version: 66.09
glider: 166
mission: 6
dive: 383
start: 10 16 111 2 44 47
data:
$ID,166
$MISSION,6
$DIVE,383
$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,-24881.518
$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,35
$R_STBD_OVSHOOT,59
$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
$GPS1,161011,023700,2340.177,12358.661,37,1.6,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-60.1
$GPS2,161011,024425,2340.140,12358.648,15,1.7,32,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2334.741,12348.443
$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,2782
$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,-106.68,0.000,2,0.000,0.000,141,1622,2977,0,0,0,0,0,0
$GC,129,-0.73,-292.0,5.4,-7.7,15,166,9.30,1.02,-18.92,0.000,4,0.220,0.067,2499,2301,3963,0,0,0,0,0,0
$GC,383,-0.64,-292.0,88.0,-26.0,61,392,0.12,1.05,0.00,0.000,6,0.144,0.039,2534,1596,3964,0,0,0,0,0,0
$GC,709,-0.59,-292.0,152.0,-18.1,122,717,0.00,1.05,0.00,0.000,4,0.000,0.044,2532,2297,3965,0,0,0,0,0,0
$GC,770,-0.57,-292.0,161.6,-14.6,132,779,0.08,1.02,0.00,0.000,6,0.139,0.040,2557,1611,3965,0,0,0,0,0,0
$GC,1097,-0.58,-292.0,206.8,-12.7,193,1106,0.00,1.05,0.00,0.000,4,0.000,0.047,2554,2293,3966,0,0,0,0,0,0
$GC,1190,-0.61,-292.0,218.8,-11.9,210,1198,0.00,1.02,0.00,0.000,6,0.000,0.041,2554,1607,3966,0,0,0,0,0,0
$GC,1524,-0.62,-292.0,258.0,-12.4,266,1528,0.00,1.05,0.00,0.000,4,0.000,0.047,2550,2291,3965,0,0,0,0,0,0
$GC,1642,-0.66,-292.0,270.3,-10.3,276,1650,0.00,1.02,0.00,0.000,6,0.000,0.041,2550,1610,3965,0,0,0,0,0,0
$GC,1968,-0.68,-292.0,306.9,-11.1,307,1972,0.00,1.05,0.00,0.000,4,0.000,0.048,2545,2290,3965,0,0,0,0,0,0
$GC,2077,-0.71,-292.0,318.0,-10.2,316,2084,0.05,1.02,0.00,0.000,6,0.064,0.041,2481,1608,3964,0,0,0,0,0,0
$GC,2402,-0.67,-292.0,375.4,-17.8,347,2406,0.17,1.08,0.00,0.000,4,0.155,0.049,2528,2292,3963,0,0,0,0,0,0
$GC,2438,-0.67,-292.0,380.8,-15.1,350,2442,0.00,1.02,0.00,0.000,6,0.000,0.042,2529,1611,3963,0,0,0,0,0,0
$GC,2770,-0.68,-292.0,415.5,-9.8,381,2773,0.00,1.05,0.00,0.000,4,0.000,0.050,2525,2295,3962,0,0,0,0,0,0
$GC,2932,-0.72,-292.0,430.4,-9.7,395,2936,0.00,1.02,0.00,0.000,6,0.000,0.043,2525,1616,3961,0,0,0,0,0,0
$GC,3266,-0.74,-292.0,469.2,-11.7,426,3270,0.00,1.02,0.00,0.000,4,0.000,0.052,2520,2283,3958,0,0,0,0,0,0
$GC,3339,-0.77,-292.0,477.8,-11.1,432,3345,0.00,1.02,0.00,0.000,6,0.000,0.046,2521,1609,3958,0,0,0,0,0,0
$GC,3667,-0.79,-292.0,512.2,-10.6,463,3671,0.00,1.05,0.00,0.000,4,0.000,0.054,2515,2284,3956,0,0,0,0,0,0
$GC,3725,-0.82,-292.0,518.4,-10.1,468,3729,0.08,1.02,0.00,0.000,6,0.053,0.045,2454,1609,3955,0,0,0,0,0,0
$GC,4057,-0.77,-292.0,572.9,-16.5,499,4064,0.12,0.00,0.00,0.000,6,0.167,0.000,2498,1609,3952,0,0,0,0,0,0
$GC,4393,-0.77,-292.0,616.6,-13.0,525,4397,0.00,1.08,0.00,0.000,4,0.000,0.054,2499,2288,3950,0,0,0,0,0,0
$GC,4445,-0.77,-292.0,623.6,-12.7,527,4449,0.00,1.05,0.00,0.000,6,0.000,0.046,2500,1607,3950,0,0,0,0,0,0
$GC,4773,-0.77,-292.0,667.6,-13.1,543,4776,0.00,1.08,0.00,0.000,4,0.000,0.055,2499,2290,3947,0,0,0,0,0,0
$GC,4841,-0.77,-292.0,676.5,-12.6,546,4845,0.00,1.05,0.00,0.000,6,0.000,0.046,2499,1608,3946,0,0,0,0,0,0
$GC,5177,-0.77,-292.0,720.7,-13.3,562,5180,0.00,1.05,0.00,0.000,4,0.000,0.056,2494,2279,3944,0,0,0,0,0,0
$GC,5249,-0.77,-292.0,730.1,-11.9,565,5253,0.00,1.02,0.00,0.000,6,0.000,0.047,2494,1612,3942,0,0,0,0,0,0
$GC,5579,-0.77,-292.0,773.6,-13.2,581,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1612,3940,0,0,0,0,0,0
$GC,5886,-0.77,-292.0,812.8,-12.4,596,5890,0.00,1.05,0.00,0.000,4,0.000,0.059,2489,2277,3938,0,0,0,0,0,0
$GC,5955,-0.77,-292.0,820.9,-11.3,599,5959,0.00,1.02,0.00,0.000,6,0.000,0.050,2489,1619,3937,0,0,0,0,0,0
$GC,6290,-0.77,-292.0,861.2,-11.9,615,6294,0.00,1.05,0.00,0.000,4,0.000,0.059,2484,2289,3934,0,0,0,0,0,0
$GC,6336,-0.77,-292.0,866.7,-11.1,617,6340,0.00,1.05,0.00,0.000,6,0.000,0.051,2484,1611,3934,0,0,0,0,0,0
$GC,6671,-0.77,-292.0,904.5,-11.5,633,6675,0.00,1.05,0.00,0.000,4,0.000,0.063,2479,2273,3931,0,0,0,0,0,0
$GC,6721,-0.77,-292.0,910.6,-10.7,635,6725,0.00,1.02,0.00,0.000,6,0.000,0.050,2479,1608,3931,0,0,0,0,0,0
$GC,7049,-0.77,-292.0,949.8,-12.2,651,7053,0.00,1.08,0.00,0.000,4,0.000,0.054,2479,909,3928,0,0,0,0,0,0
$GC,7077,-0.77,-292.0,953.3,-12.2,652,7081,0.00,1.05,0.00,0.000,6,0.000,0.050,2474,1586,3928,0,0,0,0,0,0
$STATE,7381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7381,begin apogee
$GC,7387,-0.11,0.0,991.9,12.9,667,7620,0.73,0.00,226.48,1.430,6,0.128,0.000,2706,1789,2884,0,0,0,0,0,0
$STATE,7623,end apogee,CONTROL_FINISHED_OK
$STATE,7623,begin climb
$GC,7625,0.73,292.0,1002.4,0.0,678,7903,0.75,1.15,267.73,1.379,4,0.054,0.057,2986,2478,1692,0,0,0,0,0,0
$GC,7978,0.69,292.0,955.6,17.3,694,7981,0.00,1.10,0.00,0.000,6,0.000,0.050,2990,1789,1689,0,0,0,0,0,0
$GC,8300,0.64,292.0,899.3,17.2,710,8304,0.15,1.10,0.00,0.000,4,0.175,0.054,2954,1069,1685,0,0,0,0,0,0
$GC,8352,0.63,292.0,891.6,14.0,712,8355,0.00,1.10,0.00,0.000,6,0.000,0.048,2953,1775,1684,0,0,0,0,0,0
$GC,8679,0.62,303.5,847.7,13.4,728,8694,0.00,1.08,10.88,1.177,4,0.000,0.055,2953,2494,1646,0,0,0,0,0,0
$GC,8781,0.66,331.3,834.2,12.9,731,8813,0.00,1.12,27.62,1.278,6,0.000,0.048,2956,1769,1532,0,0,0,0,0,0
$GC,9137,0.66,331.3,780.2,15.8,749,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1769,1529,0,0,0,0,0,0
$GC,9449,0.66,331.3,731.4,15.4,764,9452,0.00,1.10,0.00,0.000,4,0.000,0.055,2956,2484,1528,0,0,0,0,0,0
$GC,9498,0.66,332.4,723.7,13.7,766,9502,0.00,1.08,0.00,0.000,6,0.000,0.047,2959,1779,1528,0,0,0,0,0,0
$GC,9826,0.66,332.4,676.7,14.4,782,9829,0.00,1.08,0.00,0.000,4,0.000,0.051,2964,1080,1527,0,0,0,0,0,0
$GC,9855,0.66,332.4,672.4,14.9,783,9859,0.00,1.08,0.00,0.000,6,0.000,0.043,2964,1788,1526,0,0,0,0,0,0
$GC,10182,0.66,332.4,625.2,14.2,799,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1788,1525,0,0,0,0,0,0
$GC,10496,0.69,353.6,582.3,13.1,820,10521,0.00,1.12,21.12,1.138,4,0.000,0.050,2967,1080,1442,0,0,0,0,0,0
$GC,10567,0.74,398.0,573.8,12.3,826,10614,0.00,1.08,42.33,1.147,6,0.000,0.042,2967,1780,1260,0,0,0,0,0,0
$GC,10943,0.78,423.0,525.8,13.0,861,10969,0.00,1.12,22.90,1.079,4,0.000,0.053,2967,2486,1159,0,0,0,0,0,0
$GC,11005,0.86,470.9,517.7,12.2,866,11054,0.10,1.10,43.95,1.089,6,0.049,0.043,3039,1775,964,0,0,0,0,0,0
$GC,11374,0.81,470.9,440.9,21.1,900,11378,0.12,1.10,0.00,0.000,4,0.171,0.050,3002,2473,958,0,0,0,0,0,0
$GC,11414,0.80,470.9,433.4,18.0,903,11421,0.00,1.05,0.00,0.000,6,0.000,0.041,3005,1782,958,0,0,0,0,0,0
$GC,11741,0.80,470.9,383.6,14.8,934,11745,0.00,1.05,0.00,0.000,4,0.000,0.047,3011,1079,957,0,0,0,0,0,0
$GC,11780,0.80,470.9,377.6,13.9,937,11787,0.00,1.08,0.00,0.000,6,0.000,0.041,3007,1789,957,0,0,0,0,0,0
$GC,12105,0.80,470.9,329.5,16.2,968,12109,0.00,1.02,0.00,0.000,4,0.000,0.050,3003,2480,956,0,0,0,0,0,0
$GC,12132,0.80,470.9,324.9,15.9,970,12139,0.00,1.05,0.00,0.000,6,0.000,0.041,3006,1776,956,0,0,0,0,0,0
$GC,12459,0.80,470.9,276.0,14.9,1001,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1776,956,0,0,0,0,0,0
$GC,12775,0.82,470.9,232.2,14.1,1043,12784,0.00,1.02,0.00,0.000,4,0.000,0.047,3011,1084,956,0,0,0,0,0,0
$GC,12831,0.84,470.9,224.2,14.3,1052,12839,0.00,1.05,0.00,0.000,6,0.000,0.038,3007,1789,956,0,0,0,0,0,0
$GC,13155,0.86,470.9,179.4,13.9,1113,13164,0.00,1.08,0.00,0.000,4,0.000,0.045,3011,1078,956,0,0,0,0,0,0
$GC,13208,0.92,493.5,172.0,13.0,1122,13237,0.00,1.05,20.02,0.765,6,0.000,0.037,3008,1790,870,0,0,0,0,0,0
$GC,13558,1.11,608.2,133.1,10.1,1186,13673,0.25,1.12,96.93,0.739,4,0.056,0.041,3146,1074,454,0,0,0,0,1,0
$GC,13732,1.06,608.2,91.7,24.6,1213,13741,0.17,1.08,0.00,0.000,6,0.135,0.037,3086,1789,450,0,0,0,0,0,0
$GC,14057,1.27,746.0,48.9,9.4,1274,14066,0.20,1.08,0.00,0.000,4,0.060,0.041,3181,1082,441,0,0,0,0,0,0
$GC,14088,1.38,832.9,45.0,11.0,1278,14096,0.00,1.02,0.00,0.000,6,0.000,0.037,3180,1776,440,0,0,0,0,0,0
$STATE,14261,end climb,SURFACE_DEPTH_REACHED
$STATE,14261,begin surface coast
$FINISH,1.8,1.021759
$STATE,14273,end surface coast,CONTROL_FINISHED_OK
$STATE,14273,begin surface
$SM_CCo,14353,0.00,0.000,0,0,435,600.74
$SM_GC,2.10,7.82,0.00,0.00,0.037,0.000,0.000,148,1608,435,-8.03,-0.06,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12357.07,151011,222202
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.61
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.10
$XPDR_PINGS,111
$24V_AH,23.0,92.335
$10V_AH,9.8,64.695
$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,20.225,64.175,779.950,0.000,0.000,27.881,21.465,209.381,27.750,0.000,33.204,3072.654,7201.718,747.580,3301.658,454.232,0.000,2108.293,0.000,3024.445,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,67.320,1429.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.954,1344.590,1503.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330388
$DATA_FILE_SIZE,73668,1313
$CAP_FILE_SIZE,160872,0
$CFSIZE,260165632,113115136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161011,064507,2339.380,12358.552,28,1.3,28,-3.4