version: 66.09
glider: 166
mission: 6
dive: 382
start: 10 15 111 22 36 5
data:
$ID,166
$MISSION,6
$DIVE,382
$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,-24880.258
$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,59
$R_STBD_OVSHOOT,57
$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
$GPS1,151011,222830,2340.975,12359.142,60,1.6,60,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-56.8
$GPS2,151011,223543,2340.866,12359.221,14,1.5,31,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2335.466,12349.016
$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,2888
$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,16,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,127,0.00,0.00,-105.65,0.000,2,0.000,0.000,134,1573,2917,0,0,0,0,0,0
$GC,130,-0.73,-292.0,5.3,-7.3,15,167,9.32,1.05,-20.27,0.000,4,0.221,0.065,2498,2302,3960,0,0,0,0,0,0
$GC,344,-0.62,-292.0,74.8,-28.4,53,353,0.12,1.02,0.00,0.000,6,0.145,0.039,2537,1610,3962,0,0,0,0,0,0
$GC,668,-0.58,-292.0,137.0,-17.0,114,676,0.00,1.02,0.00,0.000,4,0.000,0.044,2535,2297,3962,0,0,0,0,0,0
$GC,714,-0.55,-292.0,144.1,-17.3,120,722,0.08,1.02,0.00,0.000,6,0.135,0.038,2561,1607,3962,0,0,0,0,0,0
$GC,1041,-0.55,-292.0,191.5,-14.6,181,1049,0.00,1.02,0.00,0.000,4,0.000,0.044,2558,2292,3963,0,0,0,0,0,0
$GC,1114,-0.57,-292.0,202.2,-13.2,194,1122,0.00,1.02,0.00,0.000,6,0.000,0.039,2558,1606,3963,0,0,0,0,0,0
$GC,1438,-0.59,-292.0,244.1,-11.8,255,1447,0.00,1.02,0.00,0.000,4,0.000,0.046,2553,2290,3963,0,0,0,0,0,0
$GC,1599,-0.63,-292.0,260.4,-9.9,274,1602,0.00,1.02,0.00,0.000,6,0.000,0.041,2553,1607,3963,0,0,0,0,0,0
$GC,1931,-0.65,-292.0,297.3,-11.4,305,1935,0.00,1.05,0.00,0.000,4,0.000,0.047,2549,2294,3962,0,0,0,0,0,0
$GC,2002,-0.69,-292.0,304.9,-10.4,311,2006,0.00,1.02,0.00,0.000,6,0.000,0.041,2548,1611,3962,0,0,0,0,0,0
$GC,2333,-0.72,-292.0,341.7,-10.9,342,2337,0.10,1.05,0.00,0.000,4,0.097,0.047,2477,2293,3960,0,0,0,0,0,0
$GC,2407,-0.69,-292.0,353.3,-16.5,348,2414,0.12,1.02,0.00,0.000,6,0.129,0.041,2519,1609,3960,0,0,0,0,0,0
$GC,2733,-0.69,-292.0,396.0,-12.8,379,2736,0.00,1.05,0.00,0.000,4,0.000,0.048,2517,2295,3959,0,0,0,0,0,0
$GC,2865,-0.71,-292.0,411.6,-11.9,390,2872,0.00,1.02,0.00,0.000,6,0.000,0.042,2517,1615,3957,0,0,0,0,0,0
$GC,3191,-0.73,-292.0,450.6,-11.8,421,3195,0.00,1.02,0.00,0.000,4,0.000,0.050,2512,2287,3956,0,0,0,0,0,0
$GC,3240,-0.75,-292.0,455.8,-10.9,425,3244,0.00,1.02,0.00,0.000,6,0.000,0.044,2513,1607,3956,0,0,0,0,0,0
$GC,3571,-0.77,-292.0,491.1,-10.5,456,3575,0.00,1.05,0.00,0.000,4,0.000,0.050,2508,2294,3954,0,0,0,0,0,0
$GC,3635,-0.79,-292.0,497.2,-9.3,461,3641,0.00,1.02,0.00,0.000,6,0.000,0.044,2508,1614,3953,0,0,0,0,0,0
$GC,3960,-0.79,-292.0,534.1,-12.3,492,3964,0.00,1.05,0.00,0.000,4,0.000,0.052,2503,2293,3951,0,0,0,0,0,0
$GC,4076,-0.82,-292.0,547.0,-11.0,502,4080,0.00,1.02,0.00,0.000,6,0.000,0.044,2504,1612,3949,0,0,0,0,0,0
$GC,4410,-0.83,-292.0,586.4,-11.7,533,4414,0.00,1.05,0.00,0.000,4,0.000,0.053,2503,2293,3947,0,0,0,0,0,0
$GC,4472,-0.85,-292.0,594.0,-11.5,538,4479,0.00,1.05,0.00,0.000,6,0.000,0.045,2503,1605,3947,0,0,0,0,0,0
$GC,4800,-0.85,-292.0,633.3,-12.0,557,4805,0.15,1.08,0.00,0.000,4,0.080,0.055,2433,2285,3944,0,0,0,0,0,0
$GC,4875,-0.80,-292.0,645.1,-17.0,560,4879,0.15,1.02,0.00,0.000,6,0.138,0.047,2485,1615,3943,0,0,0,0,0,0
$GC,5203,-0.78,-292.0,692.7,-14.3,576,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1615,3941,0,0,0,0,0,0
$GC,5513,-0.77,-292.0,733.0,-12.5,591,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1615,3938,0,0,0,0,0,0
$GC,5820,-0.77,-292.0,769.7,-11.8,606,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1615,3935,0,0,0,0,0,0
$GC,6131,-0.77,-292.0,807.4,-12.5,621,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1615,3934,0,0,0,0,0,0
$GC,6439,-0.77,-292.0,847.0,-13.0,636,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1615,3930,0,0,0,0,0,0
$GC,6748,-0.77,-292.0,886.9,-12.4,651,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1615,3928,0,0,0,0,0,0
$GC,7059,-0.77,-292.0,925.3,-12.3,666,7063,0.00,1.10,0.00,0.000,4,0.000,0.054,2485,906,3926,0,0,0,0,0,0
$GC,7154,-0.77,-292.0,937.8,-12.5,670,7158,0.00,1.05,0.00,0.000,6,0.000,0.050,2482,1581,3925,0,0,0,0,0,0
$GC,7484,-0.77,-292.0,981.1,-13.6,686,7488,0.00,1.12,0.00,0.000,4,0.000,0.059,2476,2309,3922,0,0,0,0,0,0
$GC,7534,-0.77,-292.0,988.1,-13.2,688,7537,0.00,1.08,0.00,0.000,6,0.000,0.050,2476,1615,3922,0,0,0,0,0,0
$STATE,7549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7549,begin apogee
$GC,7555,-0.11,0.0,990.3,13.2,689,7787,0.70,0.00,225.32,1.429,6,0.125,0.000,2702,1781,2884,0,0,0,0,0,0
$STATE,7789,end apogee,CONTROL_FINISHED_OK
$STATE,7790,begin climb
$GC,7792,0.73,292.0,1004.3,0.0,700,8070,0.75,1.17,267.90,1.379,4,0.057,0.063,2980,2476,1693,0,0,0,0,0,0
$GC,8175,0.69,292.0,957.6,16.5,717,8182,0.00,1.10,0.00,0.000,6,0.000,0.050,2984,1786,1689,0,0,0,0,0,0
$GC,8491,0.65,292.0,903.0,17.0,733,8495,0.00,1.10,0.00,0.000,4,0.000,0.054,2990,1067,1686,0,0,0,0,0,0
$GC,8526,0.61,292.0,897.2,16.7,734,8531,0.15,1.12,0.00,0.000,6,0.143,0.049,2942,1787,1685,0,0,0,0,0,0
$GC,8848,0.67,348.5,856.6,12.0,750,8905,0.00,1.15,52.92,1.320,4,0.000,0.057,2941,2492,1463,0,0,0,0,0,0
$GC,8956,0.75,394.6,843.0,12.3,754,9007,0.10,1.12,44.40,1.288,6,0.050,0.047,3004,1775,1275,0,0,0,0,0,0
$GC,9326,0.71,394.6,774.7,18.9,772,9331,0.12,1.12,0.00,0.000,4,0.172,0.056,2969,2489,1269,0,0,0,0,0,0
$GC,9397,0.71,394.6,763.9,14.4,775,9401,0.00,1.10,0.00,0.000,6,0.000,0.047,2972,1781,1269,0,0,0,0,0,0
$GC,9729,0.71,394.6,712.2,15.9,791,9733,0.00,1.08,0.00,0.000,4,0.000,0.053,2977,1075,1267,0,0,0,0,0,0
$GC,9777,0.71,394.6,705.2,15.1,793,9781,0.00,1.10,0.00,0.000,6,0.000,0.044,2974,1791,1266,0,0,0,0,0,0
$GC,10110,0.71,394.6,656.1,14.8,809,10114,0.00,1.05,0.00,0.000,4,0.000,0.054,2969,2486,1266,0,0,0,0,0,0
$GC,10148,0.71,394.6,650.3,14.4,810,10156,0.00,1.08,0.00,0.000,6,0.000,0.044,2972,1780,1266,0,0,0,0,0,0
$GC,10467,0.71,394.6,605.5,13.9,826,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1780,1265,0,0,0,0,0,0
$GC,10784,0.73,410.2,562.2,13.3,854,10807,0.00,1.12,14.40,1.083,4,0.000,0.049,2978,1066,1211,0,0,0,0,0,0
$GC,10837,0.77,442.6,554.9,12.7,858,10877,0.00,1.10,30.65,1.123,6,0.000,0.041,2974,1787,1079,0,0,0,0,0,0
$GC,11195,0.83,482.0,508.0,12.5,892,11239,0.12,0.00,36.28,1.087,6,0.093,0.000,3041,1787,917,0,0,0,0,0,0
$GC,11557,0.77,482.0,429.7,21.3,926,11561,0.17,1.05,0.00,0.000,4,0.159,0.052,2989,2478,912,0,0,0,0,0,0
$GC,11627,0.85,527.0,419.7,12.3,932,11675,0.00,1.08,41.17,1.019,6,0.000,0.042,2992,1773,734,0,0,0,0,0,0
$GC,11993,0.88,527.0,370.1,14.5,966,11997,0.10,1.05,0.00,0.000,4,0.103,0.048,3058,1078,725,0,0,0,0,0,0
$GC,12011,0.88,527.0,367.3,15.3,967,12018,0.08,1.08,0.00,0.000,6,0.145,0.041,3034,1792,725,0,0,0,0,0,0
$GC,12336,0.86,527.0,298.7,20.7,998,12340,0.00,1.02,0.00,0.000,4,0.000,0.050,3029,2470,724,0,0,0,0,0,0
$GC,12376,0.86,527.0,291.1,19.0,1001,12382,0.00,1.05,0.00,0.000,6,0.000,0.041,3032,1779,723,0,0,0,0,0,0
$GC,12701,0.85,527.0,231.7,17.9,1042,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1778,723,0,0,0,0,0,0
$GC,13027,0.86,527.0,179.8,14.5,1103,13035,0.00,1.08,0.00,0.000,4,0.000,0.046,3037,1065,723,0,0,0,0,0,0
$GC,13069,0.87,527.0,173.2,14.8,1110,13077,0.00,1.08,0.00,0.000,6,0.000,0.038,3035,1782,723,0,0,0,0,0,0
$GC,13391,0.89,532.9,128.0,13.6,1171,13401,0.00,1.12,5.30,0.554,4,0.000,0.044,3038,1070,710,0,0,0,0,0,0
$GC,13435,0.91,532.9,121.1,14.6,1178,13443,0.00,1.05,0.00,0.000,6,0.000,0.037,3035,1780,708,0,0,0,0,0,0
$GC,13760,1.14,667.0,86.1,9.5,1239,13833,0.22,1.12,62.22,0.690,4,0.059,0.042,3158,1067,454,0,0,0,0,1,0
$GC,13921,1.10,667.0,49.7,21.6,1265,13930,0.17,1.08,0.00,0.000,6,0.133,0.036,3098,1791,445,0,0,0,0,0,0
$GC,14246,1.21,739.0,9.8,11.5,1326,14255,0.12,1.10,0.00,0.000,4,0.085,0.041,3162,1066,437,0,0,0,0,0,0
$STATE,14281,end climb,SURFACE_DEPTH_REACHED
$STATE,14282,begin surface coast
$FINISH,1.3,1.021828
$STATE,14298,end surface coast,CONTROL_FINISHED_OK
$STATE,14298,begin surface
$SM_CCo,14379,0.00,0.000,0,0,436,600.49
$SM_GC,1.93,7.75,0.00,0.00,0.035,0.000,0.000,144,1615,436,-8.03,0.14,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12357.07,151011,181855
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.86
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,110
$24V_AH,22.9,92.045
$10V_AH,9.8,64.545
$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,20.625,59.725,780.575,0.000,0.000,29.137,41.445,182.990,27.500,0.000,32.373,3118.542,7118.188,762.873,3326.973,464.653,0.000,2117.872,0.000,3061.012,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,68.085,1429.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.449,1368.137,1552.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,73441,1335
$CAP_FILE_SIZE,161247,0
$CFSIZE,260165632,113197056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161011,023700,2340.177,12358.661,37,1.6,37,-3.4