version: 66.09
glider: 166
mission: 6
dive: 407
start: 10 20 111 7 40 54
data:
$ID,166
$MISSION,6
$DIVE,407
$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,-24915.486
$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,60
$R_STBD_OVSHOOT,53
$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
$GPS1,201011,073306,2334.873,12338.391,28,1.9,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.6
$GPS2,201011,074028,2334.871,12338.412,17,99.0,36,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2329.471,12328.215
$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,3180
$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,-292.0,0.0,0.0,0,131,0.00,0.00,-111.62,0.000,2,0.000,0.000,144,1576,3064,0,0,0,0,0,0
$GC,134,-0.73,-292.0,5.7,-8.5,16,165,9.32,1.12,-17.30,0.000,4,0.220,0.071,2499,2299,3964,0,0,0,0,0,0
$GC,383,-0.64,-292.0,84.7,-25.6,61,391,0.12,1.00,0.00,0.000,6,0.146,0.038,2536,1620,3966,0,0,0,0,0,0
$GC,710,-0.59,-292.0,152.6,-17.7,122,718,0.00,1.02,0.00,0.000,4,0.000,0.045,2533,2303,3966,0,0,0,0,0,0
$GC,740,-0.55,-292.0,157.7,-17.4,126,749,0.10,1.02,0.00,0.000,6,0.132,0.041,2567,1615,3966,0,0,0,0,0,0
$GC,1065,-0.57,-292.0,199.3,-12.7,187,1073,0.00,1.02,0.00,0.000,4,0.000,0.047,2564,2295,3967,0,0,0,0,0,0
$GC,1171,-0.61,-292.0,212.0,-11.3,206,1179,0.00,1.02,0.00,0.000,6,0.000,0.041,2564,1607,3967,0,0,0,0,0,0
$GC,1500,-0.64,-292.0,248.6,-10.9,267,1508,0.00,1.05,0.00,0.000,4,0.000,0.047,2559,2301,3967,0,0,0,0,0,0
$GC,1552,-0.68,-292.0,254.4,-10.1,272,1560,0.00,1.02,0.00,0.000,6,0.000,0.042,2559,1618,3967,0,0,0,0,0,0
$GC,1879,-0.71,-292.0,287.4,-10.4,303,1884,0.12,1.05,0.00,0.000,4,0.083,0.048,2473,2294,3966,0,0,0,0,0,0
$GC,1986,-0.67,-292.0,305.3,-18.1,312,1993,0.15,1.02,0.00,0.000,6,0.131,0.042,2524,1611,3967,0,0,0,0,0,0
$GC,2311,-0.67,-292.0,350.1,-12.9,343,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1611,3966,0,0,0,0,0,0
$GC,2634,-0.68,-292.0,388.3,-11.8,373,2638,0.00,1.02,0.00,0.000,4,0.000,0.049,2522,2292,3965,0,0,0,0,0,0
$GC,2736,-0.70,-292.0,400.4,-10.9,382,2740,0.00,1.02,0.00,0.000,6,0.000,0.044,2522,1609,3965,0,0,0,0,0,0
$GC,3070,-0.71,-292.0,440.8,-11.5,413,3074,0.00,1.05,0.00,0.000,4,0.000,0.050,2517,2293,3963,0,0,0,0,0,0
$GC,3117,-0.73,-292.0,446.0,-10.6,417,3121,0.00,1.02,0.00,0.000,6,0.000,0.043,2518,1614,3963,0,0,0,0,0,0
$GC,3448,-0.75,-292.0,483.3,-11.9,448,3451,0.00,1.05,0.00,0.000,4,0.000,0.052,2513,2294,3961,0,0,0,0,0,0
$GC,3541,-0.78,-292.0,494.7,-12.1,456,3545,0.00,1.05,0.00,0.000,6,0.000,0.045,2513,1602,3960,0,0,0,0,0,0
$GC,3872,-0.79,-292.0,539.5,-12.3,487,3876,0.00,1.08,0.00,0.000,4,0.000,0.052,2509,2295,3957,0,0,0,0,0,0
$GC,3912,-0.81,-292.0,543.8,-10.6,490,3918,0.00,1.05,0.00,0.000,6,0.000,0.044,2509,1604,3958,0,0,0,0,0,0
$GC,4237,-0.83,-292.0,573.8,-8.0,521,4241,0.00,1.08,0.00,0.000,4,0.000,0.054,2507,2295,3954,0,0,0,0,0,0
$GC,4387,-0.86,-292.0,584.7,-7.5,534,4392,0.08,1.05,0.00,0.000,6,0.053,0.045,2449,1605,3953,0,0,0,0,0,0
$GC,4716,-0.81,-292.0,633.5,-16.0,555,4719,0.00,1.05,0.00,0.000,4,0.000,0.055,2457,2286,3951,0,0,0,0,0,0
$GC,4749,-0.76,-292.0,639.7,-16.0,556,4753,0.10,1.02,0.00,0.000,6,0.143,0.047,2490,1610,3950,0,0,0,0,0,0
$GC,5072,-0.75,-292.0,685.8,-13.9,572,5076,0.00,1.08,0.00,0.000,4,0.000,0.053,2491,916,3948,0,0,0,0,0,0
$GC,5119,-0.75,-292.0,692.3,-13.4,574,5122,0.00,1.05,0.00,0.000,6,0.000,0.047,2487,1594,3947,0,0,0,0,0,0
$GC,5452,-0.74,-292.0,737.7,-13.6,590,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1594,3945,0,0,0,0,0,0
$GC,5761,-0.72,-292.0,778.3,-13.1,605,5765,0.00,1.10,0.00,0.000,4,0.000,0.058,2482,2310,3942,0,0,0,0,0,0
$GC,5811,-0.72,-292.0,784.9,-12.4,607,5815,0.00,1.08,0.00,0.000,6,0.000,0.049,2482,1610,3941,0,0,0,0,0,0
$GC,6141,-0.71,-292.0,829.7,-14.6,623,6143,0.12,0.00,0.00,0.000,6,0.164,0.000,2516,1610,3940,0,0,0,0,0,0
$GC,6448,-0.74,-292.0,865.6,-11.1,638,6452,0.00,1.12,0.00,0.000,4,0.000,0.060,2513,2306,3937,0,0,0,0,0,0
$GC,6501,-0.77,-292.0,870.8,-9.9,640,6505,0.00,1.08,0.00,0.000,6,0.000,0.050,2513,1614,3936,0,0,0,0,0,0
$GC,6828,-0.80,-292.0,902.6,-9.3,656,6832,0.00,1.10,0.00,0.000,4,0.000,0.062,2508,2309,3934,0,0,0,0,0,0
$GC,6867,-0.83,-292.0,906.4,-9.3,657,6874,0.00,1.10,0.00,0.000,6,0.000,0.051,2508,1604,3934,0,0,0,0,0,0
$GC,7186,-0.85,-292.0,937.2,-10.1,673,7191,0.10,1.12,0.00,0.000,4,0.104,0.061,2450,2303,3932,0,0,0,0,0,0
$GC,7214,-0.85,-292.0,940.9,-10.5,674,7217,0.00,1.08,0.00,0.000,6,0.000,0.051,2450,1609,3931,0,0,0,0,0,0
$STATE,7539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7539,begin apogee
$GC,7547,-0.11,0.0,990.6,15.2,690,7781,0.80,0.00,227.38,1.432,6,0.135,0.000,2700,1783,2883,0,0,0,0,0,0
$STATE,7786,end apogee,CONTROL_FINISHED_OK
$STATE,7786,begin climb
$GC,7788,0.73,292.0,1002.8,0.0,701,8069,0.75,1.12,269.05,1.375,4,0.055,0.060,2983,2478,1692,0,0,0,0,0,0
$GC,8174,0.69,292.0,952.7,16.6,719,8178,0.00,1.10,0.00,0.000,6,0.000,0.050,2987,1784,1688,0,0,0,0,0,0
$GC,8509,0.64,292.0,893.6,18.0,735,8511,0.12,0.00,0.00,0.000,6,0.181,0.000,2956,1784,1686,0,0,0,0,0,0
$GC,8816,0.63,292.0,847.1,14.5,750,8820,0.00,1.10,0.00,0.000,4,0.000,0.059,2954,2489,1684,0,0,0,0,0,0
$GC,8840,0.62,292.0,843.6,14.6,751,8843,0.00,1.10,0.00,0.000,6,0.000,0.048,2956,1780,1684,0,0,0,0,0,0
$GC,9176,0.60,292.0,795.7,14.1,767,9179,0.00,1.10,0.00,0.000,4,0.000,0.058,2956,2489,1683,0,0,0,0,0,0
$GC,9222,0.60,293.9,788.8,13.7,769,9225,0.00,1.10,0.00,0.000,6,0.000,0.047,2959,1774,1683,0,0,0,0,0,0
$GC,9557,0.58,293.9,742.3,13.8,785,9561,0.00,1.05,0.00,0.000,4,0.000,0.054,2964,1081,1682,0,0,0,0,0,0
$GC,9596,0.57,299.8,736.4,13.6,786,9607,0.10,1.10,6.32,0.998,6,0.139,0.047,2932,1791,1662,0,0,0,0,0,0
$GC,9939,0.69,382.7,697.9,11.1,803,10024,0.10,1.20,79.70,1.248,4,0.103,0.051,2988,1075,1323,0,0,0,0,0,0
$GC,10082,0.67,382.7,675.4,15.6,809,10086,0.00,1.10,0.00,0.000,6,0.000,0.045,2986,1777,1320,0,0,0,0,0,0
$GC,10406,0.65,382.7,626.5,15.1,825,10410,0.00,1.08,0.00,0.000,4,0.000,0.055,2983,2486,1317,0,0,0,0,0,0
$GC,10479,0.66,391.2,615.5,13.5,828,10495,0.00,1.08,8.20,1.001,6,0.000,0.046,2987,1784,1289,0,0,0,0,0,0
$GC,10811,0.65,391.2,568.4,14.5,854,10813,0.12,0.00,0.00,0.000,6,0.173,0.000,2954,1784,1288,0,0,0,0,0,0
$GC,11131,0.67,391.2,528.6,13.8,884,11135,0.00,1.08,0.00,0.000,4,0.000,0.048,2958,1068,1286,0,0,0,0,0,0
$GC,11181,0.70,391.2,520.9,14.3,888,11188,0.00,1.08,0.00,0.000,6,0.000,0.042,2956,1782,1285,0,0,0,0,0,0
$GC,11510,0.80,453.1,478.8,11.8,919,11572,0.12,0.00,56.40,1.081,6,0.087,0.000,3025,1782,1034,0,0,0,0,0,0
$GC,11890,0.77,453.1,409.7,17.8,955,11895,0.12,1.10,0.00,0.000,4,0.163,0.050,2997,1077,1031,0,0,0,0,0,0
$GC,11931,0.77,453.1,402.6,15.5,958,11937,0.00,1.08,0.00,0.000,6,0.000,0.042,2993,1785,1030,0,0,0,0,0,0
$GC,12256,0.80,476.9,356.6,13.0,989,12279,0.00,0.00,21.38,0.942,6,0.000,0.000,2994,1786,939,0,0,0,0,0,0
$GC,12595,0.94,564.8,315.5,11.0,1021,12686,0.15,1.12,80.25,0.927,4,0.078,0.043,3075,1062,579,0,0,0,0,0,0
$GC,12734,0.89,564.8,287.4,22.0,1033,12738,0.10,1.10,0.00,0.000,6,0.143,0.040,3038,1783,573,0,0,0,0,0,0
$GC,13060,0.89,564.8,230.7,16.9,1074,13068,0.00,1.02,0.00,0.000,4,0.000,0.050,3034,2471,567,0,0,0,0,0,0
$GC,13157,0.95,583.0,216.5,13.2,1092,13180,0.00,1.05,15.77,0.786,6,0.000,0.041,3036,1774,505,0,0,0,0,0,0
$GC,13499,0.99,599.6,170.8,13.2,1155,13531,0.00,1.08,18.30,0.677,4,0.000,0.047,3040,1072,453,0,0,0,0,1,0
$GC,13568,1.06,632.8,162.1,12.7,1165,13576,0.10,1.05,0.00,0.000,6,0.054,0.038,3107,1781,449,0,0,0,0,0,0
$GC,13896,1.02,632.8,92.3,21.3,1226,13905,0.12,1.08,0.00,0.000,4,0.161,0.045,3071,1081,441,0,0,0,0,0,0
$GC,13933,1.02,632.8,84.5,18.4,1232,13941,0.00,1.02,0.00,0.000,6,0.000,0.037,3070,1782,440,0,0,0,0,0,0
$GC,14258,1.23,751.4,45.5,10.0,1293,14267,0.20,1.08,0.00,0.000,4,0.061,0.041,3177,1074,437,0,0,0,0,0,0
$GC,14353,1.17,751.4,26.8,23.7,1310,14362,0.15,1.02,0.00,0.000,6,0.148,0.036,3126,1782,436,0,0,0,0,0,0
$STATE,14483,end climb,SURFACE_DEPTH_REACHED
$STATE,14483,begin surface coast
$FINISH,1.4,1.022050
$STATE,14501,end surface coast,CONTROL_FINISHED_OK
$STATE,14501,begin surface
$SM_CCo,14579,0.00,0.000,0,0,435,600.74
$SM_GC,2.00,7.68,0.00,0.00,0.036,0.000,0.000,144,1599,435,-8.05,-0.31,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12342.06,201011,030338
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.33
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.30
$XPDR_PINGS,108
$24V_AH,22.9,99.417
$10V_AH,9.7,68.316
$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,20.975,62.525,782.750,0.000,0.000,29.077,39.076,186.811,27.000,0.000,38.291,3142.274,7318.014,774.337,3311.134,461.559,0.000,2122.677,0.000,3026.689,0.000,0.540,0.000
$DEVICE_MAMPS,219.555,71.145,1432.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.407,1368.459,1483.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330396
$DATA_FILE_SIZE,76713,1336
$CAP_FILE_SIZE,164086,0
$CFSIZE,260165632,111042560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201011,114526,2334.121,12337.458,32,99.0,51,-3.3