version: 66.09
glider: 166
mission: 6
dive: 387
start: 10 16 111 19 30 15
data:
$ID,166
$MISSION,6
$DIVE,387
$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,-24886.549
$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,42
$R_STBD_OVSHOOT,51
$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
$GPS1,161011,191937,2336.524,12356.613,29,2.0,29,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-62.0
$GPS2,161011,192951,2336.572,12356.667,39,2.0,53,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2331.172,12346.467
$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,2844
$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,-110.62,0.000,2,0.000,0.000,134,1604,3122,0,0,0,0,0,0
$GC,135,-0.73,-292.0,5.8,-8.5,16,165,9.32,1.12,-14.98,0.000,4,0.221,0.070,2500,2315,3963,0,0,0,0,0,0
$GC,359,-0.65,-292.0,81.4,-23.9,57,368,0.10,1.08,0.00,0.000,6,0.148,0.040,2530,1602,3965,0,0,0,0,0,0
$GC,682,-0.60,-292.0,146.8,-18.7,118,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1602,3966,0,0,0,0,0,0
$GC,1010,-0.57,-292.0,203.3,-16.1,179,1018,0.10,1.10,0.00,0.000,4,0.174,0.046,2554,2300,3966,0,0,0,0,0,0
$GC,1132,-0.59,-292.0,218.0,-11.7,201,1140,0.00,1.05,0.00,0.000,6,0.000,0.042,2554,1610,3966,0,0,0,0,0,0
$GC,1462,-0.61,-292.0,256.3,-11.1,258,1466,0.00,1.05,0.00,0.000,4,0.000,0.047,2551,2302,3966,0,0,0,0,0,0
$GC,1551,-0.65,-292.0,265.7,-10.1,266,1554,0.00,1.05,0.00,0.000,6,0.000,0.043,2551,1608,3966,0,0,0,0,0,0
$GC,1882,-0.67,-292.0,303.5,-11.7,297,1886,0.00,1.05,0.00,0.000,4,0.000,0.048,2546,2295,3965,0,0,0,0,0,0
$GC,1934,-0.71,-292.0,309.2,-10.9,301,1941,0.00,1.02,0.00,0.000,6,0.000,0.043,2546,1618,3965,0,0,0,0,0,0
$GC,2262,-0.74,-292.0,345.5,-10.3,332,2266,0.12,1.05,0.00,0.000,4,0.083,0.047,2466,2301,3964,0,0,0,0,0,0
$GC,2322,-0.70,-292.0,354.8,-15.6,337,2330,0.15,1.05,0.00,0.000,6,0.129,0.044,2517,1611,3963,0,0,0,0,0,0
$GC,2648,-0.70,-292.0,393.1,-11.4,368,2651,0.00,1.05,0.00,0.000,4,0.000,0.050,2514,2298,3962,0,0,0,0,0,0
$GC,2687,-0.71,-292.0,397.7,-11.2,371,2694,0.00,1.05,0.00,0.000,6,0.000,0.043,2514,1602,3961,0,0,0,0,0,0
$GC,3012,-0.71,-292.0,436.8,-12.7,402,3016,0.00,1.08,0.00,0.000,4,0.000,0.050,2509,2297,3959,0,0,0,0,0,0
$GC,3145,-0.72,-292.0,452.9,-12.1,413,3152,0.00,1.05,0.00,0.000,6,0.000,0.044,2509,1611,3958,0,0,0,0,0,0
$GC,3471,-0.73,-292.0,495.0,-12.1,444,3474,0.00,1.10,0.00,0.000,4,0.000,0.052,2504,2298,3956,0,0,0,0,0,0
$GC,3535,-0.76,-292.0,502.1,-10.7,449,3541,0.00,1.05,0.00,0.000,6,0.000,0.044,2504,1612,3956,0,0,0,0,0,0
$GC,3860,-0.76,-292.0,541.8,-12.3,480,3864,0.00,1.08,0.00,0.000,4,0.000,0.050,2504,907,3953,0,0,0,0,0,0
$GC,3901,-0.77,-292.0,546.8,-12.3,483,3908,0.00,1.05,0.00,0.000,6,0.000,0.045,2499,1593,3953,0,0,0,0,0,0
$GC,4227,-0.78,-292.0,584.1,-11.0,514,4231,0.00,1.08,0.00,0.000,4,0.000,0.054,2495,2307,3951,0,0,0,0,0,0
$GC,4302,-0.80,-292.0,591.5,-9.7,520,4309,0.00,1.08,0.00,0.000,6,0.000,0.046,2495,1604,3950,0,0,0,0,0,0
$GC,4631,-0.80,-292.0,628.9,-11.7,540,4635,0.00,1.10,0.00,0.000,4,0.000,0.054,2490,2314,3948,0,0,0,0,0,0
$GC,4681,-0.82,-292.0,635.0,-11.4,542,4685,0.00,1.08,0.00,0.000,6,0.000,0.047,2491,1611,3947,0,0,0,0,0,0
$GC,5011,-0.82,-292.0,674.2,-12.0,558,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1611,3944,0,0,0,0,0,0
$GC,5318,-0.83,-292.0,708.8,-11.0,573,5322,0.00,1.08,0.00,0.000,4,0.000,0.057,2496,2299,3941,0,0,0,0,0,0
$GC,5367,-0.85,-292.0,713.9,-11.0,575,5371,0.00,1.08,0.00,0.000,6,0.000,0.049,2495,1603,3940,0,0,0,0,0,0
$GC,5700,-0.85,-292.0,754.4,-11.9,591,5704,0.00,1.10,0.00,0.000,4,0.000,0.057,2496,2301,3938,0,0,0,0,0,0
$GC,5747,-0.87,-292.0,759.6,-11.0,593,5751,0.00,1.08,0.00,0.000,6,0.000,0.049,2498,1609,3938,0,0,0,0,0,0
$GC,6083,-0.87,-292.0,799.0,-11.9,609,6085,0.10,0.00,0.00,0.000,6,0.107,0.000,2446,1609,3935,0,0,0,0,0,0
$GC,6390,-0.83,-292.0,847.9,-16.0,624,6392,0.12,0.00,0.00,0.000,6,0.171,0.000,2478,1608,3932,0,0,0,0,0,0
$GC,6701,-0.83,-292.0,889.5,-12.9,639,6705,0.00,1.10,0.00,0.000,4,0.000,0.055,2479,905,3930,0,0,0,0,0,0
$GC,6734,-0.83,-292.0,894.3,-12.7,640,6738,0.00,1.10,0.00,0.000,6,0.000,0.050,2475,1607,3930,0,0,0,0,0,0
$GC,7057,-0.83,-292.0,936.6,-12.8,656,7060,0.00,1.08,0.00,0.000,4,0.000,0.059,2470,2305,3927,0,0,0,0,0,0
$GC,7120,-0.83,-292.0,944.1,-11.4,658,7127,0.00,1.08,0.00,0.000,6,0.000,0.050,2470,1614,3927,0,0,0,0,0,0
$GC,7437,-0.82,-292.0,983.4,-12.6,674,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1614,3925,0,0,0,0,0,0
$STATE,7495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7495,begin apogee
$GC,7504,-0.11,0.0,991.1,12.4,677,7735,0.73,0.00,225.68,1.437,6,0.129,0.000,2701,1786,2883,0,0,0,0,0,0
$STATE,7740,end apogee,CONTROL_FINISHED_OK
$STATE,7740,begin climb
$GC,7742,0.73,292.0,1001.3,0.0,688,8021,0.75,1.12,267.52,1.378,4,0.059,0.058,2980,2482,1692,0,0,0,0,0,0
$GC,8094,0.69,292.0,956.0,16.7,704,8098,0.00,1.12,0.00,0.000,6,0.000,0.051,2985,1782,1689,0,0,0,0,0,0
$GC,8418,0.65,292.0,901.6,16.5,720,8420,0.12,0.00,0.00,0.000,6,0.179,0.000,2954,1782,1686,0,0,0,0,0,0
$GC,8726,0.67,321.3,860.3,12.8,735,8755,0.00,0.00,27.75,1.302,6,0.000,0.000,2954,1782,1574,0,0,0,0,0,0
$GC,9055,0.71,351.4,818.3,12.8,751,9089,0.00,1.15,29.20,1.285,4,0.000,0.053,2957,1069,1450,0,0,0,0,0,0
$GC,9133,0.74,378.1,808.0,12.9,754,9166,0.00,1.12,26.42,1.260,6,0.000,0.048,2957,1780,1341,0,0,0,0,0,0
$GC,9479,0.74,378.1,760.0,14.6,771,9482,0.00,1.08,0.00,0.000,4,0.000,0.057,2957,2484,1337,0,0,0,0,0,0
$GC,9534,0.76,378.1,751.2,14.7,773,9538,0.00,1.10,0.00,0.000,6,0.000,0.047,2960,1776,1336,0,0,0,0,0,0
$GC,9856,0.76,378.1,705.9,14.0,789,9860,0.00,1.08,0.00,0.000,4,0.000,0.051,2965,1066,1336,0,0,0,0,0,0
$GC,9896,0.76,379.5,700.5,13.7,790,9903,0.00,1.10,0.00,0.000,6,0.000,0.046,2965,1781,1334,0,0,0,0,0,0
$GC,10212,0.77,386.5,657.1,13.5,806,10226,0.00,1.12,7.93,1.039,4,0.000,0.056,2965,2492,1308,0,0,0,0,0,0
$GC,10266,0.79,394.1,649.7,13.5,808,10279,0.00,1.12,9.10,1.057,6,0.000,0.047,2969,1762,1277,0,0,0,0,0,0
$GC,10593,0.79,394.1,604.3,14.7,824,10597,0.00,1.02,0.00,0.000,4,0.000,0.050,2974,1083,1275,0,0,0,0,0,0
$GC,10627,0.79,394.1,598.4,14.5,825,10631,0.00,1.08,0.00,0.000,6,0.000,0.045,2974,1778,1274,0,0,0,0,0,0
$GC,10958,0.80,399.4,551.2,13.6,856,10968,0.00,0.00,6.30,0.910,6,0.000,0.000,2975,1779,1255,0,0,0,0,0,0
$GC,11286,0.80,399.4,504.2,13.9,887,11290,0.00,1.08,0.00,0.000,4,0.000,0.048,2980,1078,1254,0,0,0,0,0,0
$GC,11402,0.80,399.4,488.4,13.8,897,11406,0.00,1.08,0.00,0.000,6,0.000,0.044,2979,1784,1254,0,0,0,0,0,0
$GC,11735,0.83,427.7,443.5,12.9,928,11764,0.00,0.00,26.62,1.041,6,0.000,0.000,2979,1786,1140,0,0,0,0,0,0
$GC,12082,0.94,501.6,401.8,11.4,961,12153,0.20,1.17,65.90,1.009,4,0.067,0.047,3078,1068,838,0,0,0,0,0,0
$GC,12215,0.88,501.6,373.8,22.9,972,12219,0.15,1.10,0.00,0.000,6,0.146,0.041,3031,1783,834,0,0,0,0,0,0
$GC,12548,0.86,501.6,312.9,18.8,1003,12551,0.00,1.08,0.00,0.000,4,0.000,0.047,3034,1075,830,0,0,0,0,0,0
$GC,12583,0.84,501.6,305.9,19.0,1006,12586,0.00,1.05,0.00,0.000,6,0.000,0.040,3034,1776,830,0,0,0,0,0,0
$GC,12912,0.83,501.6,247.6,17.6,1037,12920,0.00,1.08,0.00,0.000,4,0.000,0.047,3037,1069,829,0,0,0,0,0,0
$GC,12946,0.82,501.6,241.6,17.3,1042,12954,0.00,1.08,0.00,0.000,6,0.000,0.039,3036,1788,829,0,0,0,0,0,0
$GC,13273,0.82,501.6,186.0,16.0,1103,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1789,828,0,0,0,0,0,0
$GC,13599,0.84,510.3,139.2,13.5,1164,13615,0.00,1.10,8.10,0.653,4,0.000,0.041,3032,1074,801,0,0,0,0,0,0
$GC,13649,0.87,523.8,131.4,13.3,1172,13672,0.00,1.05,13.40,0.704,6,0.000,0.037,3031,1785,745,0,0,0,0,0,0
$GC,13991,1.06,629.1,93.0,10.4,1235,14069,0.15,1.15,67.57,0.721,4,0.072,0.043,3128,1064,453,0,0,0,0,0,0
$GC,14152,1.02,629.1,59.9,21.4,1261,14161,0.15,1.08,0.00,0.000,6,0.126,0.036,3078,1787,445,0,0,0,0,0,0
$GC,14480,1.27,777.1,23.4,9.1,1322,14488,0.20,1.08,0.00,0.000,4,0.060,0.040,3189,1076,437,0,0,0,0,0,0
$GC,14531,1.20,777.1,14.9,21.0,1330,14539,0.15,1.02,0.00,0.000,6,0.149,0.036,3137,1778,436,0,0,0,0,0,0
$STATE,14593,end climb,SURFACE_DEPTH_REACHED
$STATE,14593,begin surface coast
$FINISH,1.3,1.021807
$STATE,14617,end surface coast,CONTROL_FINISHED_OK
$STATE,14617,begin surface
$SM_CCo,14694,0.00,0.000,0,0,434,600.98
$SM_GC,1.86,7.78,0.00,0.00,0.039,0.000,0.000,127,1601,434,-8.06,-0.25,600.98,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12357.70,161011,191906
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.27
$INTERNAL_PRESSURE,9.37018
$TCM_TEMP,24.90
$XPDR_PINGS,117
$24V_AH,23.0,93.509
$10V_AH,9.8,65.298
$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,20.400,61.075,781.500,0.000,0.000,51.808,101.458,194.999,29.250,0.000,54.384,3149.835,7491.162,771.307,3407.082,470.730,0.000,2113.763,0.000,3028.847,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,71.145,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,917.139,1378.160,1513.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76923,1345
$CAP_FILE_SIZE,163745,0
$CFSIZE,260165632,112758784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161011,233636,2335.755,12355.495,42,1.5,48,-3.4