version: 66.09
glider: 166
mission: 6
dive: 381
start: 10 15 111 18 28 16
data:
$ID,166
$MISSION,6
$DIVE,381
$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,240
$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,-24879.002
$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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,151011,182027,2342.087,12359.113,31,2.2,50,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-65.8
$GPS2,151011,182754,2342.075,12359.311,41,1.8,41,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2336.675,12349.104
$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,243.4,20000,-16.7,-13.750
$D_GRID,2992
$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,-0.73,-292.0,0.0,0.0,0,126,0.00,0.00,-106.57,0.000,2,0.000,0.000,137,1631,2943,0,0,0,0,0,0
$GC,129,-0.73,-292.0,5.0,-5.2,15,166,9.35,0.98,-20.05,0.000,4,0.223,0.067,2498,2290,3962,0,0,0,0,0,0
$GC,337,-0.62,-292.0,72.0,-27.1,52,346,0.15,1.02,0.00,0.000,6,0.149,0.037,2539,1593,3963,0,0,0,0,0,0
$GC,661,-0.58,-292.0,140.8,-18.4,113,669,0.00,1.05,0.00,0.000,4,0.000,0.042,2536,2294,3964,0,0,0,0,0,0
$GC,689,-0.54,-292.0,144.9,-17.7,116,697,0.08,1.00,0.00,0.000,6,0.137,0.037,2562,1615,3964,0,0,0,0,0,0
$GC,1015,-0.54,-292.0,193.6,-13.7,177,1023,0.00,1.02,0.00,0.000,4,0.000,0.044,2558,2294,3965,0,0,0,0,0,0
$GC,1045,-0.56,-292.0,197.5,-12.6,181,1053,0.00,1.02,0.00,0.000,6,0.000,0.039,2558,1605,3964,0,0,0,0,0,0
$GC,1372,-0.58,-292.0,237.3,-10.7,242,1380,0.00,1.02,0.00,0.000,4,0.000,0.045,2554,2279,3965,0,0,0,0,0,0
$GC,1444,-0.62,-292.0,245.3,-10.2,255,1452,0.00,1.00,0.00,0.000,6,0.000,0.041,2554,1614,3965,0,0,0,0,0,0
$GC,1777,-0.65,-292.0,282.4,-11.2,290,1780,0.00,1.02,0.00,0.000,4,0.000,0.048,2549,2286,3965,0,0,0,0,0,0
$GC,1869,-0.69,-292.0,292.0,-10.4,298,1872,0.00,1.02,0.00,0.000,6,0.000,0.043,2549,1606,3965,0,0,0,0,0,0
$GC,2200,-0.72,-292.0,329.1,-11.0,329,2205,0.10,1.05,0.00,0.000,4,0.097,0.047,2475,2289,3964,0,0,0,0,0,0
$GC,2365,-0.68,-292.0,355.2,-16.0,343,2372,0.12,1.02,0.00,0.000,6,0.132,0.042,2519,1610,3963,0,0,0,0,0,0
$GC,2691,-0.69,-292.0,397.8,-12.0,374,2695,0.00,1.05,0.00,0.000,4,0.000,0.050,2517,2284,3962,0,0,0,0,0,0
$GC,2784,-0.72,-292.0,407.4,-10.5,382,2788,0.00,1.02,0.00,0.000,6,0.000,0.044,2517,1607,3961,0,0,0,0,0,0
$GC,3118,-0.73,-292.0,447.5,-11.7,413,3122,0.00,1.02,0.00,0.000,4,0.000,0.050,2512,2281,3959,0,0,0,0,0,0
$GC,3149,-0.75,-292.0,451.3,-11.6,415,3155,0.00,1.02,0.00,0.000,6,0.000,0.044,2512,1603,3959,0,0,0,0,0,0
$GC,3474,-0.76,-292.0,486.6,-10.1,446,3478,0.00,1.05,0.00,0.000,4,0.000,0.048,2513,907,3957,0,0,0,0,0,0
$GC,3523,-0.78,-292.0,491.5,-10.3,450,3527,0.00,1.02,0.00,0.000,6,0.000,0.043,2507,1583,3956,0,0,0,0,0,0
$GC,3855,-0.79,-292.0,526.1,-10.5,481,3858,0.00,1.08,0.00,0.000,4,0.000,0.050,2502,2298,3954,0,0,0,0,0,0
$GC,4032,-0.82,-292.0,543.6,-10.2,496,4039,0.00,1.05,0.00,0.000,6,0.000,0.044,2502,1609,3952,0,0,0,0,0,0
$GC,4360,-0.83,-292.0,580.2,-11.1,527,4364,0.00,1.05,0.00,0.000,4,0.000,0.051,2509,918,3950,0,0,0,0,0,0
$GC,4376,-0.84,-292.0,582.5,-11.1,528,4384,0.08,1.05,0.00,0.000,6,0.058,0.043,2457,1608,3949,0,0,0,0,0,0
$GC,4697,-0.79,-292.0,636.5,-17.0,549,4701,0.12,1.08,0.00,0.000,4,0.175,0.053,2492,2306,3948,0,0,0,0,0,0
$GC,4749,-0.79,-292.0,644.2,-13.5,551,4753,0.00,1.08,0.00,0.000,6,0.000,0.047,2493,1608,3947,0,0,0,0,0,0
$GC,5076,-0.79,-292.0,686.2,-12.0,567,5080,0.00,1.10,0.00,0.000,4,0.000,0.054,2489,2308,3944,0,0,0,0,0,0
$GC,5125,-0.79,-292.0,691.5,-11.4,569,5128,0.00,1.08,0.00,0.000,6,0.000,0.048,2488,1611,3944,0,0,0,0,0,0
$GC,5458,-0.79,-292.0,732.5,-12.2,585,5461,0.00,1.08,0.00,0.000,4,0.000,0.054,2488,909,3940,0,0,0,0,0,0
$GC,5536,-0.79,-292.0,742.3,-12.2,588,5540,0.00,1.08,0.00,0.000,6,0.000,0.047,2483,1607,3940,0,0,0,0,0,0
$GC,5860,-0.78,-292.0,783.9,-13.3,604,5864,0.00,1.08,0.00,0.000,4,0.000,0.055,2478,2310,3938,0,0,0,0,0,0
$GC,5906,-0.78,-292.0,790.2,-12.6,606,5910,0.00,1.08,0.00,0.000,6,0.000,0.047,2478,1609,3938,0,0,0,0,0,0
$GC,6242,-0.77,-292.0,836.5,-14.2,622,6245,0.00,1.10,0.00,0.000,4,0.000,0.054,2478,909,3934,0,0,0,0,0,0
$GC,6288,-0.76,-292.0,843.7,-14.8,624,6291,0.00,1.10,0.00,0.000,6,0.000,0.048,2472,1616,3934,0,0,0,0,0,0
$GC,6623,-0.75,-292.0,892.6,-14.6,640,6628,0.12,1.08,0.00,0.000,4,0.171,0.057,2504,2305,3931,0,0,0,0,0,0
$GC,6650,-0.75,-292.0,896.6,-14.0,641,6654,0.00,1.08,0.00,0.000,6,0.000,0.047,2503,1607,3932,0,0,0,0,0,0
$GC,6978,-0.77,-292.0,935.1,-11.8,657,6982,0.00,1.10,0.00,0.000,4,0.000,0.059,2498,2304,3929,0,0,0,0,0,0
$GC,7014,-0.79,-292.0,939.1,-11.3,658,7017,0.00,1.08,0.00,0.000,6,0.000,0.050,2498,1611,3929,0,0,0,0,0,0
$GC,7336,-0.81,-292.0,977.0,-11.6,674,7340,0.00,1.10,0.00,0.000,4,0.000,0.056,2498,905,3927,0,0,0,0,0,0
$GC,7383,-0.83,-292.0,982.3,-11.6,676,7386,0.00,1.10,0.00,0.000,6,0.000,0.049,2493,1611,3927,0,0,0,0,0,0
$STATE,7465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7466,begin apogee
$GC,7474,-0.11,0.0,991.8,11.1,680,7706,0.65,0.00,226.02,1.439,6,0.122,0.000,2704,1788,2884,0,0,0,0,0,0
$STATE,7710,end apogee,CONTROL_FINISHED_OK
$STATE,7710,begin climb
$GC,7713,0.73,292.0,1002.1,0.0,691,7991,0.75,1.20,267.67,1.377,4,0.056,0.064,2987,1088,1693,0,0,0,0,0,0
$GC,8038,0.69,292.0,956.9,18.3,706,8043,0.00,1.10,0.00,0.000,6,0.000,0.050,2987,1766,1690,0,0,0,0,0,0
$GC,8368,0.64,292.0,898.3,17.7,722,8373,0.12,1.12,0.00,0.000,4,0.179,0.059,2950,2486,1687,0,0,0,0,0,0
$GC,8446,0.64,292.0,886.1,14.1,725,8450,0.00,1.08,0.00,0.000,6,0.000,0.048,2953,1790,1686,0,0,0,0,0,0
$GC,8770,0.63,292.0,838.7,15.1,741,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1790,1684,0,0,0,0,0,0
$GC,9077,0.61,292.0,794.6,13.8,756,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1790,1683,0,0,0,0,0,0
$GC,9387,0.64,328.1,754.5,12.6,771,9429,0.00,1.15,33.70,1.265,4,0.000,0.056,2950,2491,1545,0,0,0,0,0,0
$GC,9471,0.71,384.0,744.1,12.0,774,9529,0.00,1.12,53.72,1.255,6,0.000,0.046,2953,1773,1317,0,0,0,0,0,0
$GC,9847,0.78,439.1,698.3,12.0,793,9904,0.12,1.10,50.08,1.226,4,0.089,0.052,3026,1084,1093,0,0,0,0,0,0
$GC,9928,0.73,439.1,683.8,19.0,796,9935,0.12,1.12,0.00,0.000,6,0.143,0.047,2987,1793,1092,0,0,0,0,0,0
$GC,10246,0.72,439.1,631.7,17.5,812,10250,0.00,1.05,0.00,0.000,4,0.000,0.054,2983,2486,1089,0,0,0,0,0,0
$GC,10368,0.72,439.1,611.6,14.8,817,10372,0.00,1.08,0.00,0.000,6,0.000,0.045,2986,1789,1088,0,0,0,0,0,0
$GC,10697,0.71,439.1,559.1,16.5,844,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1789,1088,0,0,0,0,0,0
$GC,11017,0.71,439.1,508.7,15.9,874,11021,0.00,1.08,0.00,0.000,4,0.000,0.052,2983,2492,1087,0,0,0,0,0,0
$GC,11064,0.72,439.1,501.4,14.6,878,11068,0.00,1.10,0.00,0.000,6,0.000,0.044,2986,1769,1087,0,0,0,0,0,0
$GC,11394,0.72,439.1,452.1,14.1,909,11398,0.00,1.02,0.00,0.000,4,0.000,0.049,2991,1084,1087,0,0,0,0,0,0
$GC,11469,0.72,439.1,441.1,14.7,915,11475,0.00,1.08,0.00,0.000,6,0.000,0.042,2991,1793,1086,0,0,0,0,0,0
$GC,11794,0.72,439.1,391.5,14.6,946,11797,0.00,1.02,0.00,0.000,4,0.000,0.051,2991,2484,1086,0,0,0,0,0,0
$GC,11823,0.72,439.1,387.3,14.4,948,11830,0.00,1.08,0.00,0.000,6,0.000,0.043,2994,1779,1086,0,0,0,0,0,0
$GC,12149,0.79,488.6,343.4,12.2,979,12196,0.00,1.05,43.42,0.961,4,0.000,0.044,2994,2477,891,0,0,0,0,0,0
$GC,12255,0.94,579.1,331.3,10.9,988,12347,0.10,1.08,84.12,0.936,6,0.047,0.041,3066,1778,523,0,0,0,0,0,0
$GC,12671,0.91,579.1,236.1,22.1,1032,12679,0.00,1.08,0.00,0.000,4,0.000,0.047,3066,2487,509,0,0,0,0,0,0
$GC,12737,0.89,579.1,223.0,19.8,1043,12746,0.10,1.08,0.00,0.000,6,0.142,0.041,3038,1782,508,0,0,0,0,0,0
$GC,13065,0.92,579.1,173.5,13.8,1104,13073,0.00,1.08,0.00,0.000,4,0.000,0.047,3041,1066,505,0,0,0,0,0,0
$GC,13157,0.98,599.2,161.2,13.1,1120,13187,0.00,1.08,21.05,0.694,6,0.000,0.037,3038,1794,455,0,0,0,0,1,0
$GC,13506,1.17,703.6,119.6,10.5,1184,13514,0.22,1.10,0.00,0.000,4,0.057,0.042,3151,1073,444,0,0,0,0,0,0
$GC,13624,1.10,703.6,93.0,25.3,1205,13633,0.15,1.05,0.00,0.000,6,0.143,0.037,3103,1789,441,0,0,0,0,0,0
$GC,13952,1.11,703.6,36.0,14.9,1266,13960,0.00,1.00,0.00,0.000,4,0.000,0.043,3094,2479,436,0,0,0,0,0,0
$GC,13990,1.14,704.7,30.3,13.7,1272,13997,0.00,1.05,0.00,0.000,6,0.000,0.040,3097,1779,436,0,0,0,0,0,0
$STATE,14203,end climb,SURFACE_DEPTH_REACHED
$STATE,14203,begin surface coast
$FINISH,1.2,0.998424
$STATE,14235,end surface coast,CONTROL_FINISHED_OK
$STATE,14235,begin surface
$SM_CCo,14315,0.00,0.000,0,0,432,601.48
$SM_GC,2.07,7.60,0.00,0.00,0.037,0.000,0.000,145,1574,432,-8.03,-1.02,601.48,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12357.07,151011,141414
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.60
$XPDR_PINGS,112
$24V_AH,22.9,91.750
$10V_AH,9.8,64.391
$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,20.075,68.650,779.800,0.000,0.000,28.385,41.419,190.571,28.000,0.000,41.924,3119.940,7038.397,767.617,3346.278,471.891,0.000,2138.289,0.000,3063.921,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,68.085,1438.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.084,1352.038,1503.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330404
$DATA_FILE_SIZE,73528,1319
$CAP_FILE_SIZE,166584,0
$CFSIZE,260165632,113274880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151011,222830,2340.975,12359.142,60,1.6,60,-3.4