,0,0,0
$GC,3242,-0.75,-292.0,475.0,-16.1,420,3247,0.12,1.05,0.00,0.000,6,0.131,0.044,2500,1608,3957,0,0,0,0,0,0
$GC,3572,-0.75,-292.0,521.3,-13.8,451,3576,0.00,1.08,0.00,0.000,4,0.000,0.050,2505,2301,3955,0,0,0,0,0,0
$GC,3611,-0.75,-292.0,526.5,-12.9,454,3618,0.00,1.05,0.00,0.000,6,0.000,0.044,2508,1612,3954,0,0,0,0,0,0
$GC,3936,-0.75,-292.0,567.6,-12.8,485,3940,0.00,1.08,0.00,0.000,4,0.000,0.053,2506,2305,3953,0,0,0,0,0,0
$GC,4028,-0.76,-292.0,578.1,-11.1,493,4031,0.00,1.05,0.00,0.000,6,0.000,0.045,2506,1611,3952,0,0,0,0,0,0
$GC,4358,-0.76,-292.0,618.4,-12.4,517,4362,0.00,1.08,0.00,0.000,4,0.000,0.054,2501,2307,3949,0,0,0,0,0,0
$GC,4431,-0.77,-292.0,627.0,-10.6,520,4435,0.00,1.08,0.00,0.000,6,0.000,0.045,2501,1603,3948,0,0,0,0,0,0
$GC,4761,-0.77,-292.0,666.8,-12.3,536,4764,0.00,1.08,0.00,0.000,4,0.000,0.054,2496,2296,3945,0,0,0,0,0,0
$GC,4844,-0.77,-292.0,677.2,-11.7,539,4851,0.00,1.05,0.00,0.000,6,0.000,0.046,2496,1604,3945,0,0,0,0,0,0
$GC,5163,-0.77,-292.0,717.9,-13.5,555,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1604,3943,0,0,0,0,0,0
$GC,5470,-0.77,-292.0,761.0,-13.6,570,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1604,3940,0,0,0,0,0,0
$GC,5779,-0.77,-292.0,800.6,-12.2,585,5783,0.00,1.05,0.00,0.000,4,0.000,0.051,2496,916,3938,0,0,0,0,0,0
$GC,5819,-0.77,-292.0,805.4,-12.0,586,5826,0.00,1.08,0.00,0.000,6,0.000,0.048,2491,1607,3937,0,0,0,0,0,0
$GC,6135,-0.77,-292.0,843.1,-12.2,602,6139,0.00,1.08,0.00,0.000,4,0.000,0.057,2486,2310,3935,0,0,0,0,0,0
$GC,6185,-0.77,-292.0,849.4,-12.1,604,6189,0.00,1.08,0.00,0.000,6,0.000,0.048,2486,1612,3935,0,0,0,0,0,0
$GC,6515,-0.77,-292.0,891.2,-13.2,620,6519,0.00,1.08,0.00,0.000,4,0.000,0.054,2486,914,3932,0,0,0,0,0,0
$GC,6561,-0.77,-292.0,897.9,-14.0,622,6564,0.00,1.08,0.00,0.000,6,0.000,0.050,2481,1604,3931,0,0,0,0,0,0
$GC,6896,-0.77,-292.0,943.6,-13.7,638,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1604,3930,0,0,0,0,0,0
$GC,7203,-0.77,-292.0,985.9,-13.7,653,7207,0.00,1.10,0.00,0.000,4,0.000,0.053,2481,907,3927,0,0,0,0,0,0
$STATE,7228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7228,begin apogee
$GC,7236,-0.11,0.0,990.0,13.9,654,7470,0.70,0.00,226.77,1.429,6,0.125,0.000,2701,1785,2884,0,0,0,0,0,0
$STATE,7472,end apogee,CONTROL_FINISHED_OK
$STATE,7472,begin climb
$GC,7475,0.73,292.0,1003.9,0.0,665,7757,0.77,1.17,269.67,1.366,4,0.059,0.058,2985,2482,1693,0,0,0,0,0,0
$GC,7899,0.69,292.0,946.1,17.7,685,7903,0.00,1.10,0.00,0.000,6,0.000,0.050,2988,1785,1689,0,0,0,0,0,0
$GC,8235,0.64,292.0,885.3,18.5,701,8239,0.12,1.10,0.00,0.000,4,0.183,0.054,2961,1075,1686,0,0,0,0,0,0
$GC,8258,0.61,292.0,880.7,18.3,702,8261,0.00,1.10,0.00,0.000,6,0.000,0.047,2960,1783,1685,0,0,0,0,0,0
$GC,8591,0.59,292.0,830.8,14.6,718,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1784,1684,0,0,0,0,0,0
$GC,8902,0.57,292.0,785.8,14.4,733,8907,0.12,1.05,0.00,0.000,4,0.166,0.054,2922,2484,1683,0,0,0,0,0,0
$GC,8935,0.59,302.5,781.0,13.4,734,8950,0.00,1.10,10.02,1.135,6,0.000,0.046,2925,1770,1649,0,0,0,0,0,0
$GC,9284,0.71,383.2,742.2,11.2,751,9369,0.15,1.08,77.30,1.265,4,0.079,0.049,3005,1069,1320,0,0,0,0,0,0
$GC,9399,0.68,383.2,721.5,18.4,756,9403,0.12,1.12,0.00,0.000,6,0.143,0.044,2967,1785,1318,0,0,0,0,0,0
$GC,9728,0.68,383.2,671.6,14.8,772,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1785,1314,0,0,0,0,0,0
$GC,10035,0.68,383.2,626.9,14.4,787,10038,0.00,1.10,0.00,0.000,4,0.000,0.050,2970,1067,1313,0,0,0,0,0,0
$GC,10098,0.68,383.2,617.9,14.2,789,10104,0.00,1.10,0.00,0.000,6,0.000,0.044,2969,1787,1312,0,0,0,0,0,0
$GC,10420,0.68,383.2,571.2,14.1,814,10424,0.00,1.05,0.00,0.000,4,0.000,0.054,2969,2480,1312,0,0,0,0,0,0
$GC,10467,0.73,416.3,565.0,12.7,818,10503,0.00,1.08,30.10,1.128,6,0.000,0.044,2972,1777,1185,0,0,0,0,0,0
$GC,10822,0.84,507.4,522.7,10.9,851,10913,0.12,1.15,82.53,1.106,4,0.087,0.050,3048,1074,814,0,0,0,0,0,0
$GC,10953,0.80,507.4,498.5,20.5,862,10960,0.12,1.10,0.00,0.000,6,0.142,0.042,3009,1783,809,0,0,0,0,0,0
$GC,11280,0.80,507.4,443.8,17.0,893,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1785,804,0,0,0,0,0,0
$GC,11597,0.80,507.4,390.9,16.7,923,11601,0.00,1.10,0.00,0.000,4,0.000,0.049,3012,1069,803,0,0,0,0,0,0
$GC,11658,0.80,507.4,379.9,16.7,928,11665,0.00,1.08,0.00,0.000,6,0.000,0.041,3010,1781,803,0,0,0,0,0,0
$GC,11985,0.80,507.4,324.6,18.0,959,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1781,802,0,0,0,0,0,0
$GC,12308,0.81,507.4,273.2,14.7,989,12312,0.00,1.10,0.00,0.000,4,0.000,0.047,3014,1069,802,0,0,0,0,0,0
$GC,12364,0.83,507.4,264.4,14.2,994,12368,0.00,1.08,0.00,0.000,6,0.000,0.040,3010,1784,802,0,0,0,0,0,0
$GC,12689,0.85,507.4,216.1,14.5,1045,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1784,801,0,0,0,0,0,0
$GC,13021,0.88,507.4,169.2,14.0,1106,13029,0.00,1.08,0.00,0.000,4,0.000,0.046,3015,1077,801,0,0,0,0,0,0
$GC,13078,0.93,526.5,160.9,13.1,1116,13101,0.00,1.05,16.23,0.747,6,0.000,0.037,3015,1787,736,0,0,0,0,0,0
$GC,13418,1.18,672.8,124.5,9.1,1179,13490,0.25,1.15,66.22,0.747,4,0.054,0.042,3156,1068,454,0,0,0,0,0,0
$GC,13603,1.12,672.8,80.0,25.3,1210,13612,0.15,1.08,0.00,0.000,6,0.142,0.037,3109,1779,444,0,0,0,0,0,0
$GC,13933,1.14,672.8,26.7,14.2,1271,13941,0.00,1.02,0.00,0.000,4,0.000,0.044,3104,2476,436,0,0,0,0,0,0
$GC,13973,1.19,684.1,21.4,13.4,1277,13981,0.00,1.05,0.00,0.000,6,0.000,0.039,3105,1775,436,0,0,0,0,0,0
$STATE,14117,end climb,SURFACE_DEPTH_REACHED
$STATE,14117,begin surface coast
$FINISH,1.3,1.007097
$STATE,14139,end surface coast,CONTROL_FINISHED_OK
$STATE,14139,begin surface
$SM_CCo,14217,0.00,0.000,0,0,433,600.98
$SM_GC,2.08,7.60,0.00,0.00,0.034,0.000,0.000,132,1602,433,-8.03,-0.23,600.98,0,0,0,0,0,0
$IRIDIUM_FIX,2340.34,12354.47,141011,080835
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.66
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.00
$XPDR_PINGS,118
$24V_AH,22.8,89.678
$10V_AH,9.8,63.321
$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,20.325,58.500,778.850,0.000,0.000,30.423,53.022,198.140,29.500,0.000,14.438,3048.014,7141.344,747.960,3258.046,449.498,0.000,2079.583,0.000,2981.701,0.000,0.540,0.000
$DEVICE_MAMPS,217.260,70.380,1429.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.574,1338.733,1493.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,73610,1308
$CAP_FILE_SIZE,156023,0
$CFSIZE,260165632,113885184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141011,171556,2346.567,12358.700,36,2.6,55,-3.4