version: 66.09
glider: 166
mission: 6
dive: 405
start: 10 19 111 23 16 52
data:
$ID,166
$MISSION,6
$DIVE,405
$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,-24912.969
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,191011,230724,2335.773,12340.067,24,1.6,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.9
$GPS2,191011,231630,2335.786,12340.200,35,2.0,39,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2330.386,12330.002
$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,243.3,20000,-16.7,-13.750
$D_GRID,3181
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.73,-292.0,0.0,0.0,0,135,0.00,0.00,-111.65,0.000,2,0.000,0.000,137,1603,3107,0,0,0,0,0,0
$GC,138,-0.73,-292.0,5.9,-10.4,16,168,9.15,1.10,-16.25,0.000,4,0.214,0.069,2507,892,3964,0,0,0,0,0,0
$GC,375,-0.65,-292.0,82.5,-25.2,59,384,0.08,1.08,0.00,0.000,6,0.156,0.040,2527,1605,3965,0,0,0,0,0,0
$GC,701,-0.59,-292.0,155.2,-20.2,120,709,0.00,1.08,0.00,0.000,4,0.000,0.044,2523,892,3966,0,0,0,0,0,0
$GC,720,-0.53,-292.0,159.0,-20.5,122,728,0.15,1.08,0.00,0.000,6,0.135,0.042,2568,1596,3966,0,0,0,0,0,0
$GC,1047,-0.55,-292.0,203.1,-12.0,183,1055,0.00,1.08,0.00,0.000,4,0.000,0.047,2564,2318,3966,0,0,0,0,0,0
$GC,1199,-0.59,-292.0,219.8,-10.5,211,1207,0.00,1.08,0.00,0.000,6,0.000,0.041,2564,1601,3966,0,0,0,0,0,0
$GC,1532,-0.63,-292.0,258.2,-10.7,266,1535,0.00,1.08,0.00,0.000,4,0.000,0.047,2559,2310,3966,0,0,0,0,0,0
$GC,1673,-0.68,-292.0,271.5,-9.0,278,1681,0.00,1.05,0.00,0.000,6,0.000,0.041,2559,1610,3966,0,0,0,0,0,0
$GC,1999,-0.72,-292.0,302.9,-9.9,309,2003,0.12,1.10,0.00,0.000,4,0.081,0.047,2475,2318,3966,0,0,0,0,0,0
$GC,2132,-0.68,-292.0,323.8,-17.6,320,2139,0.12,1.08,0.00,0.000,6,0.132,0.041,2518,1602,3965,0,0,0,0,0,0
$GC,2457,-0.68,-292.0,366.9,-11.2,351,2461,0.00,1.08,0.00,0.000,4,0.000,0.048,2515,2309,3964,0,0,0,0,0,0
$GC,2540,-0.69,-292.0,376.0,-11.0,358,2543,0.00,1.05,0.00,0.000,6,0.000,0.041,2515,1608,3964,0,0,0,0,0,0
$GC,2871,-0.69,-292.0,416.4,-11.7,389,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1608,3963,0,0,0,0,0,0
$GC,3194,-0.70,-292.0,453.7,-11.6,419,3197,0.00,1.08,0.00,0.000,4,0.000,0.050,2512,2305,3960,0,0,0,0,0,0
$GC,3296,-0.73,-292.0,465.4,-10.3,428,3301,0.00,1.05,0.00,0.000,6,0.000,0.044,2514,1612,3959,0,0,0,0,0,0
$GC,3628,-0.74,-292.0,501.1,-9.8,459,3631,0.00,1.08,0.00,0.000,4,0.000,0.053,2513,2307,3956,0,0,0,0,0,0
$GC,3674,-0.76,-292.0,505.8,-10.1,463,3678,0.00,1.05,0.00,0.000,6,0.000,0.044,2514,1613,3956,0,0,0,0,0,0
$GC,4006,-0.77,-292.0,541.8,-11.4,494,4010,0.00,1.08,0.00,0.000,4,0.000,0.054,2516,2309,3954,0,0,0,0,0,0
$GC,4063,-0.79,-292.0,548.4,-11.4,499,4067,0.00,1.05,0.00,0.000,6,0.000,0.046,2516,1618,3953,0,0,0,0,0,0
$GC,4394,-0.79,-292.0,590.2,-12.9,530,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1618,3950,0,0,0,0,0,0
$GC,4709,-0.80,-292.0,630.1,-12.5,549,4712,0.00,1.08,0.00,0.000,4,0.000,0.055,2512,2312,3947,0,0,0,0,0,0
$GC,4765,-0.82,-292.0,637.2,-11.5,551,4769,0.08,1.08,0.00,0.000,6,0.055,0.046,2457,1609,3947,0,0,0,0,0,0
$GC,5086,-0.78,-292.0,690.2,-16.8,567,5090,0.12,1.10,0.00,0.000,4,0.173,0.057,2486,2300,3945,0,0,0,0,0,0
$GC,5134,-0.78,-292.0,696.8,-13.7,569,5138,0.00,1.05,0.00,0.000,6,0.000,0.048,2486,1614,3944,0,0,0,0,0,0
$GC,5467,-0.76,-292.0,741.4,-13.1,585,5471,0.00,1.08,0.00,0.000,4,0.000,0.059,2482,2300,3941,0,0,0,0,0,0
$GC,5538,-0.76,-292.0,750.2,-12.3,588,5542,0.00,1.08,0.00,0.000,6,0.000,0.050,2482,1603,3940,0,0,0,0,0,0
$GC,5872,-0.75,-292.0,795.2,-13.3,604,5875,0.00,1.10,0.00,0.000,4,0.000,0.060,2477,2303,3938,0,0,0,0,0,0
$GC,5943,-0.75,-292.0,804.2,-12.5,607,5947,0.00,1.08,0.00,0.000,6,0.000,0.051,2477,1610,3938,0,0,0,0,0,0
$GC,6276,-0.74,-292.0,851.2,-14.4,623,6280,0.10,1.12,0.00,0.000,4,0.180,0.060,2499,2311,3935,0,0,0,0,0,0
$GC,6314,-0.75,-292.0,856.4,-12.9,624,6321,0.00,1.10,0.00,0.000,6,0.000,0.050,2499,1601,3935,0,0,0,0,0,0
$GC,6633,-0.76,-292.0,895.9,-12.4,640,6637,0.00,1.10,0.00,0.000,4,0.000,0.062,2494,2299,3932,0,0,0,0,0,0
$GC,6702,-0.78,-292.0,904.4,-11.5,643,6706,0.00,1.08,0.00,0.000,6,0.000,0.051,2494,1606,3932,0,0,0,0,0,0
$GC,7038,-0.78,-292.0,945.2,-12.2,659,7041,0.00,1.10,0.00,0.000,4,0.000,0.063,2489,2302,3930,0,0,0,0,0,0
$GC,7084,-0.80,-292.0,950.8,-11.4,661,7088,0.00,1.08,0.00,0.000,6,0.000,0.053,2489,1612,3929,0,0,0,0,0,0
$STATE,7393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7393,begin apogee
$GC,7402,-0.11,0.0,990.0,12.6,676,7635,0.68,0.00,226.62,1.431,6,0.123,0.000,2707,1780,2883,0,0,0,0,0,0
$STATE,7640,end apogee,CONTROL_FINISHED_OK
$STATE,7640,begin climb
$GC,7642,0.73,292.0,1003.2,0.0,687,7916,0.75,0.00,269.25,1.377,6,0.053,0.000,2992,1780,1693,0,0,0,0,0,0
$GC,8214,0.68,292.0,922.4,16.8,715,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1780,1687,0,0,0,0,0,0
$GC,8521,0.62,292.0,870.7,16.7,730,8523,0.17,0.00,0.00,0.000,6,0.171,0.000,2947,1780,1685,0,0,0,0,0,0
$GC,8831,0.67,327.4,831.5,12.6,745,8873,0.00,1.15,33.30,1.298,4,0.000,0.054,2950,1076,1548,0,0,0,0,0,0
$GC,8908,0.71,363.2,821.5,12.6,748,8949,0.00,1.12,35.05,1.279,6,0.000,0.049,2950,1788,1403,0,0,0,0,0,0
$GC,9274,0.72,367.5,772.6,13.6,766,9280,0.00,0.00,4.85,0.877,6,0.000,0.000,2950,1788,1385,0,0,0,0,0,0
$GC,9581,0.73,367.5,729.2,14.0,781,9585,0.00,1.10,0.00,0.000,4,0.000,0.051,2954,1073,1384,0,0,0,0,0,0
$GC,9604,0.74,367.5,726.0,14.1,782,9608,0.00,1.10,0.00,0.000,6,0.000,0.046,2954,1788,1384,0,0,0,0,0,0
$GC,9940,0.79,397.8,681.2,12.8,798,9978,0.12,1.17,29.20,1.219,4,0.087,0.053,3027,1068,1262,0,0,0,0,0,0
$GC,9995,0.74,397.8,671.0,18.6,800,10002,0.12,1.10,0.00,0.000,6,0.148,0.045,2988,1778,1261,0,0,0,0,0,0
$GC,10314,0.73,397.8,620.1,16.3,816,10317,0.00,1.05,0.00,0.000,4,0.000,0.054,2984,2473,1259,0,0,0,0,0,0
$GC,10337,0.71,397.8,615.7,16.6,817,10341,0.00,1.08,0.00,0.000,6,0.000,0.046,2987,1772,1259,0,0,0,0,0,0
$GC,10668,0.71,397.8,564.5,15.6,843,10671,0.00,1.05,0.00,0.000,4,0.000,0.051,2992,1074,1259,0,0,0,0,0,0
$GC,10758,0.71,397.8,550.6,15.4,851,10762,0.00,1.08,0.00,0.000,6,0.000,0.044,2989,1785,1258,0,0,0,0,0,0
$GC,11091,0.71,397.8,500.4,14.8,882,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1785,1257,0,0,0,0,0,0
$GC,11409,0.71,397.8,454.2,14.5,912,11412,0.00,1.10,0.00,0.000,4,0.000,0.050,2992,1067,1257,0,0,0,0,0,0
$GC,11469,0.71,397.8,445.0,14.5,917,11477,0.00,1.08,0.00,0.000,6,0.000,0.043,2989,1777,1257,0,0,0,0,0,0
$GC,11795,0.71,397.8,401.1,13.9,948,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1778,1257,0,0,0,0,0,0
$GC,12117,0.71,397.8,356.2,14.0,978,12121,0.00,1.10,0.00,0.000,4,0.000,0.050,2992,1074,1257,0,0,0,0,0,0
$GC,12156,0.75,425.3,350.4,12.9,981,12185,0.00,1.08,24.92,0.959,6,0.000,0.041,2989,1786,1150,0,0,0,0,0,0
$GC,12506,0.85,491.9,308.8,11.6,1014,12571,0.00,1.10,58.83,0.934,4,0.000,0.045,2992,1065,876,0,0,0,0,0,0
$GC,12618,0.94,538.7,294.7,12.3,1024,12667,0.12,1.10,42.97,0.899,6,0.047,0.039,3070,1790,686,0,0,0,0,0,0
$GC,12984,0.91,538.7,219.2,19.6,1072,12993,0.12,1.00,0.00,0.000,4,0.164,0.049,3034,2468,676,0,0,0,0,0,0
$GC,13055,0.93,538.7,207.7,14.2,1084,13063,0.00,1.05,0.00,0.000,6,0.000,0.041,3036,1770,675,0,0,0,0,0,0
$GC,13379,0.95,538.7,161.8,14.1,1145,13387,0.00,1.02,0.00,0.000,4,0.000,0.047,3041,1084,672,0,0,0,0,0,0
$GC,13467,0.98,538.7,148.1,15.4,1160,13475,0.00,1.02,0.00,0.000,6,0.000,0.037,3039,1783,672,0,0,0,0,0,0
$GC,13792,1.18,664.5,107.1,9.8,1221,13852,0.22,1.12,53.88,0.736,4,0.058,0.044,3161,1078,454,0,0,0,0,0,0
$GC,13960,1.12,664.5,68.8,24.4,1249,13969,0.15,1.05,0.00,0.000,6,0.138,0.036,3109,1788,443,0,0,0,0,0,0
$GC,14282,1.14,664.5,19.7,14.5,1310,14290,0.00,1.08,0.00,0.000,4,0.000,0.043,3101,1067,436,0,0,0,0,0,0
$GC,14327,1.15,664.5,13.1,15.3,1317,14335,0.00,1.05,0.00,0.000,6,0.000,0.035,3101,1784,436,0,0,0,0,0,0
$STATE,14396,end climb,SURFACE_DEPTH_REACHED
$STATE,14397,begin surface coast
$FINISH,1.4,1.022022
$STATE,14420,end surface coast,CONTROL_FINISHED_OK
$STATE,14420,begin surface
$SM_CCo,14498,0.00,0.000,0,0,434,600.98
$SM_GC,2.07,7.62,0.00,0.00,0.035,0.000,0.000,131,1607,434,-8.06,-0.06,600.98,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12344.01,191011,191922
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.37
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.30
$XPDR_PINGS,112
$24V_AH,22.9,98.819
$10V_AH,9.8,68.015
$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,20.025,60.950,778.875,0.000,0.000,32.849,55.901,270.601,28.000,0.000,40.453,3128.059,7274.077,794.572,3320.886,507.233,0.000,2095.044,0.000,2984.315,0.000,0.543,0.000
$DEVICE_MAMPS,214.200,69.615,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.554,1367.816,1483.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330520
$DATA_FILE_SIZE,73554,1334
$CAP_FILE_SIZE,159187,0
$CFSIZE,260165632,111222784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201011,031937,2335.281,12339.492,28,1.5,28,-3.3