version: 66.09
glider: 166
mission: 6
dive: 377
start: 10 15 111 1 49 17
data:
$ID,166
$MISSION,6
$DIVE,377
$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,-24873.873
$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,55
$R_STBD_OVSHOOT,60
$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
$GPS1,151011,014101,2344.791,12358.731,42,1.8,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-71.1
$GPS2,151011,014855,2344.778,12358.744,32,1.4,43,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2339.379,12348.534
$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,3063
$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,-106.95,0.000,2,0.000,0.000,136,1589,2946,0,0,0,0,0,0
$GC,130,-0.73,-292.0,5.0,-3.9,15,167,9.25,0.98,-20.42,0.000,4,0.217,0.067,2500,913,3962,0,0,0,0,0,0
$GC,369,-0.64,-292.0,79.3,-25.9,58,378,0.10,1.02,0.00,0.000,6,0.151,0.038,2528,1595,3963,0,0,0,0,0,0
$GC,696,-0.59,-292.0,148.6,-18.1,119,704,0.00,1.05,0.00,0.000,4,0.000,0.043,2524,2307,3965,0,0,0,0,0,0
$GC,836,-0.56,-292.0,172.9,-16.2,144,844,0.10,1.02,0.00,0.000,6,0.129,0.037,2556,1616,3965,0,0,0,0,0,0
$GC,1167,-0.58,-292.0,222.9,-14.7,205,1175,0.00,1.02,0.00,0.000,4,0.000,0.042,2553,2305,3966,0,0,0,0,0,0
$GC,1231,-0.61,-292.0,232.3,-13.4,216,1238,0.00,1.02,0.00,0.000,6,0.000,0.037,2553,1610,3965,0,0,0,0,0,0
$GC,1562,-0.63,-292.0,271.3,-12.0,261,1565,0.00,1.05,0.00,0.000,4,0.000,0.044,2549,2304,3965,0,0,0,0,0,0
$GC,1734,-0.66,-292.0,290.6,-10.2,276,1742,0.00,1.02,0.00,0.000,6,0.000,0.038,2549,1611,3965,0,0,0,0,0,0
$GC,2060,-0.69,-292.0,325.9,-10.4,307,2064,0.00,1.05,0.00,0.000,4,0.000,0.044,2545,2314,3965,0,0,0,0,0,0
$GC,2200,-0.74,-292.0,339.4,-9.7,319,2205,0.08,1.05,0.00,0.000,6,0.048,0.038,2471,1606,3964,0,0,0,0,0,0
$GC,2531,-0.69,-292.0,396.7,-17.3,350,2536,0.17,1.08,0.00,0.000,4,0.152,0.047,2520,2303,3963,0,0,0,0,0,0
$GC,2626,-0.71,-292.0,407.7,-10.6,358,2630,0.00,1.02,0.00,0.000,6,0.000,0.042,2520,1621,3962,0,0,0,0,0,0
$GC,2960,-0.72,-292.0,445.6,-11.5,389,2963,0.00,1.05,0.00,0.000,4,0.000,0.048,2515,2307,3961,0,0,0,0,0,0
$GC,3006,-0.74,-292.0,451.2,-11.6,393,3010,0.00,1.05,0.00,0.000,6,0.000,0.043,2515,1612,3961,0,0,0,0,0,0
$GC,3340,-0.74,-292.0,493.4,-12.6,424,3343,0.00,1.08,0.00,0.000,4,0.000,0.051,2511,2306,3958,0,0,0,0,0,0
$GC,3524,-0.77,-292.0,514.8,-11.3,440,3531,0.00,1.05,0.00,0.000,6,0.000,0.044,2512,1617,3957,0,0,0,0,0,0
$GC,3853,-0.78,-292.0,554.8,-11.5,471,3856,0.00,1.08,0.00,0.000,4,0.000,0.051,2511,2307,3954,0,0,0,0,0,0
$GC,3888,-0.80,-292.0,559.0,-11.2,474,3892,0.00,1.08,0.00,0.000,6,0.000,0.044,2509,1603,3954,0,0,0,0,0,0
$GC,4220,-0.82,-292.0,591.5,-10.0,505,4221,0.12,0.00,0.00,0.000,6,0.088,0.000,2455,1603,3951,0,0,0,0,0,0
$GC,4530,-0.77,-292.0,641.1,-16.5,523,4535,0.15,1.12,0.00,0.000,4,0.158,0.054,2495,2303,3948,0,0,0,0,0,0
$GC,4571,-0.77,-292.0,646.7,-13.6,524,4577,0.00,1.08,0.00,0.000,6,0.000,0.046,2495,1607,3948,0,0,0,0,0,0
$GC,4887,-0.77,-292.0,688.5,-13.5,540,4890,0.00,1.05,0.00,0.000,4,0.000,0.049,2495,912,3946,0,0,0,0,0,0
$GC,4914,-0.77,-292.0,692.4,-13.3,541,4918,0.00,1.08,0.00,0.000,6,0.000,0.049,2490,1604,3946,0,0,0,0,0,0
$GC,5244,-0.77,-292.0,735.6,-13.4,557,5248,0.00,1.08,0.00,0.000,4,0.000,0.056,2485,2310,3943,0,0,0,0,0,0
$GC,5299,-0.77,-292.0,743.3,-12.7,559,5303,0.00,1.08,0.00,0.000,6,0.000,0.047,2485,1608,3942,0,0,0,0,0,0
$GC,5623,-0.77,-292.0,788.0,-14.3,575,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1608,3940,0,0,0,0,0,0
$GC,5930,-0.77,-292.0,831.3,-14.0,590,5934,0.00,1.10,0.00,0.000,4,0.000,0.057,2480,2309,3938,0,0,0,0,0,0
$GC,5968,-0.77,-292.0,836.9,-13.6,591,5975,0.00,1.08,0.00,0.000,6,0.000,0.049,2479,1611,3937,0,0,0,0,0,0
$GC,6287,-0.76,-292.0,882.1,-14.4,607,6291,0.00,1.10,0.00,0.000,4,0.000,0.060,2474,2309,3934,0,0,0,0,0,0
$GC,6311,-0.76,-292.0,885.7,-13.5,608,6315,0.00,1.08,0.00,0.000,6,0.000,0.050,2474,1612,3934,0,0,0,0,0,0
$GC,6644,-0.75,-292.0,932.8,-14.1,624,6646,0.10,0.00,0.00,0.000,6,0.177,0.000,2501,1613,3932,0,0,0,0,0,0
$GC,6956,-0.76,-292.0,969.9,-11.7,639,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1612,3930,0,0,0,0,0,0
$STATE,7136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7136,begin apogee
$GC,7142,-0.11,0.0,990.7,11.1,648,7376,0.62,0.00,226.62,1.427,6,0.121,0.000,2705,1787,2884,0,0,0,0,0,0
$STATE,7378,end apogee,CONTROL_FINISHED_OK
$STATE,7378,begin climb
$GC,7380,0.73,292.0,1000.4,0.0,659,7656,0.77,0.00,269.75,1.369,6,0.050,0.000,2994,1786,1693,0,0,0,0,0,0
$GC,7965,0.68,292.0,905.8,18.8,688,7967,0.12,0.00,0.00,0.000,6,0.181,0.000,2964,1787,1687,0,0,0,0,0,0
$GC,8276,0.65,292.0,858.3,14.8,703,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1787,1685,0,0,0,0,0,0
$GC,8584,0.65,307.9,815.3,13.2,718,8606,0.00,1.10,15.38,1.216,4,0.000,0.054,2960,2484,1628,0,0,0,0,0,0
$GC,8634,0.67,338.5,808.5,12.8,720,8673,0.00,1.10,30.10,1.265,6,0.000,0.049,2962,1785,1503,0,0,0,0,0,0
$GC,8981,0.67,341.5,762.1,13.7,737,8985,0.00,1.10,0.00,0.000,4,0.000,0.051,2967,1065,1499,0,0,0,0,0,0
$GC,9008,0.67,341.5,758.1,13.8,738,9017,0.00,1.12,3.62,0.704,6,0.000,0.047,2968,1790,1491,0,0,0,0,0,0
$GC,9338,0.66,341.5,710.6,14.8,754,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1790,1490,0,0,0,0,0,0
$GC,9644,0.65,344.2,666.7,13.7,769,9653,0.00,1.15,3.90,0.737,4,0.000,0.050,2972,1068,1480,0,0,0,0,0,0
$GC,9678,0.65,346.3,662.0,13.7,770,9682,0.00,1.10,0.00,0.000,6,0.000,0.044,2970,1785,1480,0,0,0,0,0,0
$GC,9999,0.65,346.3,613.2,15.9,786,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1785,1479,0,0,0,0,0,0
$GC,10314,0.65,346.3,565.4,15.1,811,10318,0.00,1.10,0.00,0.000,4,0.000,0.050,2973,1066,1478,0,0,0,0,0,0
$GC,10351,0.65,346.3,560.4,14.0,814,10355,0.00,1.10,0.00,0.000,6,0.000,0.044,2973,1788,1478,0,0,0,0,0,0
$GC,10682,0.68,372.9,515.5,12.9,845,10716,0.00,1.17,28.02,1.099,4,0.000,0.048,2978,1059,1362,0,0,0,0,0,0
$GC,10789,0.74,422.6,502.7,12.2,854,10844,0.00,1.10,45.92,1.086,6,0.000,0.044,2978,1774,1160,0,0,0,0,0,0
$GC,11164,0.74,422.6,453.5,15.3,889,11167,0.00,1.08,0.00,0.000,4,0.000,0.052,2978,2487,1157,0,0,0,0,0,0
$GC,11266,0.76,422.6,437.7,14.9,898,11270,0.00,1.10,0.00,0.000,6,0.000,0.043,2983,1764,1157,0,0,0,0,0,0
$GC,11597,0.81,450.7,391.2,12.9,929,11627,0.00,1.08,25.33,0.975,4,0.000,0.048,2988,1078,1045,0,0,0,0,0,0
$GC,11679,0.87,488.1,380.8,12.6,935,11719,0.08,1.08,33.95,0.965,6,0.060,0.039,3042,1791,894,0,0,0,0,0,0
$GC,12037,0.83,488.1,311.3,20.1,969,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1791,888,0,0,0,0,0,0
$GC,12360,0.80,488.1,250.2,18.0,999,12365,0.15,1.02,0.00,0.000,4,0.155,0.049,2996,2470,887,0,0,0,0,0,0
$GC,12396,0.82,488.1,244.0,15.6,1004,12404,0.00,1.05,0.00,0.000,6,0.000,0.041,2999,1779,887,0,0,0,0,0,0
$GC,12721,0.92,538.0,202.9,12.2,1065,12772,0.12,1.05,44.20,0.822,4,0.086,0.041,3080,1076,688,0,0,0,0,0,0
$GC,12846,0.88,538.0,177.2,22.2,1085,12855,0.12,1.05,0.00,0.000,6,0.139,0.038,3036,1777,683,0,0,0,0,0,0
$GC,13172,0.97,585.3,132.2,12.3,1146,13223,0.00,1.10,42.50,0.752,4,0.000,0.042,3039,1073,494,0,0,0,0,0,0
$GC,13251,1.05,622.4,122.1,12.6,1157,13281,0.10,1.05,15.60,0.608,6,0.052,0.037,3102,1774,453,0,0,0,0,1,0
$GC,13603,1.05,622.4,52.7,15.1,1221,13611,0.00,1.02,0.00,0.000,4,0.000,0.044,3103,2475,441,0,0,0,0,0,0
$GC,13675,1.13,659.4,42.4,12.6,1234,13684,0.00,1.05,0.00,0.000,6,0.000,0.039,3107,1773,439,0,0,0,0,0,0
$STATE,13972,end climb,SURFACE_DEPTH_REACHED
$STATE,13972,begin surface coast
$FINISH,1.3,1.021605
$STATE,13999,end surface coast,CONTROL_FINISHED_OK
$STATE,13999,begin surface
$SM_CCo,14077,0.00,0.000,0,0,435,600.49
$SM_GC,2.06,7.65,0.00,0.00,0.037,0.000,0.000,124,1594,435,-8.06,-0.45,600.49,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12359.70,141011,212111
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.02
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.10
$XPDR_PINGS,115
$24V_AH,22.9,90.554
$10V_AH,9.8,63.781
$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,19.825,53.975,784.900,0.000,0.000,31.402,31.889,218.344,28.750,0.000,44.466,3007.875,7123.342,803.237,3157.927,442.898,0.000,2044.397,0.000,2851.203,0.000,0.540,0.000
$DEVICE_MAMPS,217.260,68.085,1427.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.220,1326.072,1452.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330448
$DATA_FILE_SIZE,73288,1295
$CAP_FILE_SIZE,150808,0
$CFSIZE,260165632,113635328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151011,054537,2344.009,12358.854,60,1.7,66,-3.4