version: 66.09
glider: 166
mission: 6
dive: 373
start: 10 14 111 9 2 38
data:
$ID,166
$MISSION,6
$DIVE,373
$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,210
$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,-24868.836
$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,46
$R_STBD_OVSHOOT,50
$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
$GPS1,141011,085457,2350.105,12357.248,34,2.2,53,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.7
$GPS2,141011,090216,2350.093,12357.485,13,99.0,32,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2340.740,12351.590
$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,213.4,20000,-16.7,-13.750
$D_GRID,2788
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.73,-292.0,0.0,0.0,0,104,0.00,0.00,-82.97,0.000,2,0.000,0.000,121,1603,3054,0,0,0,0,0,0
$GC,107,-0.73,-292.0,5.8,-8.8,12,137,9.32,1.10,-17.33,0.000,4,0.218,0.070,2495,2306,3964,0,0,0,0,0,0
$GC,200,-0.58,-292.0,42.6,-37.8,27,209,0.20,1.05,0.00,0.000,6,0.148,0.038,2554,1605,3966,0,0,0,0,0,0
$GC,526,-0.53,-292.0,113.3,-20.0,88,533,0.00,1.05,0.00,0.000,4,0.000,0.043,2551,2308,3966,0,0,0,0,0,0
$GC,580,-0.51,-292.0,123.4,-17.9,97,587,0.00,1.02,0.00,0.000,6,0.000,0.037,2550,1611,3967,0,0,0,0,0,0
$GC,904,-0.51,-292.0,174.4,-13.6,158,912,0.00,1.02,0.00,0.000,4,0.000,0.045,2545,2296,3968,0,0,0,0,0,0
$GC,1035,-0.53,-292.0,189.0,-11.5,181,1043,0.00,1.02,0.00,0.000,6,0.000,0.039,2545,1609,3968,0,0,0,0,0,0
$GC,1361,-0.54,-292.0,235.0,-13.8,242,1369,0.00,1.05,0.00,0.000,4,0.000,0.045,2541,2306,3968,0,0,0,0,0,0
$GC,1460,-0.57,-292.0,248.1,-12.8,260,1467,0.00,1.05,0.00,0.000,6,0.000,0.041,2541,1605,3968,0,0,0,0,0,0
$GC,1794,-0.59,-292.0,292.1,-12.1,292,1797,0.00,1.05,0.00,0.000,4,0.000,0.047,2536,2295,3968,0,0,0,0,0,0
$GC,1864,-0.61,-292.0,299.7,-10.4,298,1868,0.00,1.02,0.00,0.000,6,0.000,0.040,2536,1608,3968,0,0,0,0,0,0
$GC,2195,-0.63,-292.0,341.1,-12.3,329,2199,0.00,1.05,0.00,0.000,4,0.000,0.047,2531,2302,3967,0,0,0,0,0,0
$GC,2279,-0.66,-292.0,351.3,-11.9,336,2286,0.00,1.05,0.00,0.000,6,0.000,0.042,2531,1607,3967,0,0,0,0,0,0
$GC,2605,-0.68,-292.0,390.9,-11.8,367,2609,0.00,1.05,0.00,0.000,4,0.000,0.048,2526,2298,3966,0,0,0,0,0,0
$GC,2678,-0.71,-292.0,399.5,-11.3,373,2684,0.00,1.05,0.00,0.000,6,0.000,0.043,2526,1603,3966,0,0,0,0,0,0
$GC,3004,-0.73,-292.0,440.4,-12.8,404,3007,0.00,1.05,0.00,0.000,4,0.000,0.049,2522,2292,3964,0,0,0,0,0,0
$GC,3077,-0.76,-292.0,449.3,-11.6,410,3083,0.00,1.02,0.00,0.000,6,0.000,0.043,2522,1609,3963,0,0,0,0,0,0
$GC,3403,-0.79,-292.0,487.1,-11.0,441,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1610,3961,0,0,0,0,0,0
$GC,3725,-0.81,-292.0,519.3,-9.8,471,3730,0.17,1.08,0.00,0.000,4,0.070,0.052,2445,2294,3959,0,0,0,0,0,0
$GC,3866,-0.76,-292.0,542.7,-17.1,483,3874,0.15,1.05,0.00,0.000,6,0.135,0.044,2497,1604,3957,0,0,0,0,0,0
$GC,4192,-0.75,-292.0,590.9,-14.9,514,4196,0.00,1.05,0.00,0.000,4,0.000,0.050,2499,917,3955,0,0,0,0,0,0
$GC,4227,-0.75,-292.0,596.1,-15.0,517,4230,0.00,1.05,0.00,0.000,6,0.000,0.045,2495,1604,3955,0,0,0,0,0,0
$GC,4552,-0.73,-292.0,641.0,-13.2,534,4556,0.00,1.08,0.00,0.000,4,0.000,0.054,2490,2309,3952,0,0,0,0,0,0
$GC,4665,-0.73,-292.0,655.0,-11.2,539,4669,0.00,1.08,0.00,0.000,6,0.000,0.046,2490,1608,3951,0,0,0,0,0,0
$GC,5001,-0.72,-292.0,695.0,-11.7,555,5005,0.00,1.08,0.00,0.000,4,0.000,0.055,2485,2299,3948,0,0,0,0,0,0
$GC,5029,-0.71,-292.0,698.7,-11.7,556,5033,0.08,1.05,0.00,0.000,6,0.135,0.046,2511,1610,3947,0,0,0,0,0,0
$GC,5358,-0.72,-292.0,734.7,-12.0,572,5362,0.00,1.08,0.00,0.000,4,0.000,0.057,2508,2300,3945,0,0,0,0,0,0
$GC,5432,-0.75,-292.0,743.3,-11.2,575,5436,0.00,1.05,0.00,0.000,6,0.000,0.047,2508,1614,3944,0,0,0,0,0,0
$GC,5763,-0.76,-292.0,784.2,-12.3,591,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1614,3943,0,0,0,0,0,0
$GC,6072,-0.78,-292.0,821.5,-12.0,606,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1614,3940,0,0,0,0,0,0
$GC,6379,-0.79,-292.0,857.7,-11.7,621,6382,0.00,1.08,0.00,0.000,4,0.000,0.059,2504,2297,3937,0,0,0,0,0,0
$GC,6473,-0.82,-292.0,867.8,-10.9,625,6476,0.00,1.05,0.00,0.000,6,0.000,0.049,2504,1615,3936,0,0,0,0,0,0
$GC,6806,-0.84,-292.0,906.5,-11.5,641,6810,0.00,1.08,0.00,0.000,4,0.000,0.056,2504,916,3934,0,0,0,0,0,0
$GC,6845,-0.85,-292.0,911.1,-11.3,642,6852,0.00,1.08,0.00,0.000,6,0.000,0.050,2499,1604,3934,0,0,0,0,0,0
$GC,7164,-0.87,-292.0,947.8,-11.6,658,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1604,3933,0,0,0,0,0,0
$GC,7471,-0.88,-292.0,983.7,-11.4,673,7473,0.10,0.00,0.00,0.000,6,0.107,0.000,2446,1605,3930,0,0,0,0,0,0
$STATE,7530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7530,begin apogee
$GC,7538,-0.11,0.0,992.6,13.1,676,7772,0.82,0.00,227.80,1.435,6,0.132,0.000,2705,1780,2884,0,0,0,0,0,0
$STATE,7777,end apogee,CONTROL_FINISHED_OK
$STATE,7777,begin climb
$GC,7779,0.73,292.0,1003.9,0.0,687,8057,0.75,1.17,270.48,1.368,4,0.052,0.057,2989,2475,1693,0,0,0,0,0,0
$GC,8115,0.69,292.0,962.0,16.4,703,8119,0.00,1.12,0.00,0.000,6,0.000,0.050,2992,1781,1690,0,0,0,0,0,0
$GC,8451,0.63,292.0,906.7,16.2,719,8452,0.15,0.00,0.00,0.000,6,0.181,0.000,2955,1781,1686,0,0,0,0,0,0
$GC,8758,0.67,336.3,867.6,12.4,734,8804,0.00,1.12,42.28,1.310,4,0.000,0.051,2958,1063,1512,0,0,0,0,0,0
$GC,8830,0.69,362.7,858.4,12.9,737,8863,0.00,1.15,26.48,1.262,6,0.000,0.047,2958,1784,1405,0,0,0,0,0,0
$GC,9175,0.69,362.7,809.7,14.5,754,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1784,1400,0,0,0,0,0,0
$GC,9483,0.69,362.7,764.8,14.6,769,9487,0.00,1.12,0.00,0.000,4,0.000,0.052,2961,1066,1398,0,0,0,0,0,0
$GC,9516,0.69,362.7,759.2,14.9,770,9520,0.00,1.10,0.00,0.000,6,0.000,0.045,2961,1776,1398,0,0,0,0,0,0
$GC,9838,0.69,362.7,709.6,15.8,786,9841,0.00,1.08,0.00,0.000,4,0.000,0.055,2961,2480,1397,0,0,0,0,0,0
$GC,9870,0.69,362.7,704.1,15.7,787,9875,0.00,1.10,0.00,0.000,6,0.000,0.046,2965,1770,1397,0,0,0,0,0,0
$GC,10194,0.69,362.7,654.2,15.4,803,10198,0.00,1.05,0.00,0.000,4,0.000,0.052,2971,1077,1396,0,0,0,0,0,0
$GC,10221,0.69,362.7,649.6,15.0,804,10226,0.00,1.08,0.00,0.000,6,0.000,0.044,2969,1783,1396,0,0,0,0,0,0
$GC,10552,0.70,371.9,604.2,13.5,820,10566,0.00,1.10,8.85,1.030,4,0.000,0.054,2969,2477,1367,0,0,0,0,0,0
$GC,10600,0.70,371.9,596.8,13.8,822,10607,0.00,1.08,0.00,0.000,6,0.000,0.045,2972,1780,1367,0,0,0,0,0,0
$GC,10926,0.71,379.0,552.1,13.5,853,10938,0.00,1.12,8.05,0.975,4,0.000,0.050,2977,1063,1338,0,0,0,0,0,0
$GC,10989,0.73,391.5,543.3,13.4,858,11007,0.00,1.10,13.45,1.052,6,0.000,0.043,2974,1780,1288,0,0,0,0,0,0
$GC,11325,0.74,403.1,499.3,13.4,890,11346,0.00,1.15,12.30,1.010,4,0.000,0.050,2978,1065,1239,0,0,0,0,0,0
$GC,11370,0.74,406.4,493.1,13.6,894,11382,0.00,1.10,4.32,0.708,6,0.000,0.042,2977,1784,1228,0,0,0,0,0,0
$GC,11700,0.74,406.4,445.9,14.1,925,11703,0.00,1.10,0.00,0.000,4,0.000,0.050,2982,1069,1227,0,0,0,0,0,0
$GC,11757,0.75,408.5,437.8,13.7,930,11761,0.00,1.08,0.00,0.000,6,0.000,0.041,2983,1779,1227,0,0,0,0,0,0
$GC,12088,0.75,408.5,389.9,14.5,961,12091,0.00,1.08,0.00,0.000,4,0.000,0.048,2986,1075,1227,0,0,0,0,0,0
$GC,12111,0.75,408.5,386.4,15.4,963,12115,0.00,1.05,0.00,0.000,6,0.000,0.041,2987,1776,1226,0,0,0,0,0,0
$GC,12442,0.75,408.5,336.9,14.6,994,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1776,1226,0,0,0,0,0,0
$GC,12763,0.80,439.6,293.9,12.8,1024,12800,0.00,1.12,31.15,0.907,4,0.000,0.048,2991,1069,1090,0,0,0,0,0,0
$GC,12842,0.87,478.6,283.5,12.5,1030,12884,0.00,1.08,35.12,0.889,6,0.000,0.040,2991,1778,931,0,0,0,0,0,0
$GC,13204,0.90,478.6,237.7,14.5,1072,13212,0.12,1.10,0.00,0.000,4,0.085,0.049,3066,1073,927,0,0,0,0,0,0
$GC,13236,0.88,478.6,231.6,17.0,1077,13245,0.10,1.08,0.00,0.000,6,0.143,0.040,3034,1789,927,0,0,0,0,0,0
$GC,13565,0.87,478.6,174.1,15.1,1138,13573,0.00,1.00,0.00,0.000,4,0.000,0.047,3029,2475,927,0,0,0,0,0,0
$GC,13602,0.87,478.6,168.3,14.7,1144,13610,0.00,1.05,0.00,0.000,6,0.000,0.040,3033,1774,927,0,0,0,0,0,0
$GC,13926,0.93,521.5,123.6,12.4,1205,13970,0.00,1.02,37.15,0.747,4,0.000,0.043,3038,1072,755,0,0,0,0,0,0
$GC,14013,1.07,603.9,113.9,11.1,1218,14088,0.12,1.05,66.22,0.732,6,0.049,0.037,3118,1783,453,0,0,0,0,0,0
$GC,14407,1.07,603.9,39.1,15.5,1288,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1784,440,0,0,0,0,0,0
$STATE,14639,end climb,SURFACE_DEPTH_REACHED
$STATE,14639,begin surface coast
$FINISH,1.3,1.017266
$STATE,14656,end surface coast,CONTROL_FINISHED_OK
$STATE,14656,begin surface
$SM_CCo,14733,0.00,0.000,0,0,437,600.25
$SM_GC,2.00,7.60,0.00,0.00,0.031,0.000,0.000,127,1596,437,-8.04,-0.37,600.25,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12354.47,141011,040433
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.17
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.10
$XPDR_PINGS,116
$24V_AH,22.7,89.383
$10V_AH,9.8,63.171
$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,19.700,62.700,783.650,0.000,0.000,25.002,19.403,201.343,29.000,0.000,34.393,3125.030,7559.539,739.909,3254.553,470.070,0.000,2086.626,0.000,2995.936,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,71.910,1435.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.916,1367.617,1468.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330424
$DATA_FILE_SIZE,73456,1335
$CAP_FILE_SIZE,163196,0
$CFSIZE,260165632,113963008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141011,130936,2348.170,12357.569,40,1.2,46,-3.4