version: 66.09
glider: 166
mission: 6
dive: 379
start: 10 15 111 10 8 29
data:
$ID,166
$MISSION,6
$DIVE,379
$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,-24876.488
$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,43
$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
$GPS1,151011,094921,2343.130,12358.858,40,2.2,59,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.2
$GPS2,151011,100804,2343.349,12359.195,9,99.0,28,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2337.949,12348.986
$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,3077
$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,-292.0,0.0,0.0,0,133,0.00,0.00,-114.00,0.000,2,0.000,0.000,118,1630,3217,0,0,0,0,0,0
$GC,136,-0.73,-292.0,6.4,-10.3,16,167,9.40,1.05,-13.45,0.000,4,0.221,0.060,2505,892,3962,0,0,0,0,0,0
$GC,287,-0.61,-292.0,57.8,-29.0,42,296,0.12,1.05,0.00,0.000,6,0.151,0.038,2541,1590,3964,0,0,0,0,0,0
$GC,611,-0.57,-292.0,128.9,-19.5,103,619,0.00,1.08,0.00,0.000,4,0.000,0.044,2537,2316,3963,0,0,0,0,0,0
$GC,777,-0.54,-292.0,159.3,-17.7,133,786,0.10,1.08,0.00,0.000,6,0.132,0.039,2568,1602,3964,0,0,0,0,0,0
$GC,1102,-0.56,-292.0,200.8,-10.6,194,1110,0.00,1.08,0.00,0.000,4,0.000,0.044,2565,2317,3964,0,0,0,0,0,0
$GC,1208,-0.59,-292.0,211.3,-9.3,213,1216,0.00,1.05,0.00,0.000,6,0.000,0.038,2565,1610,3963,0,0,0,0,0,0
$GC,1535,-0.62,-292.0,243.2,-9.8,274,1543,0.00,1.08,0.00,0.000,4,0.000,0.046,2560,2311,3963,0,0,0,0,0,0
$GC,1659,-0.66,-292.0,254.5,-9.2,292,1663,0.00,1.05,0.00,0.000,6,0.000,0.039,2560,1608,3963,0,0,0,0,0,0
$GC,1992,-0.69,-292.0,293.1,-13.1,323,1996,0.12,1.08,0.00,0.000,4,0.082,0.047,2473,2304,3962,0,0,0,0,0,0
$GC,2095,-0.65,-292.0,310.5,-17.8,332,2100,0.17,1.02,0.00,0.000,6,0.128,0.041,2532,1617,3962,0,0,0,0,0,0
$GC,2427,-0.66,-292.0,350.0,-11.4,363,2430,0.00,1.05,0.00,0.000,4,0.000,0.045,2530,2307,3960,0,0,0,0,0,0
$GC,2464,-0.69,-292.0,353.5,-10.4,366,2468,0.00,1.05,0.00,0.000,6,0.000,0.042,2529,1611,3960,0,0,0,0,0,0
$GC,2796,-0.70,-292.0,395.8,-13.3,397,2799,0.00,1.05,0.00,0.000,4,0.000,0.048,2525,2302,3958,0,0,0,0,0,0
$GC,2878,-0.73,-292.0,404.8,-10.9,404,2882,0.00,1.05,0.00,0.000,6,0.000,0.042,2525,1611,3957,0,0,0,0,0,0
$GC,3212,-0.76,-292.0,442.3,-11.9,435,3216,0.00,1.08,0.00,0.000,4,0.000,0.049,2521,2308,3955,0,0,0,0,0,0
$GC,3352,-0.79,-292.0,457.4,-10.9,447,3355,0.00,1.05,0.00,0.000,6,0.000,0.042,2521,1614,3954,0,0,0,0,0,0
$GC,3683,-0.81,-292.0,496.1,-10.5,478,3687,0.10,1.10,0.00,0.000,4,0.096,0.050,2455,2313,3951,0,0,0,0,0,0
$GC,3728,-0.77,-292.0,502.3,-14.7,482,3732,0.10,1.08,0.00,0.000,6,0.136,0.042,2490,1604,3951,0,0,0,0,0,0
$GC,4059,-0.77,-292.0,544.4,-12.4,513,4063,0.00,1.08,0.00,0.000,4,0.000,0.050,2487,2303,3948,0,0,0,0,0,0
$GC,4132,-0.77,-292.0,553.4,-12.3,519,4138,0.00,1.05,0.00,0.000,6,0.000,0.044,2500,1610,3948,0,0,0,0,0,0
$GC,4457,-0.77,-292.0,596.3,-13.3,550,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1610,3946,0,0,0,0,0,0
$GC,4777,-0.77,-292.0,639.7,-13.8,567,4781,0.00,1.10,0.00,0.000,4,0.000,0.053,2501,2308,3942,0,0,0,0,0,0
$GC,4805,-0.77,-292.0,643.4,-13.0,568,4809,0.00,1.05,0.00,0.000,6,0.000,0.044,2501,1617,3941,0,0,0,0,0,0
$GC,5134,-0.77,-292.0,686.7,-13.8,584,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1617,3938,0,0,0,0,0,0
$GC,5441,-0.77,-292.0,729.0,-13.3,599,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1617,3937,0,0,0,0,0,0
$GC,5753,-0.77,-292.0,769.8,-12.9,614,5757,0.00,1.10,0.00,0.000,4,0.000,0.057,2496,2306,3933,0,0,0,0,0,0
$GC,5814,-0.79,-292.0,778.0,-12.5,616,5821,0.00,1.08,0.00,0.000,6,0.000,0.047,2496,1615,3933,0,0,0,0,0,0
$GC,6130,-0.79,-292.0,821.3,-13.9,632,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1614,3930,0,0,0,0,0,0
$GC,6442,-0.79,-292.0,863.7,-13.2,647,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1615,3927,0,0,0,0,0,0
$GC,6749,-0.79,-292.0,904.6,-12.9,662,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1614,3925,0,0,0,0,0,0
$GC,7058,-0.79,-292.0,943.4,-12.2,677,7062,0.00,1.10,0.00,0.000,4,0.000,0.060,2491,2304,3922,0,0,0,0,0,0
$GC,7100,-0.80,-292.0,948.2,-11.6,678,7106,0.00,1.10,0.00,0.000,6,0.000,0.050,2491,1601,3922,0,0,0,0,0,0
$GC,7416,-0.80,-292.0,985.8,-11.5,694,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1601,3920,0,0,0,0,0,0
$STATE,7454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7454,begin apogee
$GC,7463,-0.11,0.0,990.4,11.4,696,7694,0.65,0.00,224.15,1.431,6,0.125,0.000,2701,1776,2884,0,0,0,0,0,0
$STATE,7699,end apogee,CONTROL_FINISHED_OK
$STATE,7699,begin climb
$GC,7701,0.73,292.0,1000.7,0.0,707,7973,0.77,0.00,266.67,1.374,6,0.055,0.000,2986,1776,1693,0,0,0,0,0,0
$GC,8283,0.69,292.0,909.4,17.8,735,8286,0.00,1.08,0.00,0.000,4,0.000,0.060,2986,2477,1687,0,0,0,0,0,0
$GC,8329,0.65,292.0,901.1,17.7,737,8333,0.10,1.08,0.00,0.000,6,0.154,0.050,2960,1786,1686,0,0,0,0,0,0
$GC,8665,0.63,292.0,851.6,14.7,753,8669,0.00,1.10,0.00,0.000,4,0.000,0.054,2963,1066,1684,0,0,0,0,0,0
$GC,8698,0.61,292.0,846.1,14.1,754,8701,0.00,1.10,0.00,0.000,6,0.000,0.048,2961,1773,1684,0,0,0,0,0,0
$GC,9020,0.59,292.0,801.3,14.0,770,9023,0.00,1.08,0.00,0.000,4,0.000,0.058,2961,2482,1684,0,0,0,0,0,0
$GC,9061,0.58,296.4,795.5,13.6,771,9069,0.08,1.08,3.78,0.747,6,0.155,0.047,2940,1786,1675,0,0,0,0,0,0
$GC,9379,0.66,364.4,757.8,11.6,787,9447,0.00,0.00,65.60,1.284,6,0.000,0.000,2940,1786,1398,0,0,0,0,0,0
$GC,9752,0.80,460.2,716.2,10.7,805,9843,0.17,0.00,87.93,1.245,6,0.074,0.000,3026,1786,1008,0,0,0,0,0,0
$GC,10145,0.74,460.2,633.0,22.4,824,10149,0.15,1.10,0.00,0.000,4,0.167,0.054,2982,2484,1002,0,0,0,0,0,0
$GC,10208,0.74,460.2,621.6,15.9,826,10215,0.00,1.10,0.00,0.000,6,0.000,0.045,2985,1772,1001,0,0,0,0,0,0
$GC,10531,0.74,460.2,566.3,17.2,851,10534,0.00,1.05,0.00,0.000,4,0.000,0.050,2990,1072,1001,0,0,0,0,0,0
$GC,10568,0.74,460.2,560.3,16.7,854,10571,0.00,1.10,0.00,0.000,6,0.000,0.044,2987,1795,1001,0,0,0,0,0,0
$GC,10898,0.74,460.2,505.7,14.5,885,10902,0.00,1.02,0.00,0.000,4,0.000,0.053,2983,2480,1000,0,0,0,0,0,0
$GC,10969,0.82,499.9,496.9,12.5,891,11014,0.00,1.08,35.55,1.091,6,0.000,0.043,2986,1772,844,0,0,0,0,0,0
$GC,11332,0.84,509.8,445.7,13.4,925,11348,0.00,1.08,9.88,0.930,4,0.000,0.050,2991,1080,804,0,0,0,0,0,0
$GC,11372,0.85,509.8,440.2,13.8,928,11379,0.00,1.08,0.00,0.000,6,0.000,0.041,2988,1784,802,0,0,0,0,0,0
$GC,11700,0.94,554.2,397.5,12.3,959,11748,0.17,1.12,42.20,1.003,4,0.071,0.047,3078,1080,623,0,0,0,0,0,0
$GC,11812,0.88,554.2,372.4,24.8,969,11816,0.15,1.08,0.00,0.000,6,0.150,0.043,3032,1781,618,0,0,0,0,0,0
$GC,12142,0.87,554.2,310.8,18.5,1000,12146,0.00,1.05,0.00,0.000,4,0.000,0.050,3027,2484,613,0,0,0,0,0,0
$GC,12248,0.89,556.8,294.5,13.7,1009,12254,0.00,1.08,0.00,0.000,6,0.000,0.041,3030,1773,612,0,0,0,0,0,0
$GC,12575,0.89,556.8,246.0,17.5,1042,12583,0.00,1.02,0.00,0.000,4,0.000,0.046,3035,1083,611,0,0,0,0,0,0
$GC,12635,0.89,556.8,236.3,15.4,1052,12643,0.00,1.05,0.00,0.000,6,0.000,0.039,3032,1786,611,0,0,0,0,0,0
$GC,12964,0.96,594.9,189.8,12.5,1113,13009,0.00,1.12,40.55,0.814,4,0.000,0.045,3036,1081,458,0,0,0,0,0,0
$GC,13046,1.06,640.8,179.8,12.3,1125,13054,0.12,1.05,0.00,0.000,6,0.050,0.036,3112,1787,453,0,0,0,0,0,0
$GC,13374,1.01,640.8,106.9,20.9,1186,13383,0.15,1.02,0.00,0.000,4,0.159,0.046,3067,2466,444,0,0,0,0,0,0
$GC,13442,1.04,640.8,94.4,15.0,1198,13450,0.00,1.02,0.00,0.000,6,0.000,0.039,3069,1784,443,0,0,0,0,0,0
$GC,13765,1.29,799.8,54.8,8.7,1259,13774,0.25,1.05,0.00,0.000,4,0.052,0.039,3203,1075,440,0,0,0,0,0,0
$GC,13882,1.21,799.8,28.9,27.6,1280,13891,0.20,1.02,0.00,0.000,6,0.151,0.037,3143,1778,439,0,0,0,0,0,0
$STATE,14000,end climb,SURFACE_DEPTH_REACHED
$STATE,14000,begin surface coast
$FINISH,1.2,1.008939
$STATE,14017,end surface coast,CONTROL_FINISHED_OK
$STATE,14017,begin surface
$SM_CCo,14097,0.00,0.000,0,0,438,600.00
$SM_GC,2.00,7.62,0.00,0.00,0.030,0.000,0.000,123,1611,438,-8.06,0.03,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2337.99,12358.38,151011,090904
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.88
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.00
$XPDR_PINGS,105
$24V_AH,23.1,91.160
$10V_AH,9.8,64.084
$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,20.725,56.075,776.300,0.000,0.000,140.921,160.124,388.711,26.250,0.000,30.642,3048.535,7283.906,792.947,3608.436,470.760,0.000,2045.101,0.000,2904.376,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,70.380,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.439,1338.071,1498.736,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330428
$DATA_FILE_SIZE,73513,1305
$CAP_FILE_SIZE,157343,0
$CFSIZE,260165632,113463296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151011,140437,2342.707,12358.761,34,1.6,34,-3.4