version: 66.09
glider: 166
mission: 6
dive: 384
start: 10 16 111 6 54 55
data:
$ID,166
$MISSION,6
$DIVE,384
$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,-24882.775
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,161011,064507,2339.380,12358.552,28,1.3,28,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-59.1
$GPS2,161011,065431,2339.329,12358.580,18,1.4,32,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2333.929,12348.377
$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,16,-0.73,-292.0,0.0,0.0,0,130,0.00,0.00,-110.65,0.000,2,0.000,0.000,144,1605,3110,0,0,0,0,0,0
$GC,135,-0.73,-292.0,6.2,-10.0,16,165,9.30,1.10,-14.75,0.000,4,0.221,0.070,2503,2304,3964,0,0,0,0,0,0
$GC,383,-0.64,-292.0,88.3,-24.3,61,392,0.10,1.05,0.00,0.000,6,0.147,0.039,2529,1598,3966,0,0,0,0,0,0
$GC,705,-0.59,-292.0,150.1,-18.3,122,713,0.00,1.05,0.00,0.000,4,0.000,0.046,2525,2298,3966,0,0,0,0,0,0
$GC,822,-0.58,-292.0,168.0,-14.4,143,831,0.08,1.02,0.00,0.000,6,0.134,0.041,2550,1615,3967,0,0,0,0,0,0
$GC,1149,-0.58,-292.0,212.0,-13.9,204,1157,0.00,1.02,0.00,0.000,4,0.000,0.047,2547,2293,3967,0,0,0,0,0,0
$GC,1191,-0.58,-292.0,217.6,-12.5,211,1199,0.00,1.02,0.00,0.000,6,0.000,0.041,2547,1607,3967,0,0,0,0,0,0
$GC,1520,-0.58,-292.0,259.6,-12.8,266,1524,0.00,1.05,0.00,0.000,4,0.000,0.046,2542,2294,3967,0,0,0,0,0,0
$GC,1548,-0.60,-292.0,263.0,-12.0,268,1556,0.00,1.02,0.00,0.000,6,0.000,0.041,2542,1613,3966,0,0,0,0,0,0
$GC,1874,-0.61,-292.0,304.2,-12.9,299,1877,0.00,1.05,0.00,0.000,4,0.000,0.048,2538,2296,3966,0,0,0,0,0,0
$GC,2018,-0.64,-292.0,320.1,-10.4,311,2025,0.00,1.05,0.00,0.000,6,0.000,0.041,2538,1601,3966,0,0,0,0,0,0
$GC,2344,-0.65,-292.0,357.5,-11.5,342,2347,0.00,1.08,0.00,0.000,4,0.000,0.047,2533,2299,3965,0,0,0,0,0,0
$GC,2441,-0.68,-292.0,367.8,-9.9,350,2448,0.00,1.05,0.00,0.000,6,0.000,0.042,2533,1609,3964,0,0,0,0,0,0
$GC,2767,-0.70,-292.0,404.7,-11.4,381,2771,0.00,1.05,0.00,0.000,4,0.000,0.050,2529,2291,3963,0,0,0,0,0,0
$GC,2863,-0.73,-292.0,414.4,-10.1,389,2866,0.00,1.02,0.00,0.000,6,0.000,0.043,2530,1615,3962,0,0,0,0,0,0
$GC,3196,-0.76,-292.0,452.5,-11.6,420,3200,0.00,1.02,0.00,0.000,4,0.000,0.050,2524,2291,3960,0,0,0,0,0,0
$GC,3243,-0.79,-292.0,458.0,-11.2,424,3247,0.08,1.02,0.00,0.000,6,0.051,0.044,2460,1615,3960,0,0,0,0,0,0
$GC,3576,-0.75,-292.0,510.9,-15.3,455,3580,0.15,1.08,0.00,0.000,4,0.160,0.051,2500,2297,3958,0,0,0,0,0,0
$GC,3602,-0.73,-292.0,515.1,-14.6,457,3609,0.00,1.05,0.00,0.000,6,0.000,0.044,2500,1607,3957,0,0,0,0,0,0
$GC,3930,-0.73,-292.0,549.4,-10.6,488,3934,0.00,1.08,0.00,0.000,4,0.000,0.052,2495,2295,3955,0,0,0,0,0,0
$GC,4048,-0.75,-292.0,561.5,-9.7,498,4055,0.00,1.05,0.00,0.000,6,0.000,0.044,2495,1611,3954,0,0,0,0,0,0
$GC,4373,-0.75,-292.0,595.7,-10.9,529,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1611,3952,0,0,0,0,0,0
$GC,4684,-0.75,-292.0,633.0,-12.8,546,4688,0.00,1.08,0.00,0.000,4,0.000,0.054,2499,2293,3949,0,0,0,0,0,0
$GC,4779,-0.77,-292.0,645.2,-12.8,550,4783,0.00,1.05,0.00,0.000,6,0.000,0.046,2500,1611,3949,0,0,0,0,0,0
$GC,5108,-0.77,-292.0,688.2,-13.2,566,5112,0.00,1.08,0.00,0.000,4,0.000,0.052,2510,911,3945,0,0,0,0,0,0
$GC,5147,-0.78,-292.0,693.9,-13.3,567,5154,0.00,1.05,0.00,0.000,6,0.000,0.047,2505,1591,3945,0,0,0,0,0,0
$GC,5466,-0.78,-292.0,733.5,-12.0,583,5470,0.00,1.10,0.00,0.000,4,0.000,0.054,2500,2311,3942,0,0,0,0,0,0
$GC,5527,-0.80,-292.0,740.7,-10.4,585,5534,0.00,1.08,0.00,0.000,6,0.000,0.047,2500,1615,3942,0,0,0,0,0,0
$GC,5844,-0.80,-292.0,774.3,-10.0,601,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1615,3939,0,0,0,0,0,0
$GC,6155,-0.80,-292.0,805.8,-10.4,616,6159,0.00,1.10,0.00,0.000,4,0.000,0.059,2494,2310,3937,0,0,0,0,0,0
$GC,6182,-0.81,-292.0,808.9,-10.5,617,6186,0.00,1.10,0.00,0.000,6,0.000,0.049,2494,1604,3937,0,0,0,0,0,0
$GC,6512,-0.81,-292.0,845.5,-11.9,633,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1604,3934,0,0,0,0,0,0
$GC,6819,-0.81,-292.0,881.4,-11.3,648,6823,0.00,1.12,0.00,0.000,4,0.000,0.059,2489,2310,3932,0,0,0,0,0,0
$GC,6913,-0.82,-292.0,891.4,-11.3,652,6917,0.00,1.10,0.00,0.000,6,0.000,0.050,2489,1607,3931,0,0,0,0,0,0
$GC,7248,-0.82,-292.0,930.9,-11.5,668,7252,0.00,1.08,0.00,0.000,4,0.000,0.057,2489,913,3928,0,0,0,0,0,0
$GC,7326,-0.82,-292.0,940.5,-11.8,671,7330,0.00,1.10,0.00,0.000,6,0.000,0.050,2484,1616,3928,0,0,0,0,0,0
$GC,7650,-0.82,-292.0,978.8,-12.1,687,7654,0.00,1.08,0.00,0.000,4,0.000,0.059,2479,2311,3927,0,0,0,0,0,0
$GC,7674,-0.82,-292.0,982.0,-12.5,688,7678,0.00,1.08,0.00,0.000,6,0.000,0.048,2479,1614,3926,0,0,0,0,0,0
$STATE,7757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7757,begin apogee
$GC,7763,-0.11,0.0,992.7,12.6,692,7996,0.70,0.00,226.65,1.438,6,0.130,0.000,2701,1780,2884,0,0,0,0,0,0
$STATE,7998,end apogee,CONTROL_FINISHED_OK
$STATE,7998,begin climb
$GC,8000,0.73,292.0,1005.2,0.0,703,8279,0.77,0.00,270.83,1.386,6,0.057,0.000,2986,1780,1693,0,0,0,0,0,0
$GC,8575,0.69,292.0,919.6,18.2,731,8579,0.00,1.12,0.00,0.000,4,0.000,0.060,2986,2487,1687,0,0,0,0,0,0
$GC,8627,0.65,292.0,910.2,17.8,733,8631,0.10,1.10,0.00,0.000,6,0.157,0.050,2959,1787,1686,0,0,0,0,0,0
$GC,8957,0.63,292.0,859.9,15.2,749,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1787,1684,0,0,0,0,0,0
$GC,9267,0.61,292.0,813.2,15.0,764,9271,0.00,1.08,0.00,0.000,4,0.000,0.057,2957,2478,1683,0,0,0,0,0,0
$GC,9305,0.61,292.0,806.7,15.0,765,9313,0.00,1.08,0.00,0.000,6,0.000,0.047,2959,1779,1683,0,0,0,0,0,0
$GC,9622,0.59,292.0,759.9,14.7,781,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1779,1682,0,0,0,0,0,0
$GC,9934,0.58,292.0,714.4,14.7,796,9937,0.00,1.10,0.00,0.000,4,0.000,0.056,2959,2490,1681,0,0,0,0,0,0
$GC,9972,0.58,292.0,708.2,14.3,797,9980,0.08,1.10,0.00,0.000,6,0.154,0.046,2938,1774,1682,0,0,0,0,0,0
$GC,10288,0.68,373.6,671.9,11.2,813,10373,0.00,1.15,75.47,1.241,4,0.000,0.052,2941,1074,1359,0,0,0,0,0,0
$GC,10416,0.83,473.0,658.0,10.6,818,10518,0.17,1.12,90.75,1.198,6,0.048,0.043,3034,1791,954,0,0,0,0,0,0
$GC,10834,0.78,473.0,569.4,22.5,844,10838,0.15,1.08,0.00,0.000,4,0.166,0.054,2990,2489,948,0,0,0,0,0,0
$GC,10954,0.80,473.0,550.2,14.2,854,10961,0.00,1.10,0.00,0.000,6,0.000,0.044,2993,1774,947,0,0,0,0,0,0
$GC,11279,0.80,473.0,496.5,17.0,885,11283,0.00,1.10,0.00,0.000,4,0.000,0.052,2990,2491,946,0,0,0,0,0,0
$GC,11343,0.82,473.0,486.3,15.3,890,11350,0.00,1.10,0.00,0.000,6,0.000,0.044,2993,1765,946,0,0,0,0,0,0
$GC,11668,0.82,473.0,436.3,14.4,921,11672,0.00,1.10,0.00,0.000,4,0.000,0.050,2992,2489,945,0,0,0,0,0,0
$GC,11721,0.84,473.9,429.2,13.7,925,11728,0.00,1.08,0.00,0.000,6,0.000,0.043,2995,1780,945,0,0,0,0,0,0
$GC,12046,0.85,473.9,384.8,14.1,956,12050,0.00,1.08,0.00,0.000,4,0.000,0.049,3000,1076,944,0,0,0,0,0,0
$GC,12098,0.87,473.9,377.3,14.4,960,12105,0.00,1.08,0.00,0.000,6,0.000,0.040,2997,1794,944,0,0,0,0,0,0
$GC,12425,0.91,491.0,332.8,13.2,991,12445,0.12,0.00,15.48,0.896,6,0.086,0.000,3065,1796,881,0,0,0,0,0,0
$GC,12764,0.86,491.0,259.1,21.5,1023,12769,0.15,1.02,0.00,0.000,4,0.164,0.049,3020,2475,878,0,0,0,0,0,0
$GC,12838,0.90,498.3,247.6,13.5,1031,12854,0.00,1.05,7.82,0.733,6,0.000,0.041,3023,1776,851,0,0,0,0,0,0
$GC,13171,0.91,498.3,201.6,14.2,1093,13179,0.00,1.02,0.00,0.000,4,0.000,0.045,3029,1081,848,0,0,0,0,0,0
$GC,13210,0.92,498.3,195.7,15.5,1099,13218,0.00,1.05,0.00,0.000,6,0.000,0.037,3025,1790,848,0,0,0,0,0,0
$GC,13536,1.03,560.9,152.2,11.8,1160,13598,0.15,1.15,56.33,0.776,4,0.078,0.044,3113,1069,596,0,0,0,0,0,0
$GC,13692,0.98,560.9,118.7,22.7,1185,13701,0.15,1.08,0.00,0.000,6,0.139,0.037,3065,1788,588,0,0,0,0,0,0
$GC,14021,1.08,617.9,72.9,11.9,1246,14058,0.00,1.12,33.50,0.689,4,0.000,0.043,3057,1076,454,0,0,0,0,0,0
$GC,14093,1.26,715.3,64.2,10.7,1257,14101,0.22,1.05,0.00,0.000,6,0.036,0.034,3177,1789,447,0,0,0,0,0,0
$STATE,14361,end climb,SURFACE_DEPTH_REACHED
$STATE,14361,begin surface coast
$FINISH,1.4,0.998427
$STATE,14372,end surface coast,CONTROL_FINISHED_OK
$STATE,14374,begin surface
$SM_CCo,14452,0.00,0.000,0,0,441,599.27
$SM_GC,1.92,7.85,0.00,0.00,0.037,0.000,0.000,145,1578,441,-8.04,-0.90,599.27,0,0,0,0,0,0
$IRIDIUM_FIX,2333.28,12734.55,161011,060645
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.77
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,24.00
$XPDR_PINGS,102
$24V_AH,22.8,92.631
$10V_AH,9.8,64.844
$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,20.325,62.750,776.825,0.000,0.000,59.994,77.172,184.094,25.500,0.000,33.489,3071.566,7390.113,809.171,3264.305,462.962,0.000,2099.190,0.000,2935.690,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,70.380,1438.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.867,1343.168,1445.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,73434,1309
$CAP_FILE_SIZE,159497,0
$CFSIZE,260165632,113029120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161011,105727,2338.211,12358.205,41,99.0,60,-3.4