version: 66.09
glider: 166
mission: 6
dive: 388
start: 10 16 111 23 50 48
data:
$ID,166
$MISSION,6
$DIVE,388
$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,-24887.9
$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,56
$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
$GPS1,161011,233636,2335.755,12355.495,42,1.5,48,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.9
$GPS2,161011,235022,2335.728,12355.619,33,2.3,52,-3.4
$SPEED_LIMITS,0.238,0.395
$TGT_NAME,HEADING
$TGT_LATLONG,2330.329,12345.421
$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,3000
$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,-292.0,0.0,0.0,0,125,0.00,0.00,-106.05,0.000,2,0.000,0.000,123,1598,2969,0,0,0,0,0,0
$GC,128,-0.73,-292.0,5.1,-5.6,15,165,9.27,1.08,-19.17,0.000,4,0.216,0.063,2497,2306,3964,0,0,0,0,0,0
$GC,320,-0.64,-292.0,68.8,-27.2,49,329,0.12,1.05,0.00,0.000,6,0.145,0.041,2534,1606,3964,0,0,0,0,0,0
$GC,640,-0.60,-292.0,136.4,-17.1,110,648,0.00,1.05,0.00,0.000,4,0.000,0.045,2531,2301,3964,0,0,0,0,0,0
$GC,682,-0.57,-292.0,143.2,-16.2,116,690,0.00,1.02,0.00,0.000,6,0.000,0.041,2530,1619,3964,0,0,0,0,0,0
$GC,1007,-0.55,-292.0,198.3,-15.8,177,1015,0.12,1.05,0.00,0.000,4,0.163,0.047,2561,2299,3965,0,0,0,0,0,0
$GC,1083,-0.57,-292.0,207.4,-10.7,190,1091,0.00,1.05,0.00,0.000,6,0.000,0.042,2561,1601,3965,0,0,0,0,0,0
$GC,1408,-0.60,-292.0,244.3,-11.7,251,1417,0.00,1.05,0.00,0.000,4,0.000,0.047,2556,2295,3965,0,0,0,0,0,0
$GC,1561,-0.64,-292.0,260.9,-10.6,268,1568,0.00,1.02,0.00,0.000,6,0.000,0.041,2556,1613,3964,0,0,0,0,0,0
$GC,1888,-0.67,-292.0,297.8,-11.2,299,1892,0.00,1.05,0.00,0.000,4,0.000,0.047,2551,2297,3963,0,0,0,0,0,0
$GC,1956,-0.71,-292.0,305.5,-10.9,305,1961,0.08,1.02,0.00,0.000,6,0.050,0.041,2481,1615,3963,0,0,0,0,0,0
$GC,2287,-0.66,-292.0,365.9,-19.3,336,2289,0.17,0.00,0.00,0.000,6,0.153,0.000,2532,1615,3961,0,0,0,0,0,0
$GC,2605,-0.68,-292.0,406.8,-12.1,366,2609,0.00,1.02,0.00,0.000,4,0.000,0.049,2529,2292,3959,0,0,0,0,0,0
$GC,2701,-0.71,-292.0,417.7,-10.7,374,2707,0.00,1.02,0.00,0.000,6,0.000,0.043,2529,1614,3958,0,0,0,0,0,0
$GC,3028,-0.73,-292.0,454.4,-10.9,405,3032,0.00,1.02,0.00,0.000,4,0.000,0.050,2524,2288,3956,0,0,0,0,0,0
$GC,3167,-0.77,-292.0,467.4,-9.2,417,3170,0.00,1.02,0.00,0.000,6,0.000,0.044,2525,1612,3955,0,0,0,0,0,0
$GC,3498,-0.80,-292.0,501.7,-10.6,448,3503,0.10,1.08,0.00,0.000,4,0.097,0.052,2458,2292,3953,0,0,0,0,0,0
$GC,3571,-0.77,-292.0,511.9,-14.2,454,3578,0.10,1.02,0.00,0.000,6,0.135,0.044,2492,1617,3952,0,0,0,0,0,0
$GC,3896,-0.77,-292.0,552.2,-11.3,485,3900,0.00,1.08,0.00,0.000,4,0.000,0.050,2493,910,3950,0,0,0,0,0,0
$GC,3942,-0.77,-292.0,557.6,-11.7,489,3946,0.00,1.05,0.00,0.000,6,0.000,0.045,2490,1596,3950,0,0,0,0,0,0
$GC,4273,-0.77,-292.0,596.1,-12.2,520,4277,0.00,1.08,0.00,0.000,4,0.000,0.053,2486,2306,3947,0,0,0,0,0,0
$GC,4320,-0.79,-292.0,601.5,-11.7,524,4324,0.00,1.08,0.00,0.000,6,0.000,0.046,2486,1602,3946,0,0,0,0,0,0
$GC,4655,-0.79,-292.0,645.4,-13.0,540,4659,0.00,1.10,0.00,0.000,4,0.000,0.054,2481,2308,3943,0,0,0,0,0,0
$GC,4717,-0.80,-292.0,653.4,-11.9,542,4724,0.00,1.08,0.00,0.000,6,0.000,0.046,2482,1609,3943,0,0,0,0,0,0
$GC,5035,-0.80,-292.0,692.7,-12.5,558,5039,0.00,1.10,0.00,0.000,4,0.000,0.057,2489,2307,3939,0,0,0,0,0,0
$GC,5114,-0.81,-292.0,703.0,-12.2,561,5117,0.00,1.08,0.00,0.000,6,0.000,0.048,2489,1612,3939,0,0,0,0,0,0
$GC,5435,-0.81,-292.0,746.9,-14.0,577,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1613,3937,0,0,0,0,0,0
$GC,5747,-0.81,-292.0,786.2,-12.3,592,5751,0.00,1.08,0.00,0.000,4,0.000,0.059,2490,2299,3933,0,0,0,0,0,0
$GC,5803,-0.83,-292.0,792.9,-10.9,594,5807,0.00,1.08,0.00,0.000,6,0.000,0.050,2490,1607,3933,0,0,0,0,0,0
$GC,6127,-0.83,-292.0,832.3,-12.5,610,6131,0.00,1.10,0.00,0.000,4,0.000,0.060,2485,2302,3931,0,0,0,0,0,0
$GC,6160,-0.83,-292.0,836.9,-12.5,611,6163,0.00,1.08,0.00,0.000,6,0.000,0.050,2485,1610,3930,0,0,0,0,0,0
$GC,6481,-0.83,-292.0,876.4,-12.3,627,6485,0.00,1.08,0.00,0.000,4,0.000,0.056,2485,911,3927,0,0,0,0,0,0
$GC,6518,-0.83,-292.0,880.6,-12.1,628,6522,0.00,1.08,0.00,0.000,6,0.000,0.050,2480,1602,3927,0,0,0,0,0,0
$GC,6840,-0.83,-292.0,919.8,-12.2,644,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1602,3925,0,0,0,0,0,0
$GC,7149,-0.83,-292.0,956.2,-11.8,659,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1602,3922,0,0,0,0,0,0
$STATE,7435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7435,begin apogee
$GC,7444,-0.11,0.0,992.1,12.6,673,7675,0.70,0.00,224.85,1.440,6,0.125,0.000,2705,1790,2883,0,0,0,0,0,0
$STATE,7679,end apogee,CONTROL_FINISHED_OK
$STATE,7679,begin climb
$GC,7682,0.73,292.0,1004.5,0.0,684,7954,0.75,0.00,266.83,1.379,6,0.051,0.000,2991,1790,1693,0,0,0,0,0,0
$GC,8260,0.68,292.0,920.7,16.9,712,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1790,1687,0,0,0,0,0,0
$GC,8571,0.64,292.0,865.3,18.3,727,8573,0.15,0.00,0.00,0.000,6,0.174,0.000,2952,1790,1686,0,0,0,0,0,0
$GC,8878,0.62,292.0,821.2,14.1,742,8882,0.00,1.05,0.00,0.000,4,0.000,0.057,2949,2481,1683,0,0,0,0,0,0
$GC,8911,0.64,307.5,816.4,13.3,743,8931,0.00,1.08,14.68,1.220,6,0.000,0.046,2952,1779,1630,0,0,0,0,0,0
$GC,9258,0.64,307.5,769.1,14.0,760,9261,0.00,1.10,0.00,0.000,4,0.000,0.055,2952,2490,1628,0,0,0,0,0,0
$GC,9297,0.64,307.5,762.8,14.2,761,9304,0.00,1.10,0.00,0.000,6,0.000,0.046,2954,1774,1627,0,0,0,0,0,0
$GC,9615,0.64,307.5,718.8,13.9,777,9619,0.00,1.05,0.00,0.000,4,0.000,0.051,2959,1079,1626,0,0,0,0,0,0
$GC,9648,0.65,311.6,713.8,13.6,778,9661,0.00,1.08,5.18,0.907,6,0.000,0.045,2957,1784,1612,0,0,0,0,0,0
$GC,9969,0.69,343.2,672.1,12.8,794,10004,0.00,1.10,30.80,1.222,4,0.000,0.053,2957,2486,1484,0,0,0,0,0,0
$GC,10084,0.77,403.1,658.3,11.9,799,10148,0.00,1.10,56.50,1.209,6,0.000,0.045,2960,1782,1239,0,0,0,0,0,0
$GC,10459,0.81,425.4,609.7,13.0,817,10485,0.12,1.10,20.83,1.127,4,0.090,0.049,3034,1063,1148,0,0,0,0,0,0
$GC,10506,0.76,425.4,601.6,18.5,819,10510,0.12,1.12,0.00,0.000,6,0.146,0.045,2993,1787,1147,0,0,0,0,0,0
$GC,10837,0.75,425.4,545.7,16.6,849,10841,0.00,1.05,0.00,0.000,4,0.000,0.054,2990,2483,1145,0,0,0,0,0,0
$GC,10888,0.75,425.4,537.6,14.9,853,10895,0.00,1.08,0.00,0.000,6,0.000,0.044,2993,1782,1144,0,0,0,0,0,0
$GC,11213,0.75,425.4,485.5,16.3,884,11217,0.00,1.08,0.00,0.000,4,0.000,0.050,2998,1067,1144,0,0,0,0,0,0
$GC,11251,0.75,425.4,478.8,16.4,887,11258,0.00,1.08,0.00,0.000,6,0.000,0.042,2995,1776,1143,0,0,0,0,0,0
$GC,11577,0.75,425.4,429.9,14.8,918,11580,0.00,1.08,0.00,0.000,4,0.000,0.048,2999,1072,1143,0,0,0,0,0,0
$GC,11623,0.75,425.4,423.2,14.9,922,11626,0.00,1.08,0.00,0.000,6,0.000,0.042,2996,1784,1143,0,0,0,0,0,0
$GC,11955,0.75,425.4,374.2,14.7,953,11959,0.00,1.02,0.00,0.000,4,0.000,0.050,2995,2473,1143,0,0,0,0,0,0
$GC,12002,0.78,437.8,367.8,13.4,957,12017,0.00,1.05,11.43,0.897,6,0.000,0.042,2998,1779,1098,0,0,0,0,0,0
$GC,12345,0.78,437.8,319.8,14.0,989,12349,0.00,1.05,0.00,0.000,4,0.000,0.046,3003,1075,1096,0,0,0,0,0,0
$GC,12417,0.78,437.8,309.1,13.8,995,12424,0.00,1.08,0.00,0.000,6,0.000,0.039,3000,1790,1096,0,0,0,0,0,0
$GC,12745,0.81,448.4,265.3,13.4,1026,12764,0.00,1.12,10.57,0.793,4,0.000,0.044,3004,1072,1055,0,0,0,0,0,0
$GC,12801,0.85,466.2,257.8,13.2,1031,12826,0.00,1.05,17.05,0.829,6,0.000,0.038,3000,1778,981,0,0,0,0,0,0
$GC,13141,0.97,537.3,218.3,11.5,1089,13214,0.17,1.12,62.53,0.832,4,0.069,0.046,3091,1075,691,0,0,0,0,0,0
$GC,13246,0.92,537.3,197.4,23.9,1103,13254,0.12,1.08,0.00,0.000,6,0.145,0.038,3048,1784,688,0,0,0,0,0,0
$GC,13575,0.92,537.3,138.8,15.5,1164,13583,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1784,683,0,0,0,0,0,0
$GC,13898,1.04,614.1,92.6,11.3,1225,13962,0.00,1.15,53.83,0.716,4,0.000,0.044,3048,1069,454,0,0,0,0,0,0
$GC,14004,1.21,706.2,80.1,10.8,1241,14013,0.20,1.08,0.00,0.000,6,0.037,0.035,3164,1786,447,0,0,0,0,0,0
$STATE,14327,end climb,SURFACE_DEPTH_REACHED
$STATE,14327,begin surface coast
$FINISH,1.5,1.021822
$STATE,14340,end surface coast,CONTROL_FINISHED_OK
$STATE,14340,begin surface
$SM_CCo,14420,0.00,0.000,0,0,439,600.00
$SM_GC,1.97,7.82,0.00,0.00,0.037,0.000,0.000,128,1598,439,-8.05,-0.31,600.00,0,0,0,0,0,0
$IRIDIUM_FIX,2328.57,12355.75,161011,232343
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,23.90
$XPDR_PINGS,109
$24V_AH,23.0,93.807
$10V_AH,9.8,65.448
$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,20.150,60.400,775.050,0.000,0.000,88.859,112.596,274.477,27.250,0.000,54.390,3053.256,7490.720,762.335,3459.460,464.881,0.000,2077.791,0.000,2931.949,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,69.615,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.417,1333.939,1435.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73513,1304
$CAP_FILE_SIZE,161061,0
$CFSIZE,260165632,112680960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,035254,2335.290,12354.480,49,1.6,67,-3.3