version: 66.09
glider: 166
mission: 6
dive: 409
start: 10 20 111 15 58 50
data:
$ID,166
$MISSION,6
$DIVE,409
$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,-24921.619
$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,60
$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
$GPS1,201011,155106,2333.096,12336.927,40,1.5,52,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-66.9
$GPS2,201011,155824,2333.167,12337.011,38,1.4,42,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2327.768,12326.815
$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,3201
$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,-111.72,0.000,2,0.000,0.000,143,1607,3072,0,0,0,0,0,0
$GC,134,-0.73,-292.0,5.4,-7.7,16,165,9.05,1.10,-17.27,0.000,4,0.210,0.067,2504,895,3963,0,0,0,0,0,0
$GC,363,-0.65,-292.0,73.1,-23.9,57,372,0.10,1.05,0.00,0.000,6,0.146,0.038,2533,1593,3964,0,0,0,0,0,0
$GC,692,-0.60,-292.0,142.0,-19.1,118,700,0.00,1.05,0.00,0.000,4,0.000,0.045,2529,2303,3965,0,0,0,0,0,0
$GC,822,-0.58,-292.0,165.2,-15.7,141,831,0.00,1.05,0.00,0.000,6,0.000,0.041,2530,1607,3966,0,0,0,0,0,0
$GC,1144,-0.54,-292.0,219.1,-17.4,202,1153,0.12,1.08,0.00,0.000,4,0.165,0.046,2561,2306,3966,0,0,0,0,0,0
$GC,1225,-0.57,-292.0,229.6,-11.4,216,1233,0.00,1.05,0.00,0.000,6,0.000,0.041,2562,1607,3966,0,0,0,0,0,0
$GC,1555,-0.60,-292.0,266.5,-10.5,263,1559,0.00,1.08,0.00,0.000,4,0.000,0.047,2557,2312,3966,0,0,0,0,0,0
$GC,1716,-0.65,-292.0,281.5,-8.8,277,1723,0.00,1.05,0.00,0.000,6,0.000,0.041,2557,1611,3966,0,0,0,0,0,0
$GC,2042,-0.69,-292.0,314.7,-10.4,308,2045,0.00,1.08,0.00,0.000,4,0.000,0.047,2552,2311,3965,0,0,0,0,0,0
$GC,2093,-0.74,-292.0,320.1,-10.3,312,2100,0.10,1.05,0.00,0.000,6,0.044,0.040,2470,1611,3965,0,0,0,0,0,0
$GC,2418,-0.68,-292.0,380.4,-18.7,343,2423,0.17,1.08,0.00,0.000,4,0.154,0.050,2518,2303,3964,0,0,0,0,0,0
$GC,2512,-0.70,-292.0,392.8,-12.0,351,2516,0.00,1.05,0.00,0.000,6,0.000,0.044,2517,1612,3964,0,0,0,0,0,0
$GC,2844,-0.71,-292.0,432.7,-11.4,382,2847,0.00,1.05,0.00,0.000,4,0.000,0.050,2514,2299,3962,0,0,0,0,0,0
$GC,2885,-0.73,-292.0,437.5,-11.8,385,2892,0.00,1.05,0.00,0.000,6,0.000,0.043,2513,1606,3962,0,0,0,0,0,0
$GC,3211,-0.74,-292.0,480.2,-13.3,416,3215,0.00,1.08,0.00,0.000,4,0.000,0.050,2509,2307,3960,0,0,0,0,0,0
$GC,3293,-0.77,-292.0,490.1,-12.1,423,3297,0.00,1.05,0.00,0.000,6,0.000,0.044,2509,1613,3959,0,0,0,0,0,0
$GC,3625,-0.78,-292.0,532.3,-11.7,454,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1614,3957,0,0,0,0,0,0
$GC,3947,-0.80,-292.0,567.2,-11.1,484,3951,0.00,1.08,0.00,0.000,4,0.000,0.054,2510,2299,3954,0,0,0,0,0,0
$GC,4020,-0.82,-292.0,575.7,-10.5,490,4027,0.00,1.05,0.00,0.000,6,0.000,0.045,2512,1611,3954,0,0,0,0,0,0
$GC,4357,-0.84,-292.0,612.4,-11.1,517,4359,0.12,0.00,0.00,0.000,6,0.087,0.000,2446,1611,3950,0,0,0,0,0,0
$GC,4667,-0.79,-292.0,663.4,-17.0,532,4671,0.12,1.10,0.00,0.000,4,0.173,0.055,2487,2299,3948,0,0,0,0,0,0
$GC,4752,-0.79,-292.0,676.5,-13.9,535,4758,0.00,1.05,0.00,0.000,6,0.000,0.047,2487,1618,3947,0,0,0,0,0,0
$GC,5068,-0.78,-292.0,721.8,-14.2,551,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1618,3945,0,0,0,0,0,0
$GC,5380,-0.77,-292.0,763.3,-13.6,566,5384,0.00,1.08,0.00,0.000,4,0.000,0.059,2482,2297,3942,0,0,0,0,0,0
$GC,5441,-0.77,-292.0,772.0,-12.7,568,5448,0.00,1.08,0.00,0.000,6,0.000,0.048,2483,1603,3941,0,0,0,0,0,0
$GC,5758,-0.76,-292.0,815.3,-13.7,584,5762,0.00,1.10,0.00,0.000,4,0.000,0.060,2477,2297,3939,0,0,0,0,0,0
$GC,5807,-0.76,-292.0,821.4,-12.9,586,5810,0.00,1.05,0.00,0.000,6,0.000,0.049,2477,1614,3938,0,0,0,0,0,0
$GC,6140,-0.75,-292.0,866.2,-13.3,602,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1614,3935,0,0,0,0,0,0
$GC,6452,-0.74,-292.0,905.5,-12.6,617,6456,0.10,1.10,0.00,0.000,4,0.179,0.061,2500,2295,3932,0,0,0,0,0,0
$GC,6498,-0.76,-292.0,910.5,-10.0,619,6501,0.00,1.08,0.00,0.000,6,0.000,0.050,2500,1603,3932,0,0,0,0,0,0
$GC,6831,-0.77,-292.0,944.0,-10.1,635,6835,0.00,1.10,0.00,0.000,4,0.000,0.061,2495,2295,3930,0,0,0,0,0,0
$GC,6880,-0.79,-292.0,948.6,-9.9,637,6884,0.00,1.05,0.00,0.000,6,0.000,0.050,2495,1616,3929,0,0,0,0,0,0
$GC,7214,-0.81,-292.0,984.8,-10.6,653,7217,0.00,1.10,0.00,0.000,4,0.000,0.057,2495,902,3927,0,0,0,0,0,0
$GC,7250,-0.82,-292.0,988.7,-11.0,654,7253,0.00,1.10,0.00,0.000,6,0.000,0.050,2490,1604,3927,0,0,0,0,0,0
$STATE,7280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7280,begin apogee
$GC,7286,-0.11,0.0,992.4,11.4,656,7518,0.65,0.00,226.10,1.434,6,0.122,0.000,2700,1783,2884,0,0,0,0,0,0
$STATE,7523,end apogee,CONTROL_FINISHED_OK
$STATE,7523,begin climb
$GC,7525,0.73,292.0,1002.8,0.0,667,7803,0.77,1.15,267.85,1.379,4,0.055,0.058,2989,2480,1693,0,0,0,0,0,0
$GC,7872,0.69,292.0,957.5,16.6,683,7876,0.00,1.10,0.00,0.000,6,0.000,0.050,2993,1787,1691,0,0,0,0,0,0
$GC,8200,0.64,292.0,898.5,18.2,699,8204,0.15,1.10,0.00,0.000,4,0.174,0.060,2950,2478,1687,0,0,0,0,0,0
$GC,8249,0.64,292.0,890.8,14.1,701,8253,0.00,1.08,0.00,0.000,6,0.000,0.047,2953,1784,1686,0,0,0,0,0,0
$GC,8579,0.62,295.3,845.5,13.6,717,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1784,1685,0,0,0,0,0,0
$GC,8886,0.63,315.1,804.9,13.1,732,8914,0.00,1.15,22.25,1.268,4,0.000,0.056,2950,2489,1599,0,0,0,0,0,0
$GC,8954,0.70,368.1,796.5,12.1,735,9009,0.00,1.12,51.22,1.288,6,0.000,0.047,2953,1767,1382,0,0,0,0,0,0
$GC,9326,0.71,380.9,747.5,13.3,753,9345,0.00,0.00,12.55,1.156,6,0.000,0.000,2953,1767,1331,0,0,0,0,0,0
$GC,9657,0.71,380.9,701.6,14.2,769,9661,0.00,1.10,0.00,0.000,4,0.000,0.055,2952,2481,1329,0,0,0,0,0,0
$GC,9729,0.76,400.7,691.5,13.1,772,9755,0.08,1.08,19.75,1.193,6,0.059,0.046,3010,1785,1249,0,0,0,0,0,0
$GC,10077,0.72,400.7,626.2,18.4,789,10081,0.12,1.10,0.00,0.000,4,0.170,0.054,2975,2483,1247,0,0,0,0,0,0
$GC,10126,0.72,400.7,618.3,13.9,791,10130,0.00,1.08,0.00,0.000,6,0.000,0.044,2978,1783,1245,0,0,0,0,0,0
$GC,10452,0.72,400.7,573.3,14.3,815,10456,0.00,1.08,0.00,0.000,4,0.000,0.048,2983,1068,1245,0,0,0,0,0,0
$GC,10502,0.72,400.7,565.9,15.0,819,10506,0.00,1.10,0.00,0.000,6,0.000,0.044,2980,1791,1244,0,0,0,0,0,0
$GC,10833,0.72,400.7,515.9,14.6,850,10837,0.00,1.02,0.00,0.000,4,0.000,0.053,2975,2479,1243,0,0,0,0,0,0
$GC,10874,0.73,400.7,510.2,13.8,853,10881,0.00,1.08,0.00,0.000,6,0.000,0.044,2978,1776,1244,0,0,0,0,0,0
$GC,11199,0.74,409.4,464.6,13.5,884,11212,0.00,1.10,8.48,0.933,4,0.000,0.048,2983,1072,1214,0,0,0,0,0,0
$GC,11265,0.79,439.9,455.9,12.8,889,11298,0.00,1.08,28.80,1.052,6,0.000,0.043,2980,1779,1090,0,0,0,0,0,0
$GC,11621,0.87,487.2,411.3,12.3,922,11670,0.12,1.12,42.88,1.021,4,0.093,0.053,3049,2485,896,0,0,0,0,0,0
$GC,11700,0.83,487.2,395.9,21.3,929,11707,0.12,1.10,0.00,0.000,6,0.146,0.043,3013,1780,893,0,0,0,0,0,0
$GC,12025,0.83,487.2,345.3,15.5,960,12028,0.00,1.05,0.00,0.000,4,0.000,0.046,3017,1075,890,0,0,0,0,0,0
$GC,12048,0.83,487.2,341.7,15.2,962,12052,0.00,1.08,0.00,0.000,6,0.000,0.041,3013,1790,890,0,0,0,0,0,0
$GC,12380,0.83,487.2,290.7,15.1,993,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1790,889,0,0,0,0,0,0
$GC,12700,0.88,518.9,249.0,12.7,1023,12738,0.00,1.12,27.85,0.855,4,0.000,0.046,3017,1069,766,0,0,0,0,0,0
$GC,12770,0.92,523.7,239.6,13.6,1033,12779,0.00,1.08,5.57,0.634,6,0.000,0.039,3017,1785,748,0,0,0,0,0,0
$GC,13100,0.99,552.6,194.9,12.8,1094,13137,0.15,1.15,26.95,0.796,4,0.074,0.045,3102,1062,629,0,0,0,0,0,0
$GC,13201,0.95,552.6,174.4,22.1,1110,13210,0.15,1.08,0.00,0.000,6,0.138,0.037,3052,1785,626,0,0,0,0,0,0
$GC,13532,0.97,552.6,123.2,14.0,1171,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1785,622,0,0,0,0,0,0
$GC,13858,1.04,583.7,77.6,12.8,1232,13895,0.00,1.10,28.77,0.696,4,0.000,0.040,3049,1071,500,0,0,0,0,0,0
$GC,13934,1.21,673.7,68.3,10.9,1244,13964,0.20,1.05,14.80,0.567,6,0.037,0.034,3166,1787,454,0,0,0,0,1,0
$STATE,14219,end climb,SURFACE_DEPTH_REACHED
$STATE,14219,begin surface coast
$FINISH,1.3,1.009682
$STATE,14232,end surface coast,CONTROL_FINISHED_OK
$STATE,14232,begin surface
$SM_CCo,14310,0.00,0.000,0,0,445,598.29
$SM_GC,2.20,7.82,0.00,0.00,0.038,0.000,0.000,147,1590,445,-8.03,-0.57,598.29,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12338.80,201011,111155
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.12
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.90
$XPDR_PINGS,110
$24V_AH,22.9,100.003
$10V_AH,9.7,68.613
$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,20.250,61.025,783.825,0.000,0.000,30.198,31.617,174.991,27.500,0.000,43.332,3046.388,7249.681,765.403,3209.656,461.498,0.000,2084.194,0.000,2934.625,0.000,0.541,0.000
$DEVICE_MAMPS,210.375,70.380,1434.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.004,1332.022,1435.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73631,1298
$CAP_FILE_SIZE,159527,0
$CFSIZE,260165632,110882816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201011,195857,2332.364,12335.538,38,99.0,57,-3.3