version: 66.09
glider: 166
mission: 6
dive: 389
start: 10 17 111 4 5 9
data:
$ID,166
$MISSION,6
$DIVE,389
$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,-24892.721
$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,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
$GPS1,171011,035254,2335.290,12354.480,49,1.6,67,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-57.0
$GPS2,171011,040443,2335.268,12354.574,14,1.8,31,-3.3
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2329.868,12344.376
$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,3131
$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,-292.0,0.0,0.0,0,125,0.00,0.00,-106.03,0.000,2,0.000,0.000,124,1595,2949,0,0,0,0,0,0
$GC,128,-0.73,-292.0,5.1,-4.5,15,165,9.20,1.05,-20.02,0.000,4,0.215,0.067,2500,911,3962,0,0,0,0,0,0
$GC,402,-0.65,-292.0,91.7,-23.7,65,410,0.10,1.05,0.00,0.000,6,0.147,0.043,2528,1597,3964,0,0,0,0,0,0
$GC,728,-0.61,-292.0,155.5,-17.7,126,736,0.00,1.08,0.00,0.000,4,0.000,0.047,2525,2316,3964,0,0,0,0,0,0
$GC,810,-0.60,-292.0,168.3,-15.2,140,818,0.00,1.08,0.00,0.000,6,0.000,0.041,2523,1607,3964,0,0,0,0,0,0
$GC,1132,-0.56,-292.0,223.9,-16.9,201,1141,0.15,1.10,0.00,0.000,4,0.161,0.046,2561,2313,3964,0,0,0,0,0,0
$GC,1197,-0.60,-292.0,232.4,-11.6,212,1206,0.00,1.05,0.00,0.000,6,0.000,0.041,2560,1616,3965,0,0,0,0,0,0
$GC,1534,-0.63,-292.0,272.5,-11.1,256,1538,0.00,1.05,0.00,0.000,4,0.000,0.046,2556,2312,3964,0,0,0,0,0,0
$GC,1570,-0.66,-292.0,276.3,-10.4,259,1574,0.00,1.05,0.00,0.000,6,0.000,0.041,2556,1612,3964,0,0,0,0,0,0
$GC,1902,-0.69,-292.0,311.4,-10.8,290,1905,0.00,1.05,0.00,0.000,4,0.000,0.047,2552,2306,3963,0,0,0,0,0,0
$GC,2005,-0.74,-292.0,321.7,-9.4,299,2009,0.10,1.05,0.00,0.000,6,0.044,0.041,2473,1615,3963,0,0,0,0,0,0
$GC,2336,-0.69,-292.0,380.1,-18.2,330,2340,0.17,1.10,0.00,0.000,4,0.157,0.047,2524,905,3961,0,0,0,0,0,0
$GC,2363,-0.67,-292.0,384.8,-16.7,332,2369,0.00,1.08,0.00,0.000,6,0.000,0.041,2521,1612,3962,0,0,0,0,0,0
$GC,2688,-0.67,-292.0,425.7,-11.8,363,2692,0.00,1.05,0.00,0.000,4,0.000,0.048,2516,2314,3959,0,0,0,0,0,0
$GC,2826,-0.70,-292.0,439.4,-9.3,375,2830,0.00,1.08,0.00,0.000,6,0.000,0.042,2516,1606,3959,0,0,0,0,0,0
$GC,3158,-0.72,-292.0,474.6,-10.8,406,3161,0.00,1.08,0.00,0.000,4,0.000,0.049,2512,2302,3957,0,0,0,0,0,0
$GC,3193,-0.73,-292.0,478.3,-10.6,409,3197,0.00,1.05,0.00,0.000,6,0.000,0.043,2512,1612,3956,0,0,0,0,0,0
$GC,3524,-0.75,-292.0,515.2,-11.0,440,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1611,3954,0,0,0,0,0,0
$GC,3847,-0.76,-292.0,548.9,-10.6,470,3850,0.00,1.10,0.00,0.000,4,0.000,0.052,2507,2310,3951,0,0,0,0,0,0
$GC,3928,-0.79,-292.0,557.9,-10.3,477,3931,0.00,1.08,0.00,0.000,6,0.000,0.045,2507,1612,3950,0,0,0,0,0,0
$GC,4261,-0.81,-292.0,595.8,-11.7,508,4265,0.00,1.08,0.00,0.000,4,0.000,0.054,2503,2307,3948,0,0,0,0,0,0
$GC,4308,-0.83,-292.0,601.2,-11.0,512,4312,0.00,1.08,0.00,0.000,6,0.000,0.047,2503,1604,3947,0,0,0,0,0,0
$GC,4641,-0.84,-292.0,640.3,-12.2,528,4645,0.00,1.08,0.00,0.000,4,0.000,0.054,2498,2299,3945,0,0,0,0,0,0
$GC,4692,-0.87,-292.0,646.6,-11.8,530,4696,0.00,1.05,0.00,0.000,6,0.000,0.047,2498,1613,3944,0,0,0,0,0,0
$GC,5019,-0.88,-292.0,687.6,-12.6,546,5024,0.12,1.10,0.00,0.000,4,0.088,0.057,2427,2306,3940,0,0,0,0,0,0
$GC,5140,-0.84,-292.0,707.1,-16.9,551,5145,0.12,1.08,0.00,0.000,6,0.145,0.048,2469,1607,3939,0,0,0,0,0,0
$GC,5469,-0.83,-292.0,753.9,-13.6,567,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1607,3938,0,0,0,0,0,0
$GC,5779,-0.83,-292.0,795.4,-13.5,582,5782,0.00,1.10,0.00,0.000,4,0.000,0.058,2481,2305,3935,0,0,0,0,0,0
$GC,5834,-0.83,-292.0,802.9,-12.2,584,5838,0.00,1.08,0.00,0.000,6,0.000,0.050,2481,1612,3935,0,0,0,0,0,0
$GC,6158,-0.83,-292.0,844.7,-13.0,600,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1612,3933,0,0,0,0,0,0
$GC,6466,-0.83,-292.0,885.3,-13.2,615,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1612,3930,0,0,0,0,0,0
$GC,6775,-0.83,-292.0,926.8,-13.3,630,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1612,3927,0,0,0,0,0,0
$GC,7086,-0.83,-292.0,968.4,-13.5,645,7090,0.00,1.10,0.00,0.000,4,0.000,0.056,2480,904,3925,0,0,0,0,0,0
$GC,7125,-0.83,-292.0,974.1,-13.7,646,7132,0.00,1.10,0.00,0.000,6,0.000,0.050,2476,1608,3924,0,0,0,0,0,0
$STATE,7253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7253,begin apogee
$GC,7259,-0.11,0.0,992.1,14.0,653,7491,0.70,0.00,224.93,1.429,6,0.125,0.000,2701,1783,2883,0,0,0,0,0,0
$STATE,7494,end apogee,CONTROL_FINISHED_OK
$STATE,7494,begin climb
$GC,7496,0.73,292.0,1006.1,0.0,664,7772,0.75,1.17,265.73,1.377,4,0.055,0.060,2984,2475,1693,0,0,0,0,0,0
$GC,7870,0.70,292.0,961.8,15.3,681,7874,0.00,1.10,0.00,0.000,6,0.000,0.050,2987,1784,1690,0,0,0,0,0,0
$GC,8197,0.65,292.0,906.1,17.6,697,8199,0.12,0.00,0.00,0.000,6,0.180,0.000,2956,1784,1687,0,0,0,0,0,0
$GC,8509,0.63,292.0,858.5,15.9,712,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1783,1685,0,0,0,0,0,0
$GC,8816,0.62,292.0,810.3,15.2,727,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1784,1683,0,0,0,0,0,0
$GC,9127,0.61,293.3,766.4,13.7,742,9131,0.00,1.10,0.00,0.000,4,0.000,0.051,2960,1065,1682,0,0,0,0,0,0
$GC,9166,0.60,293.3,760.6,13.9,743,9173,0.00,1.10,0.00,0.000,6,0.000,0.047,2959,1780,1682,0,0,0,0,0,0
$GC,9483,0.62,322.1,719.9,12.8,759,9514,0.00,1.12,27.83,1.245,4,0.000,0.056,2957,2480,1571,0,0,0,0,0,0
$GC,9550,0.69,378.2,711.8,12.0,762,9612,0.00,1.10,53.88,1.239,6,0.000,0.046,2960,1776,1340,0,0,0,0,0,0
$GC,9920,0.69,378.2,661.6,14.0,780,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1775,1335,0,0,0,0,0,0
$GC,10232,0.73,409.7,620.5,12.8,795,10263,0.00,0.00,28.95,1.167,6,0.000,0.000,2960,1776,1213,0,0,0,0,0,0
$GC,10568,0.78,438.4,578.0,12.8,819,10605,0.10,1.15,26.55,1.127,4,0.103,0.051,3024,1062,1095,0,0,0,0,0,0
$GC,10666,0.75,438.4,561.1,19.3,827,10671,0.10,1.12,0.00,0.000,6,0.141,0.046,2991,1784,1093,0,0,0,0,0,0
$GC,10997,0.75,438.4,506.7,16.2,858,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1785,1092,0,0,0,0,0,0
$GC,11317,0.75,438.4,457.4,14.9,888,11321,0.00,1.10,0.00,0.000,4,0.000,0.049,2995,1069,1091,0,0,0,0,0,0
$GC,11365,0.75,438.4,450.2,15.0,892,11369,0.00,1.08,0.00,0.000,6,0.000,0.042,2994,1778,1091,0,0,0,0,0,0
$GC,11696,0.75,438.4,401.1,14.2,923,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1780,1090,0,0,0,0,0,0
$GC,12018,0.76,438.4,356.6,13.8,953,12022,0.00,1.08,0.00,0.000,4,0.000,0.048,2998,1074,1090,0,0,0,0,0,0
$GC,12102,0.76,438.4,344.1,14.0,960,12109,0.00,1.08,0.00,0.000,6,0.000,0.040,2996,1787,1089,0,0,0,0,0,0
$GC,12428,0.80,461.3,302.0,13.0,991,12450,0.00,0.00,20.58,0.887,6,0.000,0.000,2995,1787,1003,0,0,0,0,0,0
$GC,12767,0.88,505.1,259.3,12.4,1023,12815,0.10,1.12,38.95,0.865,4,0.103,0.043,3060,1070,822,0,0,0,0,0,0
$GC,12899,0.86,505.1,234.5,19.8,1041,12908,0.10,1.08,0.00,0.000,6,0.135,0.039,3027,1785,820,0,0,0,0,0,0
$GC,13227,0.86,505.1,184.9,14.3,1102,13235,0.00,1.10,0.00,0.000,4,0.000,0.046,3030,1062,817,0,0,0,0,0,0
$GC,13276,0.87,505.1,177.4,14.0,1110,13284,0.00,1.08,0.00,0.000,6,0.000,0.037,3027,1784,817,0,0,0,0,0,0
$GC,13605,0.95,548.3,132.0,12.4,1171,13650,0.00,1.08,38.10,0.750,4,0.000,0.041,3023,1067,646,0,0,0,0,0,0
$GC,13710,1.10,634.2,119.5,11.0,1188,13769,0.17,1.08,46.05,0.731,6,0.042,0.037,3126,1789,455,0,0,0,0,1,0
$GC,14087,1.08,634.2,40.9,16.6,1256,14096,0.12,1.02,0.00,0.000,4,0.159,0.044,3087,2476,440,0,0,0,0,0,0
$GC,14132,1.12,634.2,34.1,16.3,1263,14140,0.00,1.05,0.00,0.000,6,0.000,0.038,3088,1773,439,0,0,0,0,0,0
$STATE,14392,end climb,SURFACE_DEPTH_REACHED
$STATE,14392,begin surface coast
$FINISH,1.4,1.021869
$STATE,14414,end surface coast,CONTROL_FINISHED_OK
$STATE,14414,begin surface
$SM_CCo,14494,0.00,0.000,0,0,435,600.74
$SM_GC,1.99,7.60,0.00,0.00,0.034,0.000,0.000,131,1567,435,-8.05,-1.22,600.74,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12352.49,171011,030329
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,9.36041
$TCM_TEMP,24.50
$XPDR_PINGS,97
$24V_AH,23.0,94.104
$10V_AH,9.8,65.599
$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,19.850,52.400,771.525,0.000,0.000,59.448,91.445,299.524,24.250,0.000,35.639,3068.028,7533.233,730.770,3379.884,475.301,0.000,2042.979,0.000,2923.216,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,70.380,1429.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,898.847,1349.947,1435.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,73513,1317
$CAP_FILE_SIZE,158063,0
$CFSIZE,260165632,112599040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171011,080807,2334.863,12353.833,47,1.1,47,-3.3