version: 66.09
glider: 166
mission: 6
dive: 386
start: 10 16 111 15 15 18
data:
$ID,166
$MISSION,6
$DIVE,386
$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,-24885.291
$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,47
$R_STBD_OVSHOOT,54
$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
$GPS1,161011,150531,2337.578,12357.303,61,2.0,61,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-61.0
$GPS2,161011,151454,2337.638,12357.297,33,1.8,43,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2332.239,12347.096
$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,2844
$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,-292.0,0.0,0.0,0,129,0.00,0.00,-110.47,0.000,2,0.000,0.000,144,1593,3101,0,0,0,0,0,0
$GC,135,-0.73,-292.0,6.1,-10.9,16,165,9.27,1.10,-15.30,0.000,4,0.221,0.067,2496,2308,3963,0,0,0,0,0,0
$GC,377,-0.64,-292.0,89.3,-25.7,60,385,0.12,1.05,0.00,0.000,6,0.141,0.040,2536,1612,3965,0,0,0,0,0,0
$GC,702,-0.60,-292.0,155.0,-18.1,121,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1612,3966,0,0,0,0,0,0
$GC,1027,-0.58,-292.0,209.1,-15.8,182,1035,0.00,1.05,0.00,0.000,4,0.000,0.047,2532,2298,3966,0,0,0,0,0,0
$GC,1154,-0.58,-292.0,226.7,-13.7,205,1163,0.00,1.02,0.00,0.000,6,0.000,0.041,2532,1616,3966,0,0,0,0,0,0
$GC,1488,-0.58,-292.0,274.7,-14.2,251,1492,0.00,1.02,0.00,0.000,4,0.000,0.047,2528,2295,3966,0,0,0,0,0,0
$GC,1592,-0.60,-292.0,288.1,-11.7,260,1600,0.00,1.02,0.00,0.000,6,0.000,0.041,2528,1614,3965,0,0,0,0,0,0
$GC,1918,-0.60,-292.0,327.9,-12.8,291,1921,0.00,1.02,0.00,0.000,4,0.000,0.047,2523,2293,3965,0,0,0,0,0,0
$GC,2002,-0.61,-292.0,337.7,-11.0,298,2009,0.00,1.05,0.00,0.000,6,0.000,0.041,2523,1599,3964,0,0,0,0,0,0
$GC,2328,-0.61,-292.0,377.9,-12.6,329,2331,0.00,1.05,0.00,0.000,4,0.000,0.047,2518,2292,3963,0,0,0,0,0,0
$GC,2362,-0.61,-292.0,382.1,-12.0,332,2366,0.00,1.02,0.00,0.000,6,0.000,0.042,2518,1614,3963,0,0,0,0,0,0
$GC,2694,-0.61,-292.0,421.8,-11.6,363,2697,0.00,1.05,0.00,0.000,4,0.000,0.049,2513,2295,3960,0,0,0,0,0,0
$GC,2753,-0.63,-292.0,428.7,-12.0,368,2757,0.00,1.02,0.00,0.000,6,0.000,0.043,2513,1616,3960,0,0,0,0,0,0
$GC,3084,-0.63,-292.0,470.4,-11.5,399,3088,0.00,1.02,0.00,0.000,4,0.000,0.050,2509,2288,3958,0,0,0,0,0,0
$GC,3202,-0.65,-292.0,482.6,-10.0,409,3209,0.00,1.02,0.00,0.000,6,0.000,0.044,2510,1610,3957,0,0,0,0,0,0
$GC,3530,-0.66,-292.0,518.2,-11.4,440,3533,0.00,1.08,0.00,0.000,4,0.000,0.052,2505,2294,3955,0,0,0,0,0,0
$GC,3565,-0.68,-292.0,522.3,-11.2,443,3569,0.00,1.02,0.00,0.000,6,0.000,0.044,2505,1612,3955,0,0,0,0,0,0
$GC,3896,-0.69,-292.0,562.9,-12.4,474,3900,0.00,1.08,0.00,0.000,4,0.000,0.054,2501,2294,3952,0,0,0,0,0,0
$GC,3920,-0.70,-292.0,565.9,-12.6,476,3924,0.00,1.05,0.00,0.000,6,0.000,0.045,2501,1610,3951,0,0,0,0,0,0
$GC,4262,-0.71,-292.0,605.0,-10.9,506,4265,0.00,1.05,0.00,0.000,4,0.000,0.054,2498,2290,3949,0,0,0,0,0,0
$GC,4301,-0.73,-292.0,609.4,-10.7,507,4308,0.00,1.05,0.00,0.000,6,0.000,0.046,2497,1606,3949,0,0,0,0,0,0
$GC,4620,-0.74,-292.0,644.9,-11.3,523,4623,0.00,1.05,0.00,0.000,4,0.000,0.054,2495,2286,3946,0,0,0,0,0,0
$GC,4670,-0.76,-292.0,650.8,-10.5,525,4674,0.00,1.05,0.00,0.000,6,0.000,0.047,2494,1604,3946,0,0,0,0,0,0
$GC,4997,-0.76,-292.0,684.9,-10.6,541,5001,0.00,1.08,0.00,0.000,4,0.000,0.057,2497,2294,3943,0,0,0,0,0,0
$GC,5038,-0.78,-292.0,688.9,-10.1,542,5045,0.00,1.05,0.00,0.000,6,0.000,0.047,2500,1609,3943,0,0,0,0,0,0
$GC,5354,-0.78,-292.0,724.3,-11.8,558,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1609,3939,0,0,0,0,0,0
$GC,5666,-0.79,-292.0,761.9,-11.7,573,5670,0.00,1.08,0.00,0.000,4,0.000,0.058,2501,2294,3937,0,0,0,0,0,0
$GC,5745,-0.81,-292.0,770.9,-10.8,576,5749,0.00,1.05,0.00,0.000,6,0.000,0.049,2500,1616,3936,0,0,0,0,0,0
$GC,6067,-0.81,-292.0,808.0,-11.6,592,6070,0.00,1.10,0.00,0.000,4,0.000,0.053,2500,906,3934,0,0,0,0,0,0
$GC,6119,-0.81,-292.0,814.3,-12.0,594,6122,0.00,1.08,0.00,0.000,6,0.000,0.048,2495,1595,3933,0,0,0,0,0,0
$GC,6446,-0.81,-292.0,853.7,-12.1,610,6450,0.00,1.10,0.00,0.000,4,0.000,0.057,2490,2310,3930,0,0,0,0,0,0
$GC,6510,-0.83,-292.0,861.3,-11.8,612,6516,0.00,1.08,0.00,0.000,6,0.000,0.049,2490,1616,3930,0,0,0,0,0,0
$GC,6826,-0.83,-292.0,902.3,-13.2,628,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1615,3928,0,0,0,0,0,0
$GC,7135,-0.83,-292.0,939.8,-11.4,643,7139,0.00,1.10,0.00,0.000,4,0.000,0.060,2485,2306,3926,0,0,0,0,0,0
$GC,7188,-0.84,-292.0,945.6,-11.0,645,7192,0.00,1.10,0.00,0.000,6,0.000,0.050,2485,1604,3925,0,0,0,0,0,0
$GC,7516,-0.84,-292.0,981.5,-10.8,661,7519,0.00,1.10,0.00,0.000,4,0.000,0.061,2480,2297,3923,0,0,0,0,0,0
$GC,7549,-0.84,-292.0,985.0,-10.6,662,7553,0.00,1.05,0.00,0.000,6,0.000,0.050,2480,1622,3923,0,0,0,0,0,0
$STATE,7600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7600,begin apogee
$GC,7608,-0.11,0.0,990.4,10.5,665,7840,0.70,0.00,225.27,1.431,6,0.129,0.000,2704,1781,2884,0,0,0,0,0,0
$STATE,7845,end apogee,CONTROL_FINISHED_OK
$STATE,7845,begin climb
$GC,7847,0.73,292.0,998.5,0.0,676,8126,0.75,1.12,266.60,1.376,4,0.056,0.059,2984,2480,1692,0,0,0,0,0,0
$GC,8268,0.70,292.0,937.8,17.5,695,8272,0.00,1.10,0.00,0.000,6,0.000,0.051,2987,1785,1689,0,0,0,0,0,0
$GC,8591,0.65,292.0,881.2,17.4,711,8595,0.12,1.12,0.00,0.000,4,0.181,0.059,2952,2488,1686,0,0,0,0,0,0
$GC,8623,0.63,292.0,875.7,15.6,712,8627,0.00,1.10,0.00,0.000,6,0.000,0.050,2955,1782,1685,0,0,0,0,0,0
$GC,8948,0.62,297.1,831.2,13.6,728,8954,0.00,0.00,4.70,0.884,6,0.000,0.000,2955,1782,1672,0,0,0,0,0,0
$GC,9255,0.63,310.7,789.6,13.3,743,9274,0.00,0.00,15.07,1.218,6,0.000,0.000,2955,1782,1617,0,0,0,0,0,0
$GC,9586,0.67,346.2,747.2,12.6,759,9629,0.00,1.17,34.17,1.258,4,0.000,0.056,2954,2490,1472,0,0,0,0,0,0
$GC,9662,0.72,382.4,736.8,12.6,762,9702,0.00,1.12,35.03,1.235,6,0.000,0.047,2957,1774,1324,0,0,0,0,0,0
$GC,10030,0.72,382.4,686.6,14.3,780,10033,0.00,1.08,0.00,0.000,4,0.000,0.052,2962,1069,1320,0,0,0,0,0,0
$GC,10079,0.72,382.4,679.0,15.1,782,10083,0.00,1.10,0.00,0.000,6,0.000,0.044,2959,1790,1320,0,0,0,0,0,0
$GC,10409,0.72,382.4,632.5,13.9,798,10413,0.00,1.10,0.00,0.000,4,0.000,0.050,2962,1075,1318,0,0,0,0,0,0
$GC,10433,0.72,387.2,629.1,13.6,799,10442,0.00,1.08,4.88,0.841,6,0.000,0.044,2962,1777,1304,0,0,0,0,0,0
$GC,10759,0.74,398.7,585.9,13.4,819,10776,0.00,1.12,12.43,1.074,4,0.000,0.050,2967,1074,1257,0,0,0,0,0,0
$GC,10806,0.76,411.4,579.2,13.3,822,10825,0.00,1.10,13.35,1.071,6,0.000,0.043,2967,1791,1205,0,0,0,0,0,0
$GC,11145,0.81,438.8,533.9,12.9,854,11173,0.12,0.00,25.67,1.101,6,0.088,0.000,3035,1791,1093,0,0,0,0,0,0
$GC,11491,0.76,438.8,463.5,20.6,887,11495,0.15,1.12,0.00,0.000,4,0.165,0.047,2999,1069,1091,0,0,0,0,0,0
$GC,11531,0.75,438.8,456.1,17.2,890,11538,0.00,1.08,0.00,0.000,6,0.000,0.042,2997,1779,1090,0,0,0,0,0,0
$GC,11856,0.75,438.8,404.9,16.7,921,11860,0.00,1.05,0.00,0.000,4,0.000,0.052,2996,2483,1090,0,0,0,0,0,0
$GC,11893,0.75,438.8,399.4,16.0,924,11897,0.00,1.08,0.00,0.000,6,0.000,0.043,3000,1775,1089,0,0,0,0,0,0
$GC,12224,0.76,449.0,351.9,13.4,955,12239,0.00,1.08,9.75,0.861,4,0.000,0.047,3005,1076,1053,0,0,0,0,0,0
$GC,12316,0.78,464.2,340.1,13.3,963,12340,0.00,1.08,15.07,0.899,6,0.000,0.040,3002,1791,989,0,0,0,0,0,0
$GC,12660,0.82,489.1,293.8,13.0,995,12687,0.00,1.12,22.55,0.886,4,0.000,0.047,3005,1074,889,0,0,0,0,0,0
$GC,12741,0.86,504.7,283.0,13.3,1002,12765,0.00,1.05,15.18,0.837,6,0.000,0.038,3002,1773,825,0,0,0,0,0,0
$GC,13088,0.98,563.5,238.3,11.9,1043,13147,0.17,1.12,53.30,0.851,4,0.069,0.045,3097,1072,586,0,0,0,0,0,0
$GC,13194,0.93,563.5,216.0,23.6,1059,13203,0.15,1.08,0.00,0.000,6,0.141,0.039,3048,1783,580,0,0,0,0,0,0
$GC,13521,0.94,563.5,158.8,15.8,1120,13529,0.00,1.02,0.00,0.000,4,0.000,0.047,3047,2481,575,0,0,0,0,0,0
$GC,13550,0.95,563.5,154.3,15.8,1124,13558,0.00,1.05,0.00,0.000,6,0.000,0.040,3043,1779,575,0,0,0,0,0,0
$GC,13877,0.98,563.5,105.8,14.3,1185,13885,0.00,1.02,0.00,0.000,4,0.000,0.044,3044,1081,574,0,0,0,0,0,0
$GC,13950,1.05,592.1,96.0,12.8,1198,13980,0.08,1.02,26.15,0.707,6,0.058,0.036,3106,1786,470,0,0,0,0,0,0
$GC,14295,1.06,592.1,32.9,15.2,1262,14303,0.00,1.08,0.00,0.000,4,0.000,0.044,3111,1077,459,0,0,0,0,0,0
$GC,14379,1.06,592.1,20.1,16.9,1277,14387,0.00,1.02,0.00,0.000,6,0.000,0.036,3111,1778,458,0,0,0,0,0,0
$STATE,14487,end climb,SURFACE_DEPTH_REACHED
$STATE,14487,begin surface coast
$FINISH,1.3,1.021584
$STATE,14511,end surface coast,CONTROL_FINISHED_OK
$STATE,14511,begin surface
$SM_CCo,14591,0.00,0.000,0,0,457,595.59
$SM_GC,1.83,7.62,0.00,0.00,0.034,0.000,0.000,138,1604,457,-8.06,-0.17,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2330.93,12348.58,161011,111103
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.69
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.20
$XPDR_PINGS,124
$24V_AH,23.0,93.214
$10V_AH,9.8,65.144
$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,19.275,66.825,779.175,0.000,0.000,57.695,60.446,185.721,31.000,0.000,44.785,3063.668,7569.276,759.735,3275.379,468.434,0.000,2101.978,0.000,2935.901,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,68.085,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.435,1332.816,1384.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330452
$DATA_FILE_SIZE,73423,1301
$CAP_FILE_SIZE,164742,0
$CFSIZE,260165632,112844800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161011,191937,2336.524,12356.613,29,2.0,29,-3.4