version: 66.09
glider: 166
mission: 6
dive: 376
start: 10 14 111 21 47 12
data:
$ID,166
$MISSION,6
$DIVE,376
$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,-24872.615
$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,48
$R_STBD_OVSHOOT,62
$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
$GPS1,141011,213936,2345.642,12359.154,40,1.6,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.5
$GPS2,141011,214650,2345.519,12359.328,11,1.9,11,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2340.119,12349.116
$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,3118
$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,-106.47,0.000,2,0.000,0.000,140,1604,2974,0,0,0,0,0,0
$GC,129,-0.73,-292.0,5.5,-7.8,15,166,9.30,1.05,-19.38,0.000,4,0.220,0.070,2504,2291,3962,0,0,0,0,0,0
$GC,382,-0.61,-292.0,86.8,-31.5,61,390,0.15,1.02,0.00,0.000,6,0.135,0.040,2544,1613,3963,0,0,0,0,0,0
$GC,705,-0.59,-292.0,143.3,-15.1,122,713,0.00,1.02,0.00,0.000,4,0.000,0.046,2540,2286,3964,0,0,0,0,0,0
$GC,746,-0.59,-292.0,149.0,-14.0,128,753,0.00,1.02,0.00,0.000,6,0.000,0.041,2540,1607,3964,0,0,0,0,0,0
$GC,1071,-0.58,-292.0,205.1,-17.3,189,1080,0.00,1.02,0.00,0.000,4,0.000,0.046,2535,2288,3965,0,0,0,0,0,0
$GC,1138,-0.58,-292.0,215.4,-13.8,201,1146,0.00,1.02,0.00,0.000,6,0.000,0.041,2535,1607,3965,0,0,0,0,0,0
$GC,1462,-0.58,-292.0,258.5,-12.9,256,1466,0.00,1.02,0.00,0.000,4,0.000,0.047,2531,2285,3965,0,0,0,0,0,0
$GC,1609,-0.59,-292.0,276.1,-11.7,269,1612,0.00,1.02,0.00,0.000,6,0.000,0.041,2530,1609,3965,0,0,0,0,0,0
$GC,1941,-0.59,-292.0,322.5,-14.4,300,1945,0.00,1.05,0.00,0.000,4,0.000,0.048,2526,2291,3964,0,0,0,0,0,0
$GC,2047,-0.61,-292.0,336.3,-11.6,309,2054,0.00,1.02,0.00,0.000,6,0.000,0.041,2526,1610,3964,0,0,0,0,0,0
$GC,2373,-0.61,-292.0,378.4,-12.0,340,2377,0.00,1.05,0.00,0.000,4,0.000,0.049,2522,2285,3963,0,0,0,0,0,0
$GC,2528,-0.63,-292.0,395.4,-11.0,353,2535,0.00,1.02,0.00,0.000,6,0.000,0.042,2522,1607,3962,0,0,0,0,0,0
$GC,2854,-0.65,-292.0,431.5,-11.0,384,2858,0.00,1.02,0.00,0.000,4,0.000,0.048,2518,2282,3961,0,0,0,0,0,0
$GC,2907,-0.67,-292.0,437.1,-10.8,388,2913,0.00,1.02,0.00,0.000,6,0.000,0.043,2518,1606,3960,0,0,0,0,0,0
$GC,3232,-0.69,-292.0,474.5,-11.4,419,3236,0.00,1.05,0.00,0.000,4,0.000,0.050,2514,2290,3958,0,0,0,0,0,0
$GC,3349,-0.71,-292.0,487.2,-11.3,429,3353,0.00,1.02,0.00,0.000,6,0.000,0.043,2514,1609,3957,0,0,0,0,0,0
$GC,3680,-0.73,-292.0,528.6,-12.8,460,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1609,3955,0,0,0,0,0,0
$GC,4002,-0.76,-292.0,567.9,-11.9,490,4006,0.00,1.05,0.00,0.000,4,0.000,0.052,2526,2289,3952,0,0,0,0,0,0
$GC,4087,-0.79,-292.0,577.9,-11.1,497,4094,0.08,1.02,0.00,0.000,6,0.056,0.044,2469,1612,3952,0,0,0,0,0,0
$GC,4421,-0.75,-292.0,629.6,-15.2,520,4425,0.12,1.05,0.00,0.000,4,0.167,0.054,2500,2283,3949,0,0,0,0,0,0
$GC,4454,-0.74,-292.0,634.7,-13.5,521,4457,0.00,1.02,0.00,0.000,6,0.000,0.047,2500,1612,3948,0,0,0,0,0,0
$GC,4778,-0.74,-292.0,674.1,-12.4,537,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1612,3946,0,0,0,0,0,0
$GC,5085,-0.74,-292.0,713.3,-12.7,552,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1612,3943,0,0,0,0,0,0
$GC,5396,-0.74,-292.0,753.5,-12.6,567,5400,0.00,1.08,0.00,0.000,4,0.000,0.053,2500,913,3941,0,0,0,0,0,0
$GC,5429,-0.74,-292.0,758.4,-13.5,568,5433,0.00,1.02,0.00,0.000,6,0.000,0.047,2495,1579,3941,0,0,0,0,0,0
$GC,5751,-0.74,-292.0,799.7,-12.8,584,5755,0.00,1.10,0.00,0.000,4,0.000,0.056,2490,2300,3938,0,0,0,0,0,0
$GC,5860,-0.75,-292.0,812.9,-12.0,588,5867,0.00,1.05,0.00,0.000,6,0.000,0.047,2490,1616,3937,0,0,0,0,0,0
$GC,6176,-0.75,-292.0,855.7,-13.7,604,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1616,3935,0,0,0,0,0,0
$GC,6487,-0.75,-292.0,897.1,-13.3,619,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1616,3933,0,0,0,0,0,0
$GC,6794,-0.75,-292.0,937.1,-12.8,634,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1616,3930,0,0,0,0,0,0
$GC,7104,-0.75,-292.0,975.0,-11.8,649,7107,0.00,1.10,0.00,0.000,4,0.000,0.060,2485,2308,3928,0,0,0,0,0,0
$GC,7153,-0.77,-292.0,980.2,-11.3,651,7157,0.00,1.08,0.00,0.000,6,0.000,0.051,2485,1616,3928,0,0,0,0,0,0
$STATE,7236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7236,begin apogee
$GC,7242,-0.11,0.0,990.2,11.6,655,7475,0.68,0.00,226.80,1.437,6,0.122,0.000,2703,1778,2884,0,0,0,0,0,0
$STATE,7477,end apogee,CONTROL_FINISHED_OK
$STATE,7477,begin climb
$GC,7479,0.73,292.0,1000.6,0.0,666,7755,0.75,0.00,270.48,1.379,6,0.054,0.000,2984,1778,1693,0,0,0,0,0,0
$GC,8058,0.69,292.0,915.5,17.0,694,8062,0.00,1.10,0.00,0.000,4,0.000,0.060,2984,2486,1687,0,0,0,0,0,0
$GC,8110,0.65,292.0,906.9,16.1,696,8114,0.10,1.10,0.00,0.000,6,0.156,0.050,2958,1782,1686,0,0,0,0,0,0
$GC,8438,0.63,292.0,860.3,14.0,712,8442,0.00,1.08,0.00,0.000,4,0.000,0.054,2961,1076,1685,0,0,0,0,0,0
$GC,8488,0.62,292.0,852.8,14.3,714,8492,0.00,1.10,0.00,0.000,6,0.000,0.047,2960,1787,1684,0,0,0,0,0,0
$GC,8818,0.60,292.0,805.5,14.8,730,8822,0.00,1.05,0.00,0.000,4,0.000,0.056,2959,2483,1684,0,0,0,0,0,0
$GC,8896,0.60,292.0,793.0,15.2,733,8900,0.00,1.08,0.00,0.000,6,0.000,0.047,2962,1783,1683,0,0,0,0,0,0
$GC,9220,0.58,292.0,744.6,14.9,749,9224,0.00,1.08,0.00,0.000,4,0.000,0.052,2968,1075,1681,0,0,0,0,0,0
$GC,9271,0.57,292.0,736.5,14.7,751,9275,0.10,1.08,0.00,0.000,6,0.145,0.045,2935,1782,1682,0,0,0,0,0,0
$GC,9599,0.65,355.9,696.6,11.7,767,9662,0.00,1.08,59.55,1.251,4,0.000,0.051,2934,2487,1434,0,0,0,0,0,0
$GC,9703,0.82,471.4,685.3,10.1,772,9821,0.17,1.10,106.35,1.216,6,0.041,0.044,3032,1786,961,0,0,0,0,0,0
$GC,10143,0.77,471.4,597.7,20.8,793,10145,0.15,0.00,0.00,0.000,6,0.165,0.000,2993,1786,955,0,0,0,0,0,0
$GC,10461,0.77,471.4,547.1,16.3,823,10465,0.00,1.08,0.00,0.000,4,0.000,0.049,2997,1071,954,0,0,0,0,0,0
$GC,10496,0.77,471.4,541.2,16.6,826,10500,0.00,1.08,0.00,0.000,6,0.000,0.044,2996,1779,953,0,0,0,0,0,0
$GC,10827,0.77,471.4,483.4,17.6,857,10830,0.00,1.10,0.00,0.000,4,0.000,0.050,3000,1064,953,0,0,0,0,0,0
$GC,10863,0.77,471.4,477.2,17.9,860,10867,0.00,1.10,0.00,0.000,6,0.000,0.042,2997,1790,953,0,0,0,0,0,0
$GC,11194,0.77,471.4,423.4,15.6,891,11198,0.00,1.02,0.00,0.000,4,0.000,0.052,2997,2473,953,0,0,0,0,0,0
$GC,11254,0.79,471.4,415.1,14.1,896,11257,0.00,1.08,0.00,0.000,6,0.000,0.043,2999,1764,953,0,0,0,0,0,0
$GC,11584,0.79,471.4,365.8,15.0,927,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1764,952,0,0,0,0,0,0
$GC,11908,0.79,471.4,316.8,15.5,957,11912,0.00,1.02,0.00,0.000,4,0.000,0.048,3005,1080,952,0,0,0,0,0,0
$GC,11946,0.79,471.4,310.3,14.2,960,11954,0.00,1.05,0.00,0.000,6,0.000,0.040,3002,1778,952,0,0,0,0,0,0
$GC,12273,0.81,471.4,264.8,13.9,991,12277,0.00,1.08,0.00,0.000,4,0.000,0.047,3005,1074,952,0,0,0,0,0,0
$GC,12300,0.82,471.4,260.6,13.8,993,12307,0.00,1.05,0.00,0.000,6,0.000,0.038,3005,1783,952,0,0,0,0,0,0
$GC,12621,0.89,509.1,216.9,12.6,1047,12657,0.00,0.00,32.80,0.831,6,0.000,0.000,3005,1785,807,0,0,0,0,0,0
$GC,12978,1.08,620.1,176.6,10.2,1112,13079,0.22,1.12,85.25,0.776,4,0.058,0.046,3126,1079,453,0,0,0,0,1,0
$GC,13122,1.01,620.1,142.6,25.0,1133,13131,0.15,1.05,0.00,0.000,6,0.142,0.037,3078,1780,451,0,0,0,0,0,0
$GC,13456,1.11,672.3,85.1,12.1,1194,13464,0.00,1.08,0.00,0.000,4,0.000,0.045,3081,1073,442,0,0,0,0,0,0
$GC,13493,1.17,695.8,79.6,13.0,1200,13501,0.10,1.05,0.00,0.000,6,0.050,0.035,3153,1791,442,0,0,0,0,0,0
$GC,13822,1.14,695.8,8.4,19.3,1261,13830,0.15,0.00,0.00,0.000,6,0.156,0.000,3111,1795,436,0,0,0,0,0,0
$STATE,13853,end climb,SURFACE_DEPTH_REACHED
$STATE,13853,begin surface coast
$FINISH,1.3,1.000380
$STATE,13870,end surface coast,CONTROL_FINISHED_OK
$STATE,13870,begin surface
$SM_CCo,13950,0.00,0.000,0,0,434,600.98
$SM_GC,2.08,7.60,0.00,0.00,0.035,0.000,0.000,139,1592,434,-8.04,-0.51,600.98,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12401.65,141011,171735
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.73
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,23.90
$XPDR_PINGS,103
$24V_AH,22.8,90.263
$10V_AH,9.8,63.635
$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,19.825,53.375,781.225,0.000,0.000,30.333,43.584,194.523,25.750,0.000,12.699,2963.691,7084.865,768.539,3111.297,432.387,0.000,2035.614,0.000,2850.286,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,70.380,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.296,1298.484,1404.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70284,1269
$CAP_FILE_SIZE,149699,0
$CFSIZE,260165632,113717248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151011,014101,2344.791,12358.731,42,1.8,42,-3.4