version: 66.09
glider: 166
mission: 6
dive: 380
start: 10 15 111 14 15 37
data:
$ID,166
$MISSION,6
$DIVE,380
$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,-24877.744
$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,39
$R_STBD_OVSHOOT,57
$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
$GPS1,151011,140437,2342.707,12358.761,34,1.6,34,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.4
$GPS2,151011,141513,2342.713,12358.949,40,1.5,58,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2337.313,12348.742
$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,3004
$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,-292.0,0.0,0.0,0,130,0.00,0.00,-110.65,0.000,2,0.000,0.000,118,1608,3089,0,0,0,0,0,0
$GC,135,-0.73,-292.0,5.9,-8.9,16,165,9.35,1.08,-15.73,0.000,4,0.220,0.069,2499,2303,3963,0,0,0,0,0,0
$GC,264,-0.60,-292.0,54.3,-30.0,38,273,0.15,1.05,0.00,0.000,6,0.151,0.037,2539,1593,3965,0,0,0,0,0,0
$GC,588,-0.55,-292.0,124.7,-18.1,99,596,0.00,1.08,0.00,0.000,4,0.000,0.042,2536,2302,3965,0,0,0,0,0,0
$GC,731,-0.53,-292.0,148.6,-15.6,124,739,0.10,1.02,0.00,0.000,6,0.132,0.037,2570,1607,3965,0,0,0,0,0,0
$GC,1054,-0.55,-292.0,193.3,-12.6,185,1062,0.00,1.05,0.00,0.000,4,0.000,0.044,2567,2297,3966,0,0,0,0,0,0
$GC,1180,-0.58,-292.0,207.5,-10.5,208,1188,0.00,1.00,0.00,0.000,6,0.000,0.038,2567,1624,3966,0,0,0,0,0,0
$GC,1502,-0.61,-292.0,244.6,-11.3,269,1510,0.00,1.00,0.00,0.000,4,0.000,0.045,2562,2291,3966,0,0,0,0,0,0
$GC,1606,-0.66,-292.0,255.2,-10.2,283,1610,0.00,1.02,0.00,0.000,6,0.000,0.040,2562,1609,3966,0,0,0,0,0,0
$GC,1937,-0.69,-292.0,290.8,-10.6,314,1939,0.12,0.00,0.00,0.000,6,0.083,0.000,2479,1609,3966,0,0,0,0,0,0
$GC,2255,-0.64,-292.0,348.0,-18.0,344,2259,0.20,1.05,0.00,0.000,4,0.148,0.044,2534,2289,3965,0,0,0,0,0,0
$GC,2396,-0.66,-292.0,363.8,-10.1,356,2400,0.00,1.02,0.00,0.000,6,0.000,0.041,2534,1608,3965,0,0,0,0,0,0
$GC,2728,-0.69,-292.0,399.3,-10.4,387,2732,0.00,1.05,0.00,0.000,4,0.000,0.047,2530,2293,3963,0,0,0,0,0,0
$GC,2788,-0.73,-292.0,405.3,-9.7,392,2792,0.00,1.02,0.00,0.000,6,0.000,0.041,2530,1609,3962,0,0,0,0,0,0
$GC,3120,-0.75,-292.0,441.5,-12.7,423,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1609,3961,0,0,0,0,0,0
$GC,3442,-0.77,-292.0,477.9,-11.5,453,3446,0.10,1.08,0.00,0.000,4,0.097,0.050,2461,2291,3959,0,0,0,0,0,0
$GC,3560,-0.75,-292.0,495.8,-14.1,463,3568,0.10,1.02,0.00,0.000,6,0.131,0.043,2497,1615,3958,0,0,0,0,0,0
$GC,3886,-0.75,-292.0,538.3,-12.8,494,3889,0.00,1.05,0.00,0.000,4,0.000,0.050,2494,2292,3955,0,0,0,0,0,0
$GC,3936,-0.76,-292.0,544.8,-12.2,498,3943,0.00,1.05,0.00,0.000,6,0.000,0.043,2495,1603,3955,0,0,0,0,0,0
$GC,4261,-0.76,-292.0,588.7,-14.1,529,4265,0.00,1.05,0.00,0.000,4,0.000,0.050,2491,2285,3953,0,0,0,0,0,0
$GC,4371,-0.77,-292.0,602.0,-11.8,537,4377,0.00,1.02,0.00,0.000,6,0.000,0.044,2505,1611,3951,0,0,0,0,0,0
$GC,4687,-0.77,-292.0,641.7,-12.2,553,4691,0.00,1.05,0.00,0.000,4,0.000,0.052,2508,919,3949,0,0,0,0,0,0
$GC,4720,-0.77,-292.0,645.9,-11.9,554,4724,0.00,1.02,0.00,0.000,6,0.000,0.045,2504,1592,3949,0,0,0,0,0,0
$GC,5044,-0.77,-292.0,685.3,-12.9,570,5047,0.00,1.08,0.00,0.000,4,0.000,0.054,2499,2302,3946,0,0,0,0,0,0
$GC,5122,-0.79,-292.0,695.8,-12.4,573,5126,0.00,1.05,0.00,0.000,6,0.000,0.046,2498,1614,3945,0,0,0,0,0,0
$GC,5446,-0.79,-292.0,739.0,-13.1,589,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1614,3942,0,0,0,0,0,0
$GC,5753,-0.79,-292.0,779.3,-12.6,604,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1614,3939,0,0,0,0,0,0
$GC,6063,-0.79,-292.0,817.4,-12.0,619,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1614,3937,0,0,0,0,0,0
$GC,6374,-0.79,-292.0,853.9,-11.6,634,6378,0.00,1.08,0.00,0.000,4,0.000,0.054,2499,916,3934,0,0,0,0,0,0
$GC,6429,-0.80,-292.0,860.9,-11.8,636,6433,0.00,1.08,0.00,0.000,6,0.000,0.048,2493,1605,3933,0,0,0,0,0,0
$GC,6754,-0.80,-292.0,899.1,-12.1,652,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1605,3931,0,0,0,0,0,0
$GC,7063,-0.80,-292.0,935.0,-11.4,667,7067,0.00,1.08,0.00,0.000,4,0.000,0.059,2488,2305,3929,0,0,0,0,0,0
$GC,7102,-0.81,-292.0,939.7,-11.1,668,7109,0.00,1.08,0.00,0.000,6,0.000,0.050,2488,1614,3929,0,0,0,0,0,0
$GC,7420,-0.81,-292.0,976.2,-11.3,684,7424,0.00,1.10,0.00,0.000,4,0.000,0.060,2483,2310,3927,0,0,0,0,0,0
$GC,7444,-0.81,-292.0,979.0,-11.0,685,7448,0.00,1.08,0.00,0.000,6,0.000,0.049,2483,1612,3926,0,0,0,0,0,0
$STATE,7547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7547,begin apogee
$GC,7553,-0.11,0.0,990.9,11.4,690,7786,0.68,0.00,225.73,1.440,6,0.124,0.000,2701,1788,2883,0,0,0,0,0,0
$STATE,7788,end apogee,CONTROL_FINISHED_OK
$STATE,7788,begin climb
$GC,7791,0.73,292.0,1001.6,0.0,701,8069,0.77,1.20,267.27,1.379,4,0.056,0.055,2994,1083,1692,0,0,0,0,0,0
$GC,8205,0.68,292.0,944.8,17.0,720,8210,0.00,1.10,0.00,0.000,6,0.000,0.050,2994,1775,1688,0,0,0,0,0,0
$GC,8533,0.63,292.0,889.6,16.8,736,8537,0.15,1.10,0.00,0.000,4,0.172,0.060,2950,2484,1686,0,0,0,0,0,0
$GC,8618,0.68,328.1,877.9,12.6,739,8658,0.00,1.08,34.00,1.309,6,0.000,0.048,2952,1789,1545,0,0,0,0,0,0
$GC,8977,0.68,333.5,829.4,13.6,757,8986,0.00,1.10,6.00,0.991,4,0.000,0.050,2957,1065,1524,0,0,0,0,0,0
$GC,9009,0.69,335.5,824.4,13.7,758,9016,0.00,1.12,0.00,0.000,6,0.000,0.045,2955,1790,1523,0,0,0,0,0,0
$GC,9325,0.69,335.5,780.3,14.1,774,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1790,1522,0,0,0,0,0,0
$GC,9636,0.71,353.3,738.9,13.2,789,9661,0.00,1.15,20.10,1.229,4,0.000,0.052,2958,1069,1442,0,0,0,0,0,0
$GC,9690,0.73,372.2,731.0,13.2,791,9715,0.00,1.10,19.08,1.206,6,0.000,0.044,2955,1778,1366,0,0,0,0,0,0
$GC,10035,0.73,372.2,683.3,14.1,808,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1778,1363,0,0,0,0,0,0
$GC,10341,0.77,403.5,642.6,12.8,823,10377,0.12,1.10,29.40,1.197,4,0.090,0.056,3021,2478,1239,0,0,0,0,0,0
$GC,10437,0.74,403.5,625.3,18.8,827,10441,0.12,1.10,0.00,0.000,6,0.149,0.046,2987,1773,1238,0,0,0,0,0,0
$GC,10758,0.72,403.5,571.3,17.2,850,10762,0.00,1.08,0.00,0.000,4,0.000,0.054,2983,2474,1236,0,0,0,0,0,0
$GC,10804,0.72,403.5,563.9,15.7,854,10808,0.00,1.08,0.00,0.000,6,0.000,0.045,2986,1767,1236,0,0,0,0,0,0
$GC,11134,0.71,403.5,511.0,16.4,885,11138,0.00,1.10,0.00,0.000,4,0.000,0.053,2983,2488,1236,0,0,0,0,0,0
$GC,11214,0.71,403.5,498.4,15.3,892,11217,0.00,1.08,0.00,0.000,6,0.000,0.044,2986,1779,1236,0,0,0,0,0,0
$GC,11544,0.71,403.5,447.3,15.4,923,11548,0.00,1.05,0.00,0.000,4,0.000,0.050,2991,1080,1235,0,0,0,0,0,0
$GC,11628,0.71,403.5,434.6,14.8,930,11635,0.00,1.05,0.00,0.000,6,0.000,0.041,2988,1783,1235,0,0,0,0,0,0
$GC,11953,0.71,403.5,387.3,14.6,961,11957,0.00,1.05,0.00,0.000,4,0.000,0.051,2984,2484,1235,0,0,0,0,0,0
$GC,11992,0.72,404.0,381.7,13.7,964,11999,0.00,1.08,0.00,0.000,6,0.000,0.043,2986,1785,1235,0,0,0,0,0,0
$GC,12317,0.72,404.0,334.8,14.9,995,12321,0.00,1.08,0.00,0.000,4,0.000,0.048,2983,2487,1235,0,0,0,0,0,0
$GC,12386,0.75,406.3,325.2,13.7,1001,12398,0.00,1.10,3.50,0.529,6,0.000,0.044,2987,1764,1227,0,0,0,0,0,0
$GC,12717,0.78,423.6,279.9,13.2,1032,12741,0.00,1.12,17.10,0.864,4,0.000,0.047,2984,2485,1156,0,0,0,0,0,0
$GC,12767,0.84,449.6,273.5,12.9,1036,12795,0.00,1.08,24.10,0.871,6,0.000,0.042,2987,1784,1050,0,0,0,0,0,0
$GC,13112,0.97,523.4,234.4,11.4,1081,13185,0.20,1.10,64.32,0.854,4,0.064,0.041,3094,1075,749,0,0,0,0,0,0
$GC,13248,0.92,523.4,206.1,22.3,1102,13257,0.15,1.08,0.00,0.000,6,0.145,0.038,3046,1789,744,0,0,0,0,0,0
$GC,13579,0.92,523.4,149.2,15.8,1163,13587,0.00,1.08,0.00,0.000,4,0.000,0.044,3049,1077,740,0,0,0,0,0,0
$GC,13609,0.92,523.4,144.6,15.8,1167,13617,0.00,1.02,0.00,0.000,6,0.000,0.037,3047,1773,740,0,0,0,0,0,0
$GC,13937,0.98,553.9,97.9,12.8,1228,13967,0.00,0.00,26.60,0.715,6,0.000,0.000,3046,1773,625,0,0,0,0,0,0
$GC,14283,1.24,700.2,59.4,9.1,1292,14328,0.25,1.12,40.30,0.683,4,0.053,0.041,3189,1060,454,0,0,0,0,0,0
$STATE,14511,end climb,SURFACE_DEPTH_REACHED
$STATE,14511,begin surface coast
$FINISH,1.4,0.999000
$STATE,14519,end surface coast,CONTROL_FINISHED_OK
$STATE,14520,begin surface
$SM_CCo,14600,0.00,0.000,0,0,440,599.51
$SM_GC,1.99,7.90,0.00,0.00,0.039,0.000,0.000,140,1631,440,-8.05,0.59,599.51,0,0,0,0,0,0
$IRIDIUM_FIX,2335.63,12358.38,151011,141459
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,24.00
$XPDR_PINGS,107
$24V_AH,23.0,91.452
$10V_AH,9.8,64.238
$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,20.475,59.975,777.500,0.000,0.000,54.043,82.846,227.099,26.750,0.000,59.576,3128.360,7436.011,734.219,3454.352,465.966,0.000,2093.095,0.000,3042.636,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,68.850,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.177,1364.406,1513.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330408
$DATA_FILE_SIZE,76850,1334
$CAP_FILE_SIZE,161635,0
$CFSIZE,260165632,113364992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151011,182027,2342.087,12359.113,31,2.2,50,-3.4