version: 66.09
glider: 166
mission: 6
dive: 385
start: 10 16 111 11 5 46
data:
$ID,166
$MISSION,6
$DIVE,385
$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,-24884.035
$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,60
$R_STBD_OVSHOOT,58
$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
$GPS1,161011,105727,2338.211,12358.205,41,99.0,60,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-57.7
$GPS2,161011,110524,2338.213,12358.226,41,1.6,41,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2332.813,12348.024
$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,2697
$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,18,-0.73,-292.0,0.0,0.0,0,133,0.00,0.00,-112.28,0.000,2,0.000,0.000,139,1578,3154,0,0,0,0,0,0
$GC,136,-0.73,-292.0,6.5,-11.3,16,167,9.30,1.12,-14.45,0.000,4,0.220,0.066,2496,2304,3966,0,0,0,0,0,0
$GC,404,-0.63,-292.0,93.2,-23.6,65,413,0.12,1.02,0.00,0.000,6,0.146,0.041,2533,1626,3967,0,0,0,0,0,0
$GC,732,-0.59,-292.0,159.9,-20.6,126,740,0.00,1.00,0.00,0.000,4,0.000,0.045,2530,2289,3969,0,0,0,0,0,0
$GC,765,-0.56,-292.0,165.5,-19.9,130,773,0.10,1.02,0.00,0.000,6,0.131,0.041,2563,1609,3969,0,0,0,0,0,0
$GC,1091,-0.57,-292.0,210.3,-13.2,191,1100,0.00,1.02,0.00,0.000,4,0.000,0.047,2560,2293,3969,0,0,0,0,0,0
$GC,1154,-0.61,-292.0,218.6,-11.9,202,1162,0.00,1.02,0.00,0.000,6,0.000,0.041,2560,1607,3969,0,0,0,0,0,0
$GC,1483,-0.63,-292.0,257.8,-11.3,257,1487,0.00,1.02,0.00,0.000,4,0.000,0.047,2555,2288,3969,0,0,0,0,0,0
$GC,1624,-0.66,-292.0,272.3,-10.2,269,1631,0.00,1.02,0.00,0.000,6,0.000,0.042,2556,1611,3968,0,0,0,0,0,0
$GC,1950,-0.69,-292.0,306.3,-10.1,300,1954,0.00,1.05,0.00,0.000,4,0.000,0.048,2551,2295,3968,0,0,0,0,0,0
$GC,2105,-0.74,-292.0,320.7,-9.5,313,2113,0.10,1.02,0.00,0.000,6,0.046,0.042,2471,1617,3968,0,0,0,0,0,0
$GC,2431,-0.68,-292.0,381.1,-19.0,344,2436,0.17,1.05,0.00,0.000,4,0.158,0.049,2518,2290,3967,0,0,0,0,0,0
$GC,2461,-0.65,-292.0,386.0,-16.7,346,2468,0.00,1.02,0.00,0.000,6,0.000,0.043,2518,1610,3967,0,0,0,0,0,0
$GC,2786,-0.65,-292.0,428.6,-13.0,377,2790,0.00,1.05,0.00,0.000,4,0.000,0.050,2515,2289,3966,0,0,0,0,0,0
$GC,2858,-0.67,-292.0,437.3,-12.3,383,2861,0.00,1.02,0.00,0.000,6,0.000,0.044,2515,1610,3965,0,0,0,0,0,0
$GC,3192,-0.68,-292.0,478.8,-11.7,414,3195,0.00,1.05,0.00,0.000,4,0.000,0.050,2510,2293,3964,0,0,0,0,0,0
$GC,3308,-0.70,-292.0,491.7,-11.0,424,3311,0.00,1.02,0.00,0.000,6,0.000,0.044,2511,1614,3962,0,0,0,0,0,0
$GC,3642,-0.72,-292.0,530.3,-12.1,455,3645,0.00,1.02,0.00,0.000,4,0.000,0.052,2505,2284,3961,0,0,0,0,0,0
$GC,3802,-0.74,-292.0,548.6,-11.3,469,3806,0.00,1.02,0.00,0.000,6,0.000,0.045,2505,1607,3959,0,0,0,0,0,0
$GC,4133,-0.76,-292.0,586.2,-11.3,500,4137,0.00,1.05,0.00,0.000,4,0.000,0.053,2501,2290,3957,0,0,0,0,0,0
$GC,4225,-0.79,-292.0,596.1,-10.8,508,4229,0.00,1.02,0.00,0.000,6,0.000,0.044,2501,1611,3956,0,0,0,0,0,0
$GC,4550,-0.80,-292.0,637.6,-13.2,525,4554,0.00,1.05,0.00,0.000,4,0.000,0.054,2497,2293,3953,0,0,0,0,0,0
$GC,4612,-0.83,-292.0,645.6,-11.7,527,4618,0.00,1.02,0.00,0.000,6,0.000,0.046,2497,1617,3952,0,0,0,0,0,0
$GC,4931,-0.84,-292.0,683.9,-11.7,543,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1618,3950,0,0,0,0,0,0
$GC,5238,-0.85,-292.0,718.7,-11.3,558,5241,0.00,1.02,0.00,0.000,4,0.000,0.056,2497,2280,3947,0,0,0,0,0,0
$GC,5288,-0.88,-292.0,724.7,-11.3,560,5292,0.10,1.02,0.00,0.000,6,0.052,0.048,2441,1612,3947,0,0,0,0,0,0
$GC,5619,-0.83,-292.0,781.3,-18.0,576,5623,0.12,1.10,0.00,0.000,4,0.177,0.054,2474,910,3944,0,0,0,0,0,0
$GC,5679,-0.81,-292.0,792.2,-15.7,578,5686,0.00,1.05,0.00,0.000,6,0.000,0.048,2471,1588,3943,0,0,0,0,0,0
$GC,5998,-0.79,-292.0,838.7,-15.0,594,6002,0.00,1.10,0.00,0.000,4,0.000,0.056,2466,2308,3940,0,0,0,0,0,0
$GC,6048,-0.78,-292.0,846.5,-13.9,596,6051,0.00,1.08,0.00,0.000,6,0.000,0.048,2466,1611,3939,0,0,0,0,0,0
$GC,6375,-0.76,-292.0,895.6,-15.0,612,6377,0.12,0.00,0.00,0.000,6,0.168,0.000,2499,1611,3938,0,0,0,0,0,0
$GC,6687,-0.77,-292.0,930.9,-10.8,627,6691,0.00,1.10,0.00,0.000,4,0.000,0.059,2496,2311,3935,0,0,0,0,0,0
$GC,6726,-0.79,-292.0,935.4,-10.3,628,6732,0.00,1.10,0.00,0.000,6,0.000,0.050,2496,1605,3935,0,0,0,0,0,0
$GC,7044,-0.81,-292.0,970.1,-11.2,644,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1605,3933,0,0,0,0,0,0
$STATE,7225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7225,begin apogee
$GC,7231,-0.11,0.0,990.3,10.8,653,7464,0.62,0.00,227.15,1.428,6,0.119,0.000,2701,1778,2883,0,0,0,0,0,0
$STATE,7466,end apogee,CONTROL_FINISHED_OK
$STATE,7466,begin climb
$GC,7468,0.73,292.0,1000.2,0.0,664,7746,0.75,1.20,267.40,1.369,4,0.055,0.063,2982,2485,1692,0,0,0,0,0,0
$GC,7822,0.70,292.0,952.6,17.5,680,7825,0.00,1.12,0.00,0.000,6,0.000,0.052,2986,1785,1690,0,0,0,0,0,0
$GC,8143,0.65,292.0,896.6,16.8,696,8145,0.12,0.00,0.00,0.000,6,0.179,0.000,2956,1785,1687,0,0,0,0,0,0
$GC,8455,0.70,344.5,857.5,12.1,711,8506,0.00,0.00,49.40,1.314,6,0.000,0.000,2956,1785,1479,0,0,0,0,0,0
$GC,8802,0.72,363.5,814.1,13.2,728,8825,0.00,1.15,18.33,1.243,4,0.000,0.057,2954,2484,1402,0,0,0,0,0,0
$GC,8872,0.75,375.4,804.8,13.4,731,8894,0.00,1.12,12.80,1.171,6,0.000,0.047,2956,1770,1353,0,0,0,0,0,0
$GC,9207,0.75,375.4,758.5,14.1,747,9211,0.00,1.05,0.00,0.000,4,0.000,0.052,2961,1078,1349,0,0,0,0,0,0
$GC,9246,0.75,375.4,751.9,14.4,748,9253,0.00,1.10,0.00,0.000,6,0.000,0.047,2961,1788,1349,0,0,0,0,0,0
$GC,9562,0.75,375.4,707.2,14.0,764,9566,0.00,1.08,0.00,0.000,4,0.000,0.057,2961,2484,1348,0,0,0,0,0,0
$GC,9590,0.75,381.4,703.2,13.6,765,9600,0.00,1.08,6.20,0.973,6,0.000,0.045,2964,1777,1329,0,0,0,0,0,0
$GC,9911,0.75,381.4,657.1,14.5,780,9915,0.00,1.08,0.00,0.000,4,0.000,0.050,2969,1066,1328,0,0,0,0,0,0
$GC,9963,0.75,381.4,649.6,14.5,782,9966,0.00,1.10,0.00,0.000,6,0.000,0.044,2969,1785,1328,0,0,0,0,0,0
$GC,10290,0.75,381.4,601.7,14.2,798,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1785,1327,0,0,0,0,0,0
$GC,10611,0.75,381.4,557.4,14.5,827,10615,0.00,1.10,0.00,0.000,4,0.000,0.048,2974,1066,1327,0,0,0,0,0,0
$GC,10638,0.75,381.4,552.7,14.2,829,10646,0.00,1.08,0.00,0.000,6,0.000,0.042,2974,1774,1326,0,0,0,0,0,0
$GC,10966,0.75,381.4,505.5,14.2,860,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1775,1326,0,0,0,0,0,0
$GC,11284,0.80,416.1,462.6,12.7,890,11321,0.00,1.05,32.67,1.057,4,0.000,0.049,2974,2489,1186,0,0,0,0,0,0
$GC,11375,0.91,479.9,451.9,11.7,897,11439,0.12,1.10,57.72,1.042,6,0.044,0.043,3052,1775,925,0,0,0,0,0,0
$GC,11768,0.86,479.9,367.8,21.6,934,11772,0.12,1.10,0.00,0.000,4,0.171,0.050,3016,2491,919,0,0,0,0,0,0
$GC,11791,0.83,479.9,362.6,20.6,936,11794,0.00,1.08,0.00,0.000,6,0.000,0.041,3019,1780,919,0,0,0,0,0,0
$GC,12121,0.83,479.9,306.0,17.0,967,12125,0.00,1.08,0.00,0.000,4,0.000,0.049,3019,2492,918,0,0,0,0,0,0
$GC,12145,0.83,479.9,302.1,16.9,969,12148,0.00,1.08,0.00,0.000,6,0.000,0.040,3023,1780,918,0,0,0,0,0,0
$GC,12475,0.83,479.9,249.2,15.4,1000,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1780,918,0,0,0,0,0,0
$GC,12799,0.85,497.0,201.3,13.2,1061,12821,0.00,0.00,15.25,0.771,6,0.000,0.000,3023,1780,855,0,0,0,0,0,0
$GC,13144,0.90,522.0,158.2,13.0,1124,13174,0.00,1.08,22.40,0.751,4,0.000,0.043,3026,1078,753,0,0,0,0,0,0
$GC,13245,1.00,568.3,145.1,12.3,1141,13297,0.10,1.08,42.10,0.754,6,0.051,0.037,3086,1796,565,0,0,0,0,0,0
$GC,13615,1.00,568.3,80.6,14.0,1208,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1798,556,0,0,0,0,0,0
$GC,13939,1.14,653.9,41.6,11.0,1269,13968,0.00,1.17,25.75,0.648,4,0.000,0.044,3085,1065,454,0,0,0,0,0,0
$GC,14107,1.32,765.1,23.1,10.2,1299,14116,0.20,1.08,0.00,0.000,6,0.035,0.034,3207,1787,444,0,0,0,0,0,0
$STATE,14192,end climb,SURFACE_DEPTH_REACHED
$STATE,14192,begin surface coast
$FINISH,1.4,1.021813
$STATE,14207,end surface coast,CONTROL_FINISHED_OK
$STATE,14207,begin surface
$SM_CCo,14287,0.00,0.000,0,0,442,599.02
$SM_GC,1.98,7.95,0.00,0.00,0.039,0.000,0.000,149,1599,442,-8.05,-0.31,599.02,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12325.10,161011,060647
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.80
$XPDR_PINGS,101
$24V_AH,23.0,92.921
$10V_AH,9.8,64.996
$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,20.150,56.025,777.175,0.000,0.000,25.346,50.236,213.233,25.250,0.000,42.269,3074.816,7154.530,748.432,3312.717,454.035,0.000,2067.024,0.000,3002.498,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,66.555,1428.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.576,1348.143,1534.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330384
$DATA_FILE_SIZE,73552,1317
$CAP_FILE_SIZE,157001,0
$CFSIZE,260165632,112943104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161011,150531,2337.578,12357.303,61,2.0,61,-3.4